diff --git a/.DS_Store b/.DS_Store index 16541d8da96f7509041f638da543edff222b078f..0be54e4258afef12d7a1ccb4afd98d2842803862 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/src/.DS_Store b/src/.DS_Store index 61b2a0e9a6c3250da3d913dc99d49d6e5e26a2fe..d7f1aff5ffd0eb18917ef97fc5f65d9e4831c76f 100644 Binary files a/src/.DS_Store and b/src/.DS_Store differ diff --git a/src/main/.DS_Store b/src/main/.DS_Store index 9deb2c87448e5001325191c5bc4ad29fd5b910c6..81e75a373bc48d770818f3f03b22ed97af480dd4 100644 Binary files a/src/main/.DS_Store and b/src/main/.DS_Store differ diff --git a/src/main/java/.DS_Store b/src/main/java/.DS_Store index afa099aeb19f757267c6f1362af7b5bf99343952..580810655cf8d86795892ab952c95aacda1e1002 100644 Binary files a/src/main/java/.DS_Store and b/src/main/java/.DS_Store differ diff --git a/src/main/java/database/MongoDBInteraction.java b/src/main/java/database/MongoDBInteraction.java index 8189ecf6e2826cceaecae6a08b2c00e5845645d2..626c391f618d51c3c91d117ef561db41c7808b08 100644 --- a/src/main/java/database/MongoDBInteraction.java +++ b/src/main/java/database/MongoDBInteraction.java @@ -26,18 +26,15 @@ public class MongoDBInteraction { String uri = "mongodb+srv://Cluster03790:dlVzT2Z2bEh9@cluster03790.tk4cwyy.mongodb.net/myFirstDatabase?retryWrites=true"; // Construct a ServerApi instance using the ServerApi.builder() method - ServerApi serverApi = ServerApi.builder() - .version(ServerApiVersion.V1) - .build(); - MongoClientSettings settings = MongoClientSettings.builder() .applyConnectionString(new ConnectionString(uri)) - .serverApi(serverApi) + .serverApi(ServerApi.builder().version(ServerApiVersion.V1).build()) .build(); this.mongoClient = MongoClients.create(settings); this.database = mongoClient.getDatabase("Objects"); this.objectCollection = database.getCollection("objectSets"); + System.out.println("MongoDB Connection Established"); } @@ -46,64 +43,109 @@ public class MongoDBInteraction { * @return */ public ObjectSet retrieveLatestObjectSet() { - Document doc = objectCollection.find().sort(new Document("index", -1)).first(); - return doc != null ? convertDocumentToObjectSet(doc) : null; + try { + Document doc = objectCollection.find().sort(new Document("index", -1)).first(); + if (doc == null) { + System.out.println("No document found."); + return null; + } else { + System.out.println("Document found: " + doc.toJson()); + return convertDocumentToObjectSet(doc); + } + } catch (Exception e) { + System.out.println("Error retrieving document: " + e.getMessage()); + return null; + } } private ObjectSet convertDocumentToObjectSet(Document doc) { - List pointSetsDocs = doc.getList("objectSets", Document.class); - ObjectSet objectSet = new ObjectSet(); - for (Document pointSetDoc : pointSetsDocs) { - objectSet.objects.add(convertDocumentToPointSet(pointSetDoc)); + if (doc == null) { + System.out.println("Document is null, no conversion possible."); + return null; } + List pointSetDocs = doc.getList("objectSets", Document.class); + if (pointSetDocs == null || pointSetDocs.isEmpty()) { + System.out.println("No point sets found in document."); + return new ObjectSet(); + } + + ObjectSet objectSet = new ObjectSet(); + for (Document pointSetDoc : pointSetDocs) { + PointSet pointSet = convertDocumentToPointSet(pointSetDoc); + if (pointSet != null) { + objectSet.objects.add(pointSet); + } else { + System.out.println("Failed to convert point set document: " + pointSetDoc.toJson()); + } + } return objectSet; } private PointSet convertDocumentToPointSet(Document doc) { - int idx = Integer.parseInt(doc.getString("setId")); + if (doc == null) { + System.out.println("PointSet document is null."); + return null; + } + + // Using Integer.parseInt to safely convert String to Integer if necessary + int idx; + try { + idx = doc.get("setId") instanceof Integer ? (Integer) doc.get("setId") : Integer.parseInt((String) doc.get("setId")); + } catch (NumberFormatException e) { + System.err.println("Invalid format for setId, must be an integer: " + doc.get("setId")); + return null; + } + List pointsDocs = doc.getList("points", Document.class); + if (pointsDocs == null) { + System.out.println("No points found in point set document."); + return new PointSet(idx); + } PointSet pointSet = new PointSet(idx); for (Document pointDoc : pointsDocs) { - float x = pointDoc.getDouble("x").floatValue(); - float y = pointDoc.getDouble("y").floatValue(); - float z = pointDoc.getDouble("z").floatValue(); - pointSet.addPoint(new Point(x, y, z, 0)); + Point point = new Point( + pointDoc.getDouble("x").floatValue(), + pointDoc.getDouble("y").floatValue(), + pointDoc.getDouble("z").floatValue(), + pointDoc.getInteger("R"), + pointDoc.getInteger("G"), + pointDoc.getInteger("B") + ); + pointSet.addPoint(point); } return pointSet; } - // PointSet management methods + private Document pointSetToDocument(String setId, PointSet pointSet) { List pointsList = new ArrayList<>(); for (Point p : pointSet.getPoints()) { pointsList.add(new Document("x", p.getX()) .append("y", p.getY()) - .append("z", p.getZ())); + .append("z", p.getZ()) + .append("R", p.R) + .append("G", p.G) + .append("B", p.B)); } return new Document("setId", setId) .append("points", pointsList); } - - // ObjectSet management methods private Document objectSetToDocument(int index, ObjectSet objectSet) { - List pointSetsList = new ArrayList<>(); - - for (object_detection.types.PointSet ps : objectSet.objects) { + List objectList = new ArrayList<>(); + for (PointSet ps : objectSet.objects) { Document pointSetDoc = pointSetToDocument(Integer.toString(ps.getIDX()), ps); - pointSetsList.add(pointSetDoc); + objectList.add(pointSetDoc); } return new Document("index", index) - .append("objectSets", pointSetsList); + .append("objectSets", objectList); } - public void updateObjectSet(int index, ObjectSet objectSet) { Document doc = objectSetToDocument(index, objectSet); ReplaceOptions options = new ReplaceOptions().upsert(true); objectCollection.replaceOne(Filters.eq("index", index), doc, options); } - } diff --git a/target/classes/vid2frames/.DS_Store b/src/main/java/object_detection/.DS_Store similarity index 94% rename from target/classes/vid2frames/.DS_Store rename to src/main/java/object_detection/.DS_Store index d89c2ebd6e71812c2a8943429f83ac719db3fc39..8303d96719256ee4a20806fcab63eb45bec574c3 100644 Binary files a/target/classes/vid2frames/.DS_Store and b/src/main/java/object_detection/.DS_Store differ diff --git a/src/main/java/top/BackendJava.java b/src/main/java/top/BackendJava.java index e7c796bdbceae05b730da8e25a4a1b998543f0f8..5384119209903a96641e6aaf5cedc78e7eaf1dde 100644 --- a/src/main/java/top/BackendJava.java +++ b/src/main/java/top/BackendJava.java @@ -119,18 +119,18 @@ public class BackendJava { return "html/index"; } - // @RequestMapping("/runProcess") - // @ResponseBody - // public boolean runProcess() throws IOException, CsvValidationException { - // System.out.println(" ============> Starting process"); - // ObjectDetector.startProcess(); - // return true; - // } + @RequestMapping("/runProcess") + @ResponseBody + public boolean runProcess() throws IOException, CsvValidationException { + System.out.println(" ============> Starting process"); + ObjectDetector.startProcess(); + return true; + } @RequestMapping("/getJSON") @ResponseBody public ResponseEntity tempJson(@RequestParam String dataset) throws CsvValidationException, IOException { - ObjectDetector.startProcess(dataset); + ObjectDetector.startProcess(); try { ObjectSet latestObjectSet = dbInteraction.retrieveLatestObjectSet(); diff --git a/src/main/resources/.DS_Store b/src/main/resources/.DS_Store index 3cbf255ca4bf9f4cb9c6cf05fb52caf4b0b8ee08..d6bd22acfbdaca192e3440e4fbca64d0f55d350d 100644 Binary files a/src/main/resources/.DS_Store and b/src/main/resources/.DS_Store differ diff --git a/src/main/resources/templates/.DS_Store b/src/main/resources/templates/.DS_Store index e660ed49dc6f2a9e38cdc5a467b1b2dad203ad02..0bf9042cc61cd2f2933faa6bec9d91e6b0ff6e92 100644 Binary files a/src/main/resources/templates/.DS_Store and b/src/main/resources/templates/.DS_Store differ diff --git a/target/test-classes/yolo/.DS_Store b/src/main/resources/templates/js/.DS_Store similarity index 79% rename from target/test-classes/yolo/.DS_Store rename to src/main/resources/templates/js/.DS_Store index ed23dab00de9e4439ec8daa755dcd8e9c4bf48fa..4818c6e7859e458942cf244d6e626ab6b4bb6f26 100644 Binary files a/target/test-classes/yolo/.DS_Store and b/src/main/resources/templates/js/.DS_Store differ diff --git a/target/classes/.DS_Store b/target/classes/.DS_Store deleted file mode 100644 index afa099aeb19f757267c6f1362af7b5bf99343952..0000000000000000000000000000000000000000 Binary files a/target/classes/.DS_Store and /dev/null differ diff --git a/target/classes/README.md b/target/classes/README.md deleted file mode 100644 index c93df4abbe8779abb9ad11834d608762c273d314..0000000000000000000000000000000000000000 --- a/target/classes/README.md +++ /dev/null @@ -1,15 +0,0 @@ - -# Entry into System - -Things that are true: -1. A student should be able to build the system, then press run, then open a localhost and see the video and the point cloud of each object -2. A student should also be able to choose between different object and get information (need interactive display) -3. The entry needs to do the entire workflow - - get keyframes and featurepoints - - get objects from keyframes - - start object detection - - finish object detection and update database - - ping GUI server - - GUI server pulls information and displays point cloud to user - -TODO: function to process each frame within the ObjectSet \ No newline at end of file diff --git a/target/classes/application 3.properties b/target/classes/application 3.properties deleted file mode 100644 index 4a5c2635a3e493971d146497da0075134f6914fa..0000000000000000000000000000000000000000 --- a/target/classes/application 3.properties +++ /dev/null @@ -1,2 +0,0 @@ -server.port = 5555 -#spring.data.mongodb.uri = mongodb+srv://zanem:@cluster0.axhv9kg.mongodb.net/?retryWrites=true&w=majority&appName=Cluster0 \ No newline at end of file diff --git a/target/classes/application 4.properties b/target/classes/application 4.properties deleted file mode 100644 index 4a5c2635a3e493971d146497da0075134f6914fa..0000000000000000000000000000000000000000 --- a/target/classes/application 4.properties +++ /dev/null @@ -1,2 +0,0 @@ -server.port = 5555 -#spring.data.mongodb.uri = mongodb+srv://zanem:@cluster0.axhv9kg.mongodb.net/?retryWrites=true&w=majority&appName=Cluster0 \ No newline at end of file diff --git a/target/classes/database/MongoDBInteraction.class b/target/classes/database/MongoDBInteraction.class deleted file mode 100644 index 6bb7ab3e606e858aedae566855e11968ef5fb670..0000000000000000000000000000000000000000 Binary files a/target/classes/database/MongoDBInteraction.class and /dev/null differ diff --git a/target/classes/object_detection/Downsampler.class b/target/classes/object_detection/Downsampler.class deleted file mode 100644 index 5bc8cfc98a8a413278343ae6e6cde22e2e6c22e8..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/Downsampler.class and /dev/null differ diff --git a/target/classes/object_detection/ObjectDetector 2.class b/target/classes/object_detection/ObjectDetector 2.class deleted file mode 100644 index 49d18bf3f4f2886492365d09eafc5da2cf4de376..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/ObjectDetector 2.class and /dev/null differ diff --git a/target/classes/object_detection/ObjectDetector.class b/target/classes/object_detection/ObjectDetector.class deleted file mode 100644 index 57e7fb5c2a6c760410f53f7f061ec253dc5dc3a1..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/ObjectDetector.class and /dev/null differ diff --git a/target/classes/object_detection/layout 2.md b/target/classes/object_detection/layout 2.md deleted file mode 100644 index e20177dae76513b4e6962c626a942c14f14e04bf..0000000000000000000000000000000000000000 --- a/target/classes/object_detection/layout 2.md +++ /dev/null @@ -1,20 +0,0 @@ - -Point: single feature -- modify x,y,z coordinates -- pointer to rep(s) - -PointSet: a single set of points that constitutes an object -- made of a set of points, and some k number of object reps -- object reps are chosen heuristically - - current ideas are to get middle most points, or corner most points as rep -- also update reps when adding points to a PointSet - -ObjectSet: group of objects <--> to/from database -- makeObject > instantiate HashSet of points -- find-set > return list of k reps -- union > combine two sets -- union-find > find and union together - -ObjectMart: disjoint set operations, that gets coordinates from source -- just a main function? -- getObject > get new set of coordinates, make-set on them, try union-find diff --git a/target/classes/object_detection/layout.md b/target/classes/object_detection/layout.md deleted file mode 100644 index 16ebc3523eb6e7b7f2264393d8d91f92bac9f7ba..0000000000000000000000000000000000000000 --- a/target/classes/object_detection/layout.md +++ /dev/null @@ -1,30 +0,0 @@ - - -Input to System: -- pointcloud -- keyframes: - - camera angles (x,y,z + angle ?) - - 2D points captured - - YOLO-captured bounding boxes - -1) Take pointcloud, and downsample -2) For each frame: - a. project downsampled pointcloud onto frame - b. overlay 2D bounding boxes from YOLO - c. create candidate objects based on points falling within boxes - d. do overlap combinations based on thresholding voxels -3) Given final objectset, transmit corners to GUI -4) Display corners over original downsampled pointcloud to show objects - - -Output of System: -- pointcloud -- 3D bounding box of objects - - - -Projecting 3D points onto 2D screen based on camera pose: -1) Calculate camera matrix = K * [R, t'] where R is rotation matrix, t is translation vector, and K is intrinsic of camera pose -2) Get projection by appling projPoints = [point, 1] * cameraMatrix' -3) Divide projPoints[1:2] by projPoints[3] (i.e. divide x and y coordinates by z) -4) Return projPoints if z > 0 (infront of camera), or x,y fall into size of image (0-ImageSize.x, 0-ImageSize.y) \ No newline at end of file diff --git a/target/classes/object_detection/types/BoundingBox2D.class b/target/classes/object_detection/types/BoundingBox2D.class deleted file mode 100644 index 4815950d851b877b14eda82377fe823061a38435..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/BoundingBox2D.class and /dev/null differ diff --git a/target/classes/object_detection/types/BoundingBox3D.class b/target/classes/object_detection/types/BoundingBox3D.class deleted file mode 100644 index 97d0548ebc08c6dd26875d4335ff493b1e2956c6..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/BoundingBox3D.class and /dev/null differ diff --git a/target/classes/object_detection/types/CameraIntrinsics.class b/target/classes/object_detection/types/CameraIntrinsics.class deleted file mode 100644 index d2a75b4db4d26f49b71267b88f519347c2100fb4..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/CameraIntrinsics.class and /dev/null differ diff --git a/target/classes/object_detection/types/CameraPose.class b/target/classes/object_detection/types/CameraPose.class deleted file mode 100644 index 4f364b5b23871c7deada78c800b7815af2f4e345..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/CameraPose.class and /dev/null differ diff --git a/target/classes/object_detection/types/Frame.class b/target/classes/object_detection/types/Frame.class deleted file mode 100644 index 396aafbe4a1fe96b8431f6b3a6ab57653947b881..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/Frame.class and /dev/null differ diff --git a/target/classes/object_detection/types/ObjectSet.class b/target/classes/object_detection/types/ObjectSet.class deleted file mode 100644 index 8bd8757ebe21c0552ebd1ce9cb9db4c0bf48d0f1..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/ObjectSet.class and /dev/null differ diff --git a/target/classes/object_detection/types/Point.class b/target/classes/object_detection/types/Point.class deleted file mode 100644 index 8b85ea62507701511f791b7952d16f0106560676..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/Point.class and /dev/null differ diff --git a/target/classes/object_detection/types/Point2D.class b/target/classes/object_detection/types/Point2D.class deleted file mode 100644 index 60f01cd551d67c83a2bbdf605b4428af80df8c89..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/Point2D.class and /dev/null differ diff --git a/target/classes/object_detection/types/PointSet.class b/target/classes/object_detection/types/PointSet.class deleted file mode 100644 index e4c1c96aa93cc072d46c2de4cdba73283bc83286..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/types/PointSet.class and /dev/null differ diff --git a/target/classes/top/BackendJava 2.class b/target/classes/top/BackendJava 2.class deleted file mode 100644 index f617de4187e40370d09836b2d40d3fc33b9de32d..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava 2.class and /dev/null differ diff --git a/target/classes/top/BackendJava$BackendService 2.class b/target/classes/top/BackendJava$BackendService 2.class deleted file mode 100644 index e1f4526b4ac697ed1162cfe3f8060dbbd3cab657..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava$BackendService 2.class and /dev/null differ diff --git a/target/classes/top/BackendJava$BackendService.class b/target/classes/top/BackendJava$BackendService.class index e6d1c7a55eb9d7dd102c6773d37865808b673ded..f4be48cc1086ccfde398c8a951748de95348af9d 100644 Binary files a/target/classes/top/BackendJava$BackendService.class and b/target/classes/top/BackendJava$BackendService.class differ diff --git a/target/classes/top/BackendJava$ObjectSetController 2.class b/target/classes/top/BackendJava$ObjectSetController 2.class deleted file mode 100644 index 68b01f21d34e582cadb9921391cab4290d2f7980..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava$ObjectSetController 2.class and /dev/null differ diff --git a/target/classes/top/BackendJava$ObjectSetController.class b/target/classes/top/BackendJava$ObjectSetController.class index e6ce9ed17f3b2942a58698eeb3e80483527f11ae..7e6a17b49039f265c6012d2f93c2c3e89b42c378 100644 Binary files a/target/classes/top/BackendJava$ObjectSetController.class and b/target/classes/top/BackendJava$ObjectSetController.class differ diff --git a/target/classes/top/BackendJava$WebMvcConfig 2.class b/target/classes/top/BackendJava$WebMvcConfig 2.class deleted file mode 100644 index ac512a79ce4ec892cfa2654185a5351562830451..0000000000000000000000000000000000000000 Binary files a/target/classes/top/BackendJava$WebMvcConfig 2.class and /dev/null differ diff --git a/target/classes/top/BackendJava.class b/target/classes/top/BackendJava.class index f617de4187e40370d09836b2d40d3fc33b9de32d..057cc082e8f839fcc5fe03f0f2d9be19dc5edcc6 100644 Binary files a/target/classes/top/BackendJava.class and b/target/classes/top/BackendJava.class differ diff --git a/target/classes/vid2frames/Vid2Frames.class b/target/classes/vid2frames/Vid2Frames.class deleted file mode 100644 index 3b787006e3995615914e9df6e5c9b60da0e50aa6..0000000000000000000000000000000000000000 Binary files a/target/classes/vid2frames/Vid2Frames.class and /dev/null differ diff --git a/target/classes/vid2frames/input_video.mov b/target/classes/vid2frames/input_video.mov deleted file mode 100644 index 569829b969d88d0e9ab159972297ca8222a6382f..0000000000000000000000000000000000000000 Binary files a/target/classes/vid2frames/input_video.mov and /dev/null differ diff --git a/target/classes/vslam/.DS_Store b/target/classes/vslam/.DS_Store deleted file mode 100644 index 19a7d37d9b41f17c2d7dcf2d9ae54922454c080f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/.DS_Store and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/MonocularVisualSimultaneousLocalizationAndMappingExample.mlx b/target/classes/vslam/Mathworks_VSLAM_Example/MonocularVisualSimultaneousLocalizationAndMappingExample.mlx deleted file mode 100644 index 25864978c4c3f4e433ddf9052b55627daaede5c4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_Example/MonocularVisualSimultaneousLocalizationAndMappingExample.mlx and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/bagOfFeaturesDataSLAM.mat b/target/classes/vslam/Mathworks_VSLAM_Example/bagOfFeaturesDataSLAM.mat deleted file mode 100644 index bba0c9c9f9fced2771381f71adc28636701665c9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_Example/bagOfFeaturesDataSLAM.mat and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperAddLoopConnections.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperAddLoopConnections.m deleted file mode 100644 index 8c4ece7be009a3705b802813b4ad6fb04a36e0d1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperAddLoopConnections.m +++ /dev/null @@ -1,94 +0,0 @@ -function [isLoopClosed, mapPoints, vSetKeyFrames] = helperAddLoopConnections(... - mapPoints, vSetKeyFrames, loopCandidates, currKeyFrameId, currFeatures, ... - loopEdgeNumMatches) -%helperAddLoopConnections add connections between the current key frame and -% the valid loop candidate key frames. A loop candidate is valid if it has -% enough covisible map points with the current key frame. - -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -loopClosureEdge = zeros(0, 2, 'uint32'); - -numCandidates = size(loopCandidates,1); -if isSimMode - [index3d1, index2d1] = findWorldPointsInView(mapPoints, currKeyFrameId); -else - [index3d1Cg, index2d1Cg] = findWorldPointsInView(mapPoints, currKeyFrameId); - index2d1 = index2d1Cg{1}; - index3d1 = index3d1Cg{1}; -end - -validFeatures1 = currFeatures.Features(index2d1, :); - -for k = 1 : numCandidates - if isSimMode() - [index3d2, index2d2] = findWorldPointsInView(mapPoints, loopCandidates(k)); - else - [index3d2Cg, index2d2Cg] = findWorldPointsInView(mapPoints, loopCandidates(k)); - index2d2 = index2d2Cg{1}; - index3d2 = index3d2Cg{1}; - end - allFeatures2 = vSetKeyFrames.Views.Features{loopCandidates(k)}; - - validFeatures2 = allFeatures2(index2d2, :); - - indexPairs = matchFeatures(binaryFeatures(validFeatures1), binaryFeatures(validFeatures2), ... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - - % Check if all the candidate key frames have strong connection with the - % current keyframe - if size(indexPairs, 1) < loopEdgeNumMatches - continue - end - - % Estimate the relative pose of the current key frame with respect to the - % loop candidate keyframe with the highest similarity score - worldPoints1 = mapPoints.WorldPoints(index3d1(indexPairs(:, 1)), :); - worldPoints2 = mapPoints.WorldPoints(index3d2(indexPairs(:, 2)), :); - - tform1 = pose2extr(vSetKeyFrames.Views.AbsolutePose(end)); - tform2 = pose2extr(vSetKeyFrames.Views.AbsolutePose(loopCandidates(k))); - - worldPoints1InCamera1 = transformPointsForward(tform1, worldPoints1) ; - worldPoints2InCamera2 = transformPointsForward(tform2, worldPoints2) ; - - w = warning('off','all'); - if isSimMode() - [tform, inlierIndex] = estgeotform3d(... - worldPoints1InCamera1, worldPoints2InCamera2, 'similarity', 'MaxDistance', 0.1); - else - [tform, inlierIndex] = estgeotform3d(... - worldPoints1InCamera1, worldPoints2InCamera2, 'rigid', 'MaxDistance', 0.1); - end - warning(w); - - % Add connection between the current key frame and the loop key frame - inlierIndexVals = inlierIndex(:); - indexPairs1 = indexPairs(inlierIndexVals, 1); - indexPairs2 = indexPairs(inlierIndexVals, 2); - index2dPairs = index2d2(indexPairs2); - index2d1Pairs = index2d1(indexPairs1); - matches = uint32([index2dPairs, index2d1Pairs]); - vSetKeyFrames = addConnection(vSetKeyFrames, loopCandidates(k), currKeyFrameId, tform, 'Matches', matches); - if isSimMode() - disp(['Loop edge added between keyframe: ', num2str(loopCandidates(k)), ' and ', num2str(currKeyFrameId)]); - end - - % Fuse co-visible map points - matchedIndex3d1 = index3d1(indexPairs1); - matchedIndex3d2 = index3d2(indexPairs2); - - mapPoints = updateWorldPoints(mapPoints, matchedIndex3d1, mapPoints.WorldPoints(matchedIndex3d2, :)); - - loopClosureEdge = [loopClosureEdge; loopCandidates(k), currKeyFrameId]; -end -isLoopClosed = ~isempty(loopClosureEdge); -end - -function tf = isSimMode() -tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperAddNewKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperAddNewKeyFrame.m deleted file mode 100644 index 8171da4598e2f5e654d532de5f2eafe794b88a54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperAddNewKeyFrame.m +++ /dev/null @@ -1,54 +0,0 @@ -function [mapPoints, vSetKeyFrames] = helperAddNewKeyFrame(mapPoints, vSetKeyFrames,... - cameraPose, currFeatures, currPoints, mapPointsIndices, featureIndices, keyFramesIndices) -%helperAddNewKeyFrame add key frames to the key frame set -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -viewId = vSetKeyFrames.Views.ViewId(end)+1; - -vSetKeyFrames = addView(vSetKeyFrames, viewId, cameraPose,... - 'Features', currFeatures.Features, ... - 'Points', currPoints); - -viewsAbsPoses = vSetKeyFrames.Views.AbsolutePose; - -for i = 1:numel(keyFramesIndices) - localKeyFrameId = keyFramesIndices(i); - if isSimMode() - [index3d, index2d] = findWorldPointsInView(mapPoints, localKeyFrameId); - else - [index3dCg, index2dCg] = findWorldPointsInView(mapPoints, localKeyFrameId); - index3d = index3dCg{1}; - index2d = index2dCg{1}; - end - [~, ia, ib] = intersect(index3d, mapPointsIndices, 'stable'); - - prePose = viewsAbsPoses(localKeyFrameId); - relPose = rigidtform3d(prePose.R' * cameraPose.R, ... - (cameraPose.Translation-prePose.Translation)*prePose.R); - - if numel(ia) > 5 - if isSimMode() - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', [index2d(ia),featureIndices(ib)]); - else - coder.varsize('matches', [inf 2], [1, 0]); - fIndices = featureIndices(ib(:)); - matches = [index2d(ia), fIndices]; - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', matches); - end - end -end - -mapPoints = addCorrespondences(mapPoints, viewId, mapPointsIndices, ... - featureIndices); -end - -function tf = isSimMode() - tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperCheckLoopClosure.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperCheckLoopClosure.m deleted file mode 100644 index 7cff3e85c2f308126c160e6d73176923a5b38914..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperCheckLoopClosure.m +++ /dev/null @@ -1,58 +0,0 @@ -function [isDetected, loopKeyFrameIds] = helperCheckLoopClosure(vSetKeyFrames, ... - currKeyframeId, imageDatabase, currImg, loopEdgeNumMatches) -%helperCheckLoopClosure detect loop candidates key frames by retrieving -% visually similar images from the feature database. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -% Retrieve all the visually similar key frames -[candidateViewIds, similarityscores] = retrieveImages(currImg, imageDatabase); - -% Compute similarity between the current key frame and its strongly-connected -% key frames. The minimum similarity score is used as a baseline to find -% loop candidate key frames, which are visually similar to but not connected -% to the current key frame -covisViews = connectedViews(vSetKeyFrames, currKeyframeId); -covisViewsIds = covisViews.ViewId; -strongCovisViews = connectedViews(vSetKeyFrames, currKeyframeId, 'MinNumMatches', loopEdgeNumMatches); -strongCovisViewIds = strongCovisViews.ViewId; - -% Retrieve the top 10 similar connected key frames -[~,~,scores] = evaluateImageRetrieval(currImg, imageDatabase, strongCovisViewIds, 'NumResults', 10); -minScore = min(scores); - -[loopKeyFrameIds,ia] = setdiff(candidateViewIds, covisViewsIds, 'stable'); - -% Scores of non-connected key frames -candidateScores = similarityscores(ia); % Descending - -if ~isempty(ia) - bestScore = candidateScores(1); - - % Score must be higher than the 75% of the best score - isValid = candidateScores > max(bestScore*0.75, minScore); - - loopKeyFrameIds = loopKeyFrameIds(isValid); -else - loopKeyFrameIds = zeros(coder.ignoreConst(0), coder.ignoreConst(0), class(loopKeyFrameIds)); -end - -% Loop candidates need to be consecutively detected -minNumCandidates = 3; % At least 3 candidates are found -if size(loopKeyFrameIds,1) >= minNumCandidates - groups = nchoosek(loopKeyFrameIds, minNumCandidates); - consecutiveGroups = groups(max(groups,[],2) - min(groups,[],2) < 4, :); - if ~isempty(consecutiveGroups) % Consecutive candidates are found - loopKeyFrameIds = consecutiveGroups(1,:); - isDetected = true; - else - isDetected = false; - end -else - isDetected = false; -end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperCreateNewMapPoints.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperCreateNewMapPoints.m deleted file mode 100644 index 1731749fa36785ad66beb4aa0763f71a1c072255..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperCreateNewMapPoints.m +++ /dev/null @@ -1,205 +0,0 @@ -function [mapPoints, vSetKeyFrames, recentPointIdx] = helperCreateNewMapPoints(... - mapPoints, vSetKeyFrames, currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax) -%helperCreateNewMapPoints creates new map points by triangulating matched -% feature points in the current key frame and the connected key frames. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -% Get connected key frames -KcViews = connectedViews(vSetKeyFrames, currKeyFrameId, 'MinNumMatches', minNumMatches); -KcIDs = KcViews.ViewId; - -% Retreive data of the current key frame -views = vSetKeyFrames.Views; -currPose = views.AbsolutePose(currKeyFrameId); -currFeatures = views.Features{currKeyFrameId}; -currPoints = views.Points{currKeyFrameId}; -currLocations = currPoints.Location; -currScales = currPoints.Scale; - -% Camera projection matrix -currCamMatrix = cameraProjection(intrinsics, pose2extr(currPose)); - -recentPointIdx = zeros(0, 1); -for i = 1:numel(KcIDs) - kfPose = views.AbsolutePose(KcIDs(i)); - if isSimMode() - [kfIndex3d, kfIndex2d] = findWorldPointsInView(mapPoints, KcIDs(i)); - else - [kfIndex3dCg, kfIndex2dCg] = findWorldPointsInView(mapPoints, KcIDs(i)); - kfIndex3d = kfIndex3dCg{1}; - kfIndex2d = kfIndex2dCg{1}; - end - xyzPoints = mapPoints.WorldPoints(kfIndex3d,:); - medianDepth = median(vecnorm(xyzPoints - kfPose.Translation, 2, 2)); - - % Skip the key frame is the change of view is small - isViewClose = norm(kfPose.Translation - currPose.Translation)/medianDepth < 0.01; - - if isViewClose - continue - end - - % Retrieve data of the connected key frame - kfFeatures = views.Features{KcIDs(i)}; - kfPoints = views.Points{KcIDs(i)}; - kfLocations = kfPoints.Location; - kfScales = kfPoints.Scale; - - % currIndex2d changes in each iteration as new map points are created - if isSimMode() - [~, currIndex2d] = findWorldPointsInView(mapPoints, currKeyFrameId); - else - [~, currIndex2dCg] = findWorldPointsInView(mapPoints, currKeyFrameId); - currIndex2d = currIndex2dCg{1}; - end - % Only use unmatched feature points - uIndices1 = setdiff(uint32(1:size(kfFeatures,1))', kfIndex2d, 'stable'); - uIndices2 = setdiff(uint32(1:size(currFeatures,1))', currIndex2d, 'stable'); - - uFeatures1 = kfFeatures(uIndices1, :); - uFeatures2 = currFeatures(uIndices2, :); - - uLocations1 = kfLocations(uIndices1, :); - uLocations2 = currLocations(uIndices2, :); - - uScales1 = kfScales(uIndices1); - uScales2 = currScales(uIndices2); - - indexPairs = matchFeatures(binaryFeatures(uFeatures1), binaryFeatures(uFeatures2),... - 'Unique', true, 'MaxRatio', 0.7, 'MatchThreshold', 40); - - if isempty(indexPairs) - continue - end - - matchedPoints1 = uLocations1(indexPairs(:,1), :); - matchedPoints2 = uLocations2(indexPairs(:,2), :); - - % Epipole in the current key frame - epiPole = world2img(kfPose.Translation, pose2extr(currPose), intrinsics); - distToEpipole = vecnorm(matchedPoints2 - epiPole, 2, 2); - - % Compute fundamental matrix - F = computeF(intrinsics, kfPose, currPose); - - % Epipolar line in the second image - epiLine = epipolarLine(F, matchedPoints2); - distToLine = abs(sum(epiLine.* [matchedPoints1, ones(size(matchedPoints1,1), 1)], 2))./... - sqrt(sum(epiLine(:,1:2).^2, 2)); - isValid = distToLine < 2*uScales2(indexPairs(:,2)) & ... - distToEpipole > 10*uScales2(indexPairs(:,2)); - - indexPairs = indexPairs(isValid, :); - matchedPoints1 = matchedPoints1(isValid, :); - matchedPoints2 = matchedPoints2(isValid, :); - - % Parallax check - isLarge = isLargeParalalx(matchedPoints1, matchedPoints2, kfPose, ... - currPose, intrinsics, minParallax); - - matchedPoints1 = matchedPoints1(isLarge, :); - matchedPoints2 = matchedPoints2(isLarge, :); - indexPairs = indexPairs(isLarge, :); - - kfCamMatrix = cameraProjection(intrinsics, pose2extr(kfPose)); - - % Triangulate two views to create new world points - [xyzPoints, reprojectionErrors, validIdx] = triangulate(matchedPoints1, ... - matchedPoints2, kfCamMatrix, currCamMatrix); - - % Filtering by view direction and reprojection error - inlier = filterTriangulatedMapPoints(xyzPoints, kfPose, currPose, ... - uScales1(indexPairs(:,1)), uScales2(indexPairs(:,2)), ... - reprojectionErrors, scaleFactor, validIdx); - - % Add new map points and update connections - if any(inlier) - xyzPoints = xyzPoints(inlier,:); - indexPairs = indexPairs(inlier, :); - - mIndices1 = uIndices1(indexPairs(:, 1)); - mIndices2 = uIndices2(indexPairs(:, 2)); - - [mapPoints, indices] = addWorldPoints(mapPoints, xyzPoints); - recentPointIdx = [recentPointIdx; indices]; %#ok - - % Add new observations - mapPoints = addCorrespondences(mapPoints, KcIDs(i),indices, mIndices1); - mapPoints = addCorrespondences(mapPoints, currKeyFrameId, indices, mIndices2); - - % Update connections with new feature matches - if isSimMode() - [~,ia] = intersect(vSetKeyFrames.Connections{:,1:2}, ... - [KcIDs(i), currKeyFrameId], 'row', 'stable'); - oldMatches = vSetKeyFrames.Connections.Matches{ia}; - else - connections = vSetKeyFrames.Connections; - [~,ia] = intersect([connections.ViewId1, connections.ViewId2], ... - [KcIDs(i), currKeyFrameId], 'row', 'stable'); - oldMatches = connections.Matches{ia}; - end - newMatches = [oldMatches; mIndices1, mIndices2]; - vSetKeyFrames = updateConnection(vSetKeyFrames, KcIDs(i), currKeyFrameId, ... - 'Matches', newMatches); - end -end -end - -function F = computeF(intrinsics, pose1, pose2) -R1 = pose1.R; -t1 = pose1.Translation'; - -R2 = pose2.R; -t2 = pose2.Translation'; - -R12 = R1'*R2; -t12 = R1'*(t2-t1); - -% Skew symmetric matrix -t12x = [0, -t12(3), t12(2) - t12(3), 0, -t12(1) - -t12(2) t12(1), 0]; - -F = intrinsics.K'\ t12x * R12 / intrinsics.K; -end - -function inlier = filterTriangulatedMapPoints(xyzPoints, pose1, pose2, ... - scales1, scales2, reprojectionErrors, scaleFactor, isInFront) - -camToPoints1= xyzPoints - pose1.Translation; -camToPoints2= xyzPoints - pose2.Translation; - -% Check scale consistency and reprojection errors -distances1 = vecnorm(camToPoints1, 2, 2); -distances2 = vecnorm(camToPoints2, 2, 2); -ratioDist = distances1./distances2; -ratioScale = scales2./scales1; - -ratioFactor = 1.5 * scaleFactor; - -isInScale = (ratioDist./ratioScale < ratioFactor | ... - ratioScale./ratioDist < ratioFactor); - -maxError = sqrt(6); -isSmallError= reprojectionErrors < maxError*min(scales1, scales2); -inlier = isInScale & isSmallError & isInFront; -end - -function isLarge = isLargeParalalx(points1, points2, pose1, pose2, intrinsics, minParallax) - -% Parallax check -ray1 = [points1, ones(size(points1(:,1)))]/intrinsics.K' *pose1.R'; -ray2 = [points2, ones(size(points1(:,2)))]/intrinsics.K' *pose2.R'; - -cosParallax = sum(ray1 .* ray2, 2) ./(vecnorm(ray1, 2, 2) .* vecnorm(ray2, 2, 2)); -isLarge = cosParallax < cosd(minParallax) & cosParallax > 0; -end - -function tf = isSimMode() - tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperImportGroundTruth.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperImportGroundTruth.m deleted file mode 100644 index 8c9488ba53b88a69711a59deed543ca532bae1e8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperImportGroundTruth.m +++ /dev/null @@ -1,57 +0,0 @@ -function camPoses = helperImportGroundTruth(fileName, imds) -%helperImportGroundTruth Import ground truth camera poses from a .txt file -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Copyright 2023 The MathWorks Inc. - -% Set up the Import Options and import the data -opts = delimitedTextImportOptions("NumVariables", 9); - -% Specify range and delimiter -opts.DataLines = [4, Inf]; -opts.Delimiter = " "; - -% Specify column names and types -opts.VariableNames = ["timestamp", "tx", "ty", "tz", "qx", "qy", "qz", "qw", "Var9"]; -opts.SelectedVariableNames = ["timestamp", "tx", "ty", "tz", "qx", "qy", "qz", "qw"]; -opts.VariableTypes = ["double", "double", "double", "double", "double", "double", "double", "double", "string"]; - -% Specify file level properties -opts.ExtraColumnsRule = "ignore"; -opts.EmptyLineRule = "read"; -opts.ConsecutiveDelimitersRule = "join"; -opts.LeadingDelimitersRule = "ignore"; - -% Specify variable properties -opts = setvaropts(opts, "Var9", "WhitespaceRule", "preserve"); -opts = setvaropts(opts, "Var9", "EmptyFieldRule", "auto"); - -% Import the data -groundtruth = readtable(fileName, opts); - -% Initialize the output -camPoses = repmat(rigidtform3d, 1, numel(imds.Files)); - -firstT = [groundtruth(1,:).tx groundtruth(1,:).ty groundtruth(1,:).tz]; -firstR = quat2rotm([groundtruth(1,:).qw groundtruth(1,:).qx groundtruth(1,:).qy groundtruth(1,:).qz]); - -% Find the ground truth data corresponding to the image based on the timestamp -[~,imageTS] = fileparts(imds.Files); -imgTimestamp = str2double(imageTS); -index = interp1(groundtruth.timestamp, 1:numel(groundtruth.timestamp), imgTimestamp, 'nearest', 'extrap'); - -for i=1:numel(imds.Files) - groundtruth_raw = groundtruth(index(i),:); - - % Transform all the camera poses to the coordinate system of the first camera - % Rotation - q = [groundtruth_raw.qw groundtruth_raw.qx groundtruth_raw.qy groundtruth_raw.qz]; - camPoses(i).R = firstR'*quat2rotm(q); - - % Translation - camPoses(i).Translation = ([groundtruth_raw.tx groundtruth_raw.ty groundtruth_raw.tz]-firstT) * firstR; -end -end - diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperMonoVisualSLAM.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperMonoVisualSLAM.m deleted file mode 100644 index 24abc6bc55ccf40ce6a91a017d17b88e0ec1d499..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperMonoVisualSLAM.m +++ /dev/null @@ -1,31 +0,0 @@ -function [xyzPoint, camPoses] = helperMonoVisualSLAM(image) - -% Copyright 2023 The MathWorks Inc. - -%#codegen - -persistent vslam xyzPointsInternal camPosesInternal - -if isempty(vslam) - % Create a monovslam class to process the image data - focalLength = [535.4, 539.2]; % in units of pixels - principalPoint = [320.1, 247.6]; % in units of pixels - imageSize = [480, 640]; % in units of pixels - intrinsics = cameraIntrinsics(focalLength, principalPoint, imageSize); - - vslam = monovslam(intrinsics); -end - -% Process each image frame -addFrame(vslam, image); - -% Get 3-D map points and camera poses -if isempty(xyzPointsInternal) || hasNewKeyFrame(vslam) - xyzPointsInternal = mapPoints(vslam); - camPosesInternal = poses(vslam); -end - -xyzPoint = xyzPointsInternal; - -% Convert camera poses to homogeneous transformation matrices -camPoses = cat(3, camPosesInternal.A); \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperORBFeatureExtractorFunction.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperORBFeatureExtractorFunction.m deleted file mode 100644 index d8c77bf675b0e62057d8b72b15581914ba951f22..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperORBFeatureExtractorFunction.m +++ /dev/null @@ -1,25 +0,0 @@ -function [features, featureMetrics]= helperORBFeatureExtractorFunction(I) -% helperORBFeatureExtractorFunction Implements the ORB feature extraction -% used in bagOfFeatures. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2021 The MathWorks, Inc. - -numPoints = 1000; - -% Detect ORB features -Igray = im2gray(I); - -points = detectORBFeatures(Igray, 'ScaleFactor', 1.2, 'NumLevels', 8); - -% Select a subset of features, uniformly distributed throughout the image -points = selectUniform(points, numPoints, size(Igray, 1:2)); - -% Extract features -features = extractFeatures(Igray, points); - -% Compute the Feature Metric. Use the variance of features as the metric -featureMetrics = var(single(features.Features),[],2); - diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLastKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLastKeyFrame.m deleted file mode 100644 index 467ff8188bc13a55f385e8062267d67f5d77ff54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLastKeyFrame.m +++ /dev/null @@ -1,106 +0,0 @@ -%helperTrackLastKeyFrame Estimate the camera pose by tracking the last key frame -% [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrameStereo(mapPoints, -% views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) estimates -% the camera pose of the current frame by matching features with the -% previous key frame. -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A helperMapPoints objects storing map points -% views - View attributes of key frames -% currFeatures - Features in the current frame -% currPoints - Feature points in the current frame -% lastKeyFrameId - ViewId of the last key frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% -% Outputs -% ------- -% currPose - Estimated camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features corresponding to mapPointIdx - -% Copyright 2019-2022 The MathWorks, Inc. - -function [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrame(... - mapPoints, views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) - -% Match features from the previous key frame with known world locations -[index3d, index2d] = findWorldPointsInView(mapPoints, lastKeyFrameId); -lastKeyFrameFeatures = views.Features{lastKeyFrameId}(index2d,:); -lastKeyFramePoints = views.Points{lastKeyFrameId}(index2d); - -indexPairs = matchFeatures(currFeatures, binaryFeatures(lastKeyFrameFeatures),... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - -% Estimate the camera pose -matchedImagePoints = currPoints.Location(indexPairs(:,1),:); -matchedWorldPoints = mapPoints.WorldPoints(index3d(indexPairs(:,2)), :); - -matchedImagePoints = cast(matchedImagePoints, 'like', matchedWorldPoints); -[currPose, inlier, status] = estworldpose(... - matchedImagePoints, matchedWorldPoints, intrinsics, ... - 'Confidence', 95, 'MaxReprojectionError', 3, 'MaxNumTrials', 1e4); - -if status - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Refine camera pose only -currPose = bundleAdjustmentMotion(matchedWorldPoints(inlier,:), ... - matchedImagePoints(inlier,:), currPose, intrinsics, ... - 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); - -% Search for more matches with the map points in the previous key frame -xyzPoints = mapPoints.WorldPoints(index3d,:); - -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(currPose), intrinsics); -projectedPoints = projectedPoints(isInImage, :); - -minScales = max(1, lastKeyFramePoints.Scale(isInImage)/scaleFactor); -maxScales = lastKeyFramePoints.Scale(isInImage)*scaleFactor; -r = 4; -searchRadius = r*lastKeyFramePoints.Scale(isInImage); - -indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 0.8, 'Unique', true); - -if size(indexPairs, 1) < 20 - indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, 2*searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 1, 'Unique', true); -end - -if size(indexPairs, 1) < 10 - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= minScales(indexPairs(:, 1)) & ... - currPoints.Scale(indexPairs(:, 2)) <= maxScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Obtain the index of matched map points and features -tempIdx = find(isInImage); % Convert to linear index -mapPointIdx = index3d(tempIdx(indexPairs(:,1))); -featureIdx = indexPairs(:,2); - -% Refine the camera pose again -matchedWorldPoints = mapPoints.WorldPoints(mapPointIdx, :); -matchedImagePoints = currPoints.Location(featureIdx, :); - -currPose = bundleAdjustmentMotion(matchedWorldPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLocalMap.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLocalMap.m deleted file mode 100644 index 68afe780783e974593bf71e7b054a885e86aa5b4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperTrackLocalMap.m +++ /dev/null @@ -1,231 +0,0 @@ -function [localKeyFrameIds, currPose, mapPointIdx, featureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPoints, vSetKeyFrames, mapPointIdx, ... - featureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - newKeyFrameAdded, lastKeyFrameIndex, currFrameIndex, numSkipFrames, numPointsKeyFrame) -%helperTrackLocalMap Refine camera pose by tracking the local map -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A worldpointset object storing map points -% vSetKeyFrames - An imageviewset storing key frames -% mapPointsIndices - Indices of map points observed in the current frame -% featureIndices - Indices of features in the current frame -% corresponding to map points denoted by mapPointsIndices -% currPose - Current camera pose -% currFeatures - ORB Features in the current frame -% currPoints - Feature points in the current frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% numLevels - number of levels in feature exatraction -% newKeyFrameAdded - A boolean scalar indicating if a new key frame is -% added recently -% lastKeyFrameIndex - Frame index of the last key frame -% currFrameIndex - Frame index of the current frame -% numSkipFrames - Largest number of frames to skip -% numPointsKeyFrame - Minimum number of points tracked by a key frame -% -% Outputs -% ------- -% localKeyFrameIds - ViewIds of the local key frames -% currPose - Refined camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features in the current frame corresponding -% to mapPointIdx -% isKeyFrame - A boolean scalar indicating if the current frame is -% a key frame - -% Copyright 2019-2022 The MathWorks, Inc. - -% Initialize outputs -localKeyFrameIds = []; -isKeyFrame = false; - -% Check if there are no map points to process -if isempty(mapPointIdx) - disp('No map points to process. Skipping local map tracking.'); - return; % Early return to skip processing when there are no map points -end - -persistent numPointsRefKeyFrame localPointsIndices localKeyFrameIdsInternal - -if isempty(numPointsRefKeyFrame) || newKeyFrameAdded - [localPointsIndices, localKeyFrameIdsInternal, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, mapPointIdx); -end - -% Project the map into the frame and search for more map point correspondences -newMapPointIdx = setdiff(localPointsIndices, mapPointIdx, 'stable'); -localFeatures = getFeatures(mapPoints, vSetKeyFrames.Views, newMapPointIdx); -[projectedPoints, inlierIndex, predictedScales, viewAngles] = removeOutlierMapPoints(mapPoints, ... - currPose, intrinsics, newMapPointIdx, scaleFactor, numLevels); - -newMapPointIdx = newMapPointIdx(inlierIndex); -localFeatures = localFeatures(inlierIndex,:); - -unmatchedfeatureIdx = setdiff(cast((1:size( currFeatures.Features, 1)).', 'uint32'), ... - featureIdx,'stable'); -unmatchedFeatures = currFeatures.Features(unmatchedfeatureIdx, :); -unmatchedValidPoints= currPoints(unmatchedfeatureIdx); - -% Search radius depends on scale and view direction -searchRadius = 4*ones(size(localFeatures, 1), 1); -searchRadius(viewAngles<3) = 2.5; -searchRadius = searchRadius.*predictedScales; - -indexPairs = matchFeaturesInRadius(binaryFeatures(localFeatures),... - binaryFeatures(unmatchedFeatures), unmatchedValidPoints, projectedPoints, ... - searchRadius, 'MatchThreshold', 40, 'MaxRatio', 0.9, 'Unique', true); - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= ... - max(1, predictedScales(indexPairs(:, 1))/scaleFactor) & ... - currPoints.Scale(indexPairs(:, 2)) <= predictedScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Refine camera pose with more 3D-to-2D correspondences -mapPointIdx = [newMapPointIdx(indexPairs(:,1)); mapPointIdx]; -featureIdx = [unmatchedfeatureIdx(indexPairs(:,2)); featureIdx]; -matchedMapPoints = mapPoints.WorldPoints(mapPointIdx,:); -matchedImagePoints = currPoints.Location(featureIdx,:); - -isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointIdx, numSkipFrames, numPointsKeyFrame); - -localKeyFrameIds = localKeyFrameIdsInternal; - -if isKeyFrame - % Refine camera pose only if the current frame is a key frame - currPose = bundleAdjustmentMotion(matchedMapPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, ... - 'AbsoluteTolerance', 1e-7, 'RelativeTolerance', 1e-16,'MaxIteration', 20); -end -end - -function [localPointsIndices, localKeyFrameIds, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, pointIndices) - -if vSetKeyFrames.NumViews == 1 - localKeyFrameIds = vSetKeyFrames.Views.ViewId; - localPointsIndices = (1:mapPoints.Count)'; - numPointsRefKeyFrame = mapPoints.Count; - return -end - -% The reference key frame has the most covisible map points -viewIds = findViewsOfWorldPoint(mapPoints, pointIndices); -refKeyFrameId = mode(vertcat(viewIds{:})); - -localKeyFrames = connectedViews(vSetKeyFrames, refKeyFrameId, "MaxDistance", 2); -localKeyFrameIds = [localKeyFrames.ViewId; refKeyFrameId]; - -pointIdx = findWorldPointsInView(mapPoints, localKeyFrameIds); -if iscell(pointIdx) - numPointsRefKeyFrame = numel(pointIdx{localKeyFrameIds==refKeyFrameId}); - localPointsIndices = sort(vertcat(pointIdx{:})); -else - numPointsRefKeyFrame = numel(pointIdx); - localPointsIndices = sort(pointIdx); -end -end - -function features = getFeatures(mapPoints, views, mapPointIdx) - -% Efficiently retrieve features and image points corresponding to map points -% denoted by mapPointIdx -allIndices = zeros(1, numel(mapPointIdx)); - -% ViewId and offset pair -count = []; % (ViewId, NumFeatures) -viewsFeatures = views.Features; - -for i = 1:numel(mapPointIdx) - index3d = mapPointIdx(i); - - viewId = double(mapPoints.RepresentativeViewId(index3d)); - - if isempty(count) - count = [viewId, size(viewsFeatures{viewId},1)]; - elseif ~any(count(:,1) == viewId) - count = [count; viewId, size(viewsFeatures{viewId},1)]; - end - - idx = find(count(:,1)==viewId); - - if idx > 1 - offset = sum(count(1:idx-1,2)); - else - offset = 0; - end - allIndices(i) = mapPoints.RepresentativeFeatureIndex(index3d) + offset; -end - -uIds = count(:,1); - -% Concatenating features and indexing once is faster than accessing via a for loop -allFeatures = vertcat(viewsFeatures{uIds}); -features = allFeatures(allIndices, :); -end - -function [projectedPoints, inliers, predictedScales, viewAngles] = removeOutlierMapPoints(... - mapPoints, pose, intrinsics, localPointsIndices, scaleFactor, ... - numLevels) - -% 1) Points within the image bounds -xyzPoints = mapPoints.WorldPoints(localPointsIndices, :); -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(pose), intrinsics); - -if isempty(projectedPoints) - error('Tracking failed. Try inserting new key frames more frequently.') -end - -% 2) Parallax less than 60 degrees -cameraNormVector = [0 0 1] * pose.Rotation; -cameraToPoints = xyzPoints - pose.Translation; -viewDirection = mapPoints.ViewingDirection(localPointsIndices, :); -validByView = sum(viewDirection.*cameraToPoints, 2) > ... - cosd(60)*(vecnorm(cameraToPoints, 2, 2)); - -% 3) Distance from map point to camera center is in the range of scale -% invariant depth -minDist = mapPoints.DistanceLimits(localPointsIndices,1)/scaleFactor; -maxDist = mapPoints.DistanceLimits(localPointsIndices,2)*scaleFactor; -dist = vecnorm(xyzPoints - pose.Translation, 2, 2); - -validByDistance = dist > minDist & dist < maxDist; - -inliers = isInImage & validByView & validByDistance; - -% Predicted scales -level= ceil(log(maxDist ./ dist)./log(scaleFactor)); -level(level<0) = 0; -level(level>=numLevels-1) = numLevels-1; -predictedScales = scaleFactor.^level; - -% View angles -viewAngles = acosd(sum(cameraNormVector.*cameraToPoints, 2) ./ ... - vecnorm(cameraToPoints, 2, 2)); - -predictedScales = predictedScales(inliers); -viewAngles = viewAngles(inliers); - -projectedPoints = projectedPoints(inliers, :); -end - -function isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointsIndices, numSkipFrames, numPointsKeyFrame) - -% More than numSkipFrames frames have passed from last key frame insertion -tooManyNonKeyFrames = currFrameIndex > lastKeyFrameIndex + numSkipFrames; - -% Track less than numPointsKeyFrame map points -tooFewMapPoints = numel(mapPointsIndices) < numPointsKeyFrame; - -% Tracked map points are fewer than 90% of points tracked by -% the reference key frame -tooFewTrackedPoints = numel(mapPointsIndices) < 0.9 * numPointsRefKeyFrame; - -isKeyFrame = (tooManyNonKeyFrames || tooFewMapPoints) && tooFewTrackedPoints; -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMatchedFeatures.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMatchedFeatures.m deleted file mode 100644 index ff223197e98f091b99e2d4ea5cb42411f276b9c3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMatchedFeatures.m +++ /dev/null @@ -1,50 +0,0 @@ -classdef helperVisualizeMatchedFeatures < handle -%helperVisualizeMatchedFeatures show the matched features in a frame -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2019-2020 The MathWorks, Inc. - - properties (Access = private) - Image - - Feature - end - - methods (Access = public) - - function obj = helperVisualizeMatchedFeatures(I, featurePoints) - locations= featurePoints.Location; - - % Plot image - hFig = figure; - hAxes = newplot(hFig); - - % Set figure visibility and position - hFig.Visible = 'on'; - movegui(hFig, [300 220]); - - % Show the image - obj.Image = imshow(I, 'Parent', hAxes, 'Border', 'tight'); - title(hAxes, 'Matched Features in Current Frame'); - hold(hAxes, 'on'); - - % Plot features - plot(featurePoints, hAxes, 'ShowOrientation',false, ... - 'ShowScale',false); - obj.Feature = findobj(hAxes.Parent,'Type','Line'); - end - - function updatePlot(obj, I, featurePoints) - locations = featurePoints.Location; - obj.Image.CData = I; - obj.Feature.XData = locations(:,1); - obj.Feature.YData = locations(:,2); - drawnow limitrate - end - end -end - - - diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMotionAndStructure.m b/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMotionAndStructure.m deleted file mode 100644 index b064c0480c02a1f23f6c64ff7d6a4dfe3c723953..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_Example/helperVisualizeMotionAndStructure.m +++ /dev/null @@ -1,156 +0,0 @@ -classdef helperVisualizeMotionAndStructure < handle -%helperVisualizeMatchedFeatures show map points and camera trajectory -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - - properties - XLim = [-1.5 1.5] - - YLim = [-1 0.5] - - ZLim = [-0.5 2] - - Axes - end - - properties (Access = private) - MapPointsPlot - - EstimatedTrajectory - - OptimizedTrajectory - - CameraPlot - end - - methods (Access = public) - function obj = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPoints, varargin) - - if nargin > 2 - obj.XLim = varargin{1}; - obj.YLim = varargin{2}; - obj.ZLim = varargin{3}; - end - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - obj.MapPointsPlot = pcplayer(obj.XLim, obj.YLim, obj.ZLim, ... - 'VerticalAxis', 'y', 'VerticalAxisDir', 'down'); - - obj.Axes = obj.MapPointsPlot.Axes; - obj.MapPointsPlot.view(xyzPoints); - obj.Axes.Children.DisplayName = 'Map points'; - - hold(obj.Axes, 'on'); - - % Set figure position on the screen - movegui(obj.Axes.Parent, [1000 200]); - - % Plot camera trajectory - obj.EstimatedTrajectory = plot3(obj.Axes, trajectory(:,1), trajectory(:,2), ... - trajectory(:,3), 'r', 'LineWidth', 2 , 'DisplayName', 'Estimated trajectory'); - - % Plot the current cameras - obj.CameraPlot = plotCamera(currPose, 'Parent', obj.Axes, 'Size', 0.05); - end - - function updatePlot(obj, vSetKeyFrames, mapPoints) - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - % Update the point cloud - obj.MapPointsPlot.view(xyzPoints); - - % Update the camera trajectory - set(obj.EstimatedTrajectory, 'XData', trajectory(:,1), 'YData', ... - trajectory(:,2), 'ZData', trajectory(:,3)); - - % Update the current camera pose since the first camera is fixed - obj.CameraPlot.AbsolutePose = currPose.AbsolutePose; - obj.CameraPlot.Label = num2str(currPose.ViewId); - - drawnow limitrate - end - - function plotOptimizedTrajectory(obj, poses) - - % Delete the camera plot - delete(obj.CameraPlot); - - % Plot the optimized trajectory - trans = vertcat(poses.AbsolutePose.Translation); - obj.OptimizedTrajectory = plot3(obj.Axes, trans(:, 1), trans(:, 2), trans(:, 3), 'm', ... - 'LineWidth', 2, 'DisplayName', 'Optimized trajectory'); - end - - function plotActualTrajectory(obj, gTruth, optimizedPoses) - estimatedCams = vertcat(optimizedPoses.AbsolutePose.Translation); - actualCams = vertcat(gTruth.Translation); - scale = median(vecnorm(actualCams, 2, 2))/ median(vecnorm(estimatedCams, 2, 2)); - - % Update the plot based on the ground truth - updatePlotScale(obj, scale); - - % Plot the ground truth - plot3(obj.Axes, actualCams(:,1), actualCams(:,2), actualCams(:,3), ... - 'g','LineWidth',2, 'DisplayName', 'Actual trajectory'); - - drawnow limitrate - end - - function showLegend(obj) - % Add a legend to the axes - hLegend = legend(obj.Axes, 'Location', 'northeast', ... - 'TextColor', [1 1 1], 'FontWeight', 'bold'); - end - end - - methods (Access = private) - function [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints) - camPoses = poses(vSetKeyFrames); - currPose = camPoses(end,:); % Contains both ViewId and Pose - - % Ensure the rotation matrix is a rigid transformation - R = double(currPose.AbsolutePose.R); - t = double(currPose.AbsolutePose.Translation); - [U, ~, V] = svd(R); - currPose.AbsolutePose.A = eye(4); - currPose.AbsolutePose.A(1:3, 4) = t; - currPose.AbsolutePose.A(1:3, 1:3) = U * V'; - - trajectory = vertcat(camPoses.AbsolutePose.Translation); - xyzPoints = mapPoints.WorldPoints; - - % Only plot the points within the limit - inPlotRange = xyzPoints(:, 1) > obj.XLim(1) & ... - xyzPoints(:, 1) < obj.XLim(2) & xyzPoints(:, 2) > obj.YLim(1) & ... - xyzPoints(:, 2) < obj.YLim(2) & xyzPoints(:, 3) > obj.ZLim(1) & ... - xyzPoints(:, 3) < obj.ZLim(2); - xyzPoints = xyzPoints(inPlotRange, :); - end - - function updatePlotScale(obj, scale) - % Update the map points and camera trajectory based on the - % ground truth scale - obj.Axes.XLim = obj.Axes.XLim * scale; - obj.Axes.YLim = obj.Axes.YLim * scale; - obj.Axes.ZLim = obj.Axes.ZLim * scale; - - % Map points - obj.Axes.Children(end).XData = obj.Axes.Children(end).XData * scale; - obj.Axes.Children(end).YData = obj.Axes.Children(end).YData * scale; - obj.Axes.Children(end).ZData = obj.Axes.Children(end).ZData * scale; - - % Estiamted and optimized Camera trajectory - obj.EstimatedTrajectory.XData = obj.EstimatedTrajectory.XData * scale; - obj.EstimatedTrajectory.YData = obj.EstimatedTrajectory.YData * scale; - obj.EstimatedTrajectory.ZData = obj.EstimatedTrajectory.ZData * scale; - obj.OptimizedTrajectory.XData = obj.OptimizedTrajectory.XData * scale; - obj.OptimizedTrajectory.YData = obj.OptimizedTrajectory.YData * scale; - obj.OptimizedTrajectory.ZData = obj.OptimizedTrajectory.ZData * scale; - end - end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_Example/orbslamGroundTruth.mat b/target/classes/vslam/Mathworks_VSLAM_Example/orbslamGroundTruth.mat deleted file mode 100644 index ea1360e39c14cb70268bf6d6d4202b51eaf02014..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_Example/orbslamGroundTruth.mat and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/VisualSLAMWithAnRGBDCameraExample.mlx b/target/classes/vslam/Mathworks_VSLAM_RGBD/VisualSLAMWithAnRGBDCameraExample.mlx deleted file mode 100644 index b2a042f3ed3d1de4c0281552531e4780e2c16187..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_RGBD/VisualSLAMWithAnRGBDCameraExample.mlx and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/bagOfFeaturesDataSLAM.mat b/target/classes/vslam/Mathworks_VSLAM_RGBD/bagOfFeaturesDataSLAM.mat deleted file mode 100644 index bba0c9c9f9fced2771381f71adc28636701665c9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_RGBD/bagOfFeaturesDataSLAM.mat and /dev/null differ diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddLoopConnectionsStereo.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddLoopConnectionsStereo.m deleted file mode 100644 index 5ddcc506b3caa8b678b41692fdd27289826c70d7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddLoopConnectionsStereo.m +++ /dev/null @@ -1,81 +0,0 @@ -function [isLoopClosed, mapPoints, vSetKeyFrames] = helperAddLoopConnectionsStereo(... - mapPoints, vSetKeyFrames, loopCandidates, currKeyFrameId, currFeatures, ... - currPoints, loopEdgeNumMatches, varargin) -%helperAddLoopConnectionsStereo add connections between the current key frame and -% the valid loop candidate key frames. A loop candidate is valid if it has -% enough covisible map points with the current key frame. - -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - -if nargin > 7 - maxDistance = varargin{1}; -else - maxDistance = 4; -end - -loopClosureEdge = []; - -numCandidates = size(loopCandidates,2); -[index3d1, index2d1] = findWorldPointsInView(mapPoints, currKeyFrameId); -validFeatures1 = currFeatures.Features(index2d1, :); -validPoints1 = currPoints(index2d1, :); - -for k = 1 : numCandidates - [index3d2, index2d2] = findWorldPointsInView(mapPoints, loopCandidates(k)); - allFeatures2 = vSetKeyFrames.Views.Features{loopCandidates(k)}; - allPoints2 = vSetKeyFrames.Views.Points{loopCandidates(k)}; - validFeatures2 = allFeatures2(index2d2, :); - validPoints2 = allPoints2(index2d2, :); - - indexPairs = matchFeatures(binaryFeatures(validFeatures1), binaryFeatures(validFeatures2), ... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - - % Orientation consistency check - orientation1 = validPoints1.Orientation(indexPairs(:,1)); - orientation2 = validPoints2.Orientation(indexPairs(:,2)); - [N, ~, bin] = histcounts(abs(orientation1 - orientation2), 0:pi/30:2*pi); - [~, ia] = maxk(N, 3); % Select the top 3 bins - isConsistent = ismember(bin, ia); - - indexPairs = indexPairs(isConsistent, :); - - % Check if all the candidate key frames have strong connection with the - % current keyframe - if size(indexPairs, 1) < loopEdgeNumMatches - continue - end - - % Estimate the relative pose of the current key frame with respect to the - % loop candidate keyframe with the highest similarity score - - worldPoints1 = mapPoints.WorldPoints(index3d1(indexPairs(:, 1)), :); - worldPoints2 = mapPoints.WorldPoints(index3d2(indexPairs(:, 2)), :); - - tform1 = pose2extr(vSetKeyFrames.Views.AbsolutePose(end)); - tform2 = pose2extr(vSetKeyFrames.Views.AbsolutePose(loopCandidates(k))); - - worldPoints1InCamera1 = transformPointsForward(tform1, worldPoints1); - worldPoints2InCamera2 = transformPointsForward(tform2, worldPoints2); - - w = warning('off','all'); - [tform, inlierIndex] = estgeotform3d(worldPoints1InCamera1, ... - worldPoints2InCamera2, 'rigid', 'MaxNumTrials', 1e4, 'MaxDistance', maxDistance); - warning(w); - - % Add connection between the current key frame and the loop key frame - matches = uint32([index2d2(indexPairs(inlierIndex, 2)), index2d1(indexPairs(inlierIndex, 1))]); - vSetKeyFrames = addConnection(vSetKeyFrames, loopCandidates(k), currKeyFrameId, tform, 'Matches', matches); - disp(['Loop edge added between keyframe: ', num2str(loopCandidates(k)), ' and ', num2str(currKeyFrameId)]); - - % Fuse co-visible map points - matchedIndex3d1 = index3d1(indexPairs(inlierIndex, 1)); - matchedIndex3d2 = index3d2(indexPairs(inlierIndex, 2)); - mapPoints = updateWorldPoints(mapPoints, matchedIndex3d1, mapPoints.WorldPoints(matchedIndex3d2, :)); - - loopClosureEdge = [loopClosureEdge; loopCandidates(k), currKeyFrameId]; -end -isLoopClosed = ~isempty(loopClosureEdge); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddNewKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddNewKeyFrame.m deleted file mode 100644 index 8171da4598e2f5e654d532de5f2eafe794b88a54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperAddNewKeyFrame.m +++ /dev/null @@ -1,54 +0,0 @@ -function [mapPoints, vSetKeyFrames] = helperAddNewKeyFrame(mapPoints, vSetKeyFrames,... - cameraPose, currFeatures, currPoints, mapPointsIndices, featureIndices, keyFramesIndices) -%helperAddNewKeyFrame add key frames to the key frame set -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -viewId = vSetKeyFrames.Views.ViewId(end)+1; - -vSetKeyFrames = addView(vSetKeyFrames, viewId, cameraPose,... - 'Features', currFeatures.Features, ... - 'Points', currPoints); - -viewsAbsPoses = vSetKeyFrames.Views.AbsolutePose; - -for i = 1:numel(keyFramesIndices) - localKeyFrameId = keyFramesIndices(i); - if isSimMode() - [index3d, index2d] = findWorldPointsInView(mapPoints, localKeyFrameId); - else - [index3dCg, index2dCg] = findWorldPointsInView(mapPoints, localKeyFrameId); - index3d = index3dCg{1}; - index2d = index2dCg{1}; - end - [~, ia, ib] = intersect(index3d, mapPointsIndices, 'stable'); - - prePose = viewsAbsPoses(localKeyFrameId); - relPose = rigidtform3d(prePose.R' * cameraPose.R, ... - (cameraPose.Translation-prePose.Translation)*prePose.R); - - if numel(ia) > 5 - if isSimMode() - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', [index2d(ia),featureIndices(ib)]); - else - coder.varsize('matches', [inf 2], [1, 0]); - fIndices = featureIndices(ib(:)); - matches = [index2d(ia), fIndices]; - vSetKeyFrames = addConnection(vSetKeyFrames, localKeyFrameId, viewId, relPose, ... - 'Matches', matches); - end - end -end - -mapPoints = addCorrespondences(mapPoints, viewId, mapPointsIndices, ... - featureIndices); -end - -function tf = isSimMode() - tf = isempty(coder.target); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCheckLoopClosure.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCheckLoopClosure.m deleted file mode 100644 index 7cff3e85c2f308126c160e6d73176923a5b38914..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCheckLoopClosure.m +++ /dev/null @@ -1,58 +0,0 @@ -function [isDetected, loopKeyFrameIds] = helperCheckLoopClosure(vSetKeyFrames, ... - currKeyframeId, imageDatabase, currImg, loopEdgeNumMatches) -%helperCheckLoopClosure detect loop candidates key frames by retrieving -% visually similar images from the feature database. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2023 The MathWorks, Inc. -%#codegen - -% Retrieve all the visually similar key frames -[candidateViewIds, similarityscores] = retrieveImages(currImg, imageDatabase); - -% Compute similarity between the current key frame and its strongly-connected -% key frames. The minimum similarity score is used as a baseline to find -% loop candidate key frames, which are visually similar to but not connected -% to the current key frame -covisViews = connectedViews(vSetKeyFrames, currKeyframeId); -covisViewsIds = covisViews.ViewId; -strongCovisViews = connectedViews(vSetKeyFrames, currKeyframeId, 'MinNumMatches', loopEdgeNumMatches); -strongCovisViewIds = strongCovisViews.ViewId; - -% Retrieve the top 10 similar connected key frames -[~,~,scores] = evaluateImageRetrieval(currImg, imageDatabase, strongCovisViewIds, 'NumResults', 10); -minScore = min(scores); - -[loopKeyFrameIds,ia] = setdiff(candidateViewIds, covisViewsIds, 'stable'); - -% Scores of non-connected key frames -candidateScores = similarityscores(ia); % Descending - -if ~isempty(ia) - bestScore = candidateScores(1); - - % Score must be higher than the 75% of the best score - isValid = candidateScores > max(bestScore*0.75, minScore); - - loopKeyFrameIds = loopKeyFrameIds(isValid); -else - loopKeyFrameIds = zeros(coder.ignoreConst(0), coder.ignoreConst(0), class(loopKeyFrameIds)); -end - -% Loop candidates need to be consecutively detected -minNumCandidates = 3; % At least 3 candidates are found -if size(loopKeyFrameIds,1) >= minNumCandidates - groups = nchoosek(loopKeyFrameIds, minNumCandidates); - consecutiveGroups = groups(max(groups,[],2) - min(groups,[],2) < 4, :); - if ~isempty(consecutiveGroups) % Consecutive candidates are found - loopKeyFrameIds = consecutiveGroups(1,:); - isDetected = true; - else - isDetected = false; - end -else - isDetected = false; -end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCreateNewMapPointsStereo.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCreateNewMapPointsStereo.m deleted file mode 100644 index c66582c070cc9b01fcf8964b53f70b124810d02d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperCreateNewMapPointsStereo.m +++ /dev/null @@ -1,257 +0,0 @@ -function [mapPoints, vSetKeyFrames, recentPointIdx, stereoMapPointsIndices] = helperCreateNewMapPointsStereo(... - mapPoints, vSetKeyFrames, currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax, ... - unmatchedFeatureIdx, stereoMapPointsIndices) -%helperCreateNewMapPointsStereo creates new map points by triangulating matched -% feature points in the current key frame and the connected key frames. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - -% Get connected key frames -KcViews = connectedViews(vSetKeyFrames, currKeyFrameId, minNumMatches); -KcIDs = KcViews.ViewId; - -% Retreive data of the current key frame -currPose = vSetKeyFrames.Views.AbsolutePose(currKeyFrameId); -currFeatures = vSetKeyFrames.Views.Features{currKeyFrameId}; -currPoints = vSetKeyFrames.Views.Points{currKeyFrameId}; -currLocations = currPoints.Location; -currScales = currPoints.Scale; - -% Camera projection matrix -currCamMatrix = cameraProjection(intrinsics, pose2extr(currPose)); - -recentPointIdx = []; - -for i = numel(KcIDs):-1:1 - - kfPose = vSetKeyFrames.Views.AbsolutePose(KcIDs(i)); - [~, kfIndex2d] = findWorldPointsInView(mapPoints, KcIDs(i)); - kfCamMatrix = cameraProjection(intrinsics, pose2extr(kfPose)); - - % Skip the key frame is the change of view is small - isViewClose = norm(kfPose.Translation - currPose.Translation) < 0.2; %baseline - if isViewClose - continue - end - - % Retrieve data of the connected key frame - kfFeatures = vSetKeyFrames.Views.Features{KcIDs(i)}; - kfPoints = vSetKeyFrames.Views.Points{KcIDs(i)}; - kfLocations = kfPoints.Location; - kfScales = kfPoints.Scale; - - % currIndex2d changes in each iteration as new map points are created - [~, currIndex2d] = findWorldPointsInView(mapPoints, currKeyFrameId); - - % Only use unmatched feature points - uIndices1 = setdiff(uint32(1:size(kfFeatures,1))', kfIndex2d); - uIndices2 = [setdiff(uint32(1:size(currFeatures,1))', currIndex2d); unmatchedFeatureIdx]; - - uFeatures1 = kfFeatures(uIndices1, :); - uFeatures2 = currFeatures(uIndices2, :); - - uLocations1 = kfLocations(uIndices1, :); - uLocations2 = currLocations(uIndices2, :); - - uScales1 = kfScales(uIndices1); - uScales2 = currScales(uIndices2); - - indexPairs = matchFeatures(binaryFeatures(uFeatures1), binaryFeatures(uFeatures2),... - 'Unique', true, 'MaxRatio', 0.7, 'MatchThreshold', 40); - - if isempty(indexPairs) - continue - end - - % Created from stereo - [~, ia, ib] = intersect(unmatchedFeatureIdx, uIndices2(indexPairs(:, 2))); - - isNewPointStereo = ~isempty(ia); - - if isNewPointStereo - sIndices1 = uIndices1(indexPairs(ib, 1)); - sIndices2 = unmatchedFeatureIdx(ia); - - % Update the indices - unmatchedFeatureIdx = setdiff(unmatchedFeatureIdx, sIndices2); - - % Filtering by view direction and reprojection error - xyzPoints = mapPoints.WorldPoints(stereoMapPointsIndices(ia), :); - - % Compute reprojection errors - [points1proj, isInFrontOfCam1] = projectPoints(xyzPoints, kfCamMatrix); - [points2proj, isInFrontOfCam2] = projectPoints(xyzPoints, currCamMatrix); - points1 = uLocations1(indexPairs(ib, 1), :)'; - points2 = uLocations2(indexPairs(ib, 2), :)'; - errors1 = hypot(points1(1,:)-points1proj(1,:), ... - points1(2,:) - points1proj(2,:)); - errors2 = hypot(points2(1,:)-points2proj(1,:), ... - points2(2,:) - points2proj(2,:)); - - reprojectionErrors = mean([errors1; errors2])'; - - isValid = checkEpipolarConstraint(intrinsics, currPose, kfPose, points1', points2', indexPairs(ib, :), uScales2); - - validIdx = isInFrontOfCam1 & isInFrontOfCam2 & isValid; - - inlier = filterTriangulatedMapPoints(xyzPoints, kfPose, currPose, ... - uScales1(indexPairs(ib, 1)), uScales2(indexPairs(ib, 2)), ... - reprojectionErrors, scaleFactor, validIdx); - - if any(inlier) - mapPoints = addCorrespondences(mapPoints, KcIDs(i), stereoMapPointsIndices(ia(inlier)), sIndices1(inlier)); - recentPointIdx = union(recentPointIdx, stereoMapPointsIndices(ia(inlier))); - recentPointIdx = recentPointIdx(:); - end - - % Created from triangulation - isNotPicked = true(size(indexPairs, 1), 1); - isNotPicked(ib(inlier)) = false; - indexPairs = indexPairs(isNotPicked, :); - end - - if isempty(indexPairs) - continue - end - - % Need to determine which way the new world points are created - matchedPoints1 = uLocations1(indexPairs(:,1), :); - matchedPoints2 = uLocations2(indexPairs(:,2), :); - - % Check epipolar constraint - isValid = checkEpipolarConstraint(intrinsics, currPose, kfPose, matchedPoints1, matchedPoints2, indexPairs, uScales2); - - indexPairs = indexPairs(isValid, :); - matchedPoints1 = matchedPoints1(isValid, :); - matchedPoints2 = matchedPoints2(isValid, :); - - % Parallax check - isLarge = isLargeParalalx(matchedPoints1, matchedPoints2, kfPose, ... - currPose, intrinsics, minParallax); - - matchedPoints1 = matchedPoints1(isLarge, :); - matchedPoints2 = matchedPoints2(isLarge, :); - indexPairs = indexPairs(isLarge, :); - - % Triangulate two views to create new world points - [xyzPoints, reprojectionErrors, validIdx] = triangulate(matchedPoints1, ... - matchedPoints2, kfCamMatrix, currCamMatrix); - - % Filtering by view direction and reprojection error - inlier = filterTriangulatedMapPoints(xyzPoints, kfPose, currPose, ... - uScales1(indexPairs(:,1)), uScales2(indexPairs(:,2)), ... - reprojectionErrors, scaleFactor, validIdx); - - % Add new map points and update connections - addedMatches = []; - if any(inlier) - xyzPoints = xyzPoints(inlier,:); - indexPairs = indexPairs(inlier, :); - - mIndices1 = uIndices1(indexPairs(:, 1)); - mIndices2 = uIndices2(indexPairs(:, 2)); - - [mapPoints, indices] = addWorldPoints(mapPoints, xyzPoints); - recentPointIdx = [recentPointIdx; indices]; %#ok - - % Add new observations - mapPoints = addCorrespondences(mapPoints, KcIDs(i),indices, mIndices1); - mapPoints = addCorrespondences(mapPoints, currKeyFrameId, indices, mIndices2); - - addedMatches = [mIndices1, mIndices2]; % Triangulation - end - - if isNewPointStereo - addedMatches = [sIndices1, sIndices2; addedMatches]; - end - - % Update connections with new feature matches - [~,ia] = intersect(vSetKeyFrames.Connections{:,1:2}, ... - [KcIDs(i), currKeyFrameId], 'row', 'stable'); - oldMatches = vSetKeyFrames.Connections.Matches{ia}; - newMatches = [oldMatches; addedMatches]; - vSetKeyFrames = updateConnection(vSetKeyFrames, KcIDs(i), currKeyFrameId, ... - 'Matches', newMatches); - -end - -stereoMapPointsIndices = setdiff(stereoMapPointsIndices, recentPointIdx); -end - -function F = computeF(intrinsics, pose1, pose2) -R1 = pose1.R; -t1 = pose1.Translation'; - -R2 = pose2.R; -t2 = pose2.Translation'; - -R12 = R1'*R2; -t12 = R1'*(t2-t1); - -% Skew symmetric matrix -t12x = [0, -t12(3), t12(2) - t12(3), 0, -t12(1) - -t12(2) t12(1), 0]; - -F = intrinsics.K'\ t12x * R12 / intrinsics.K; -end - -function inlier = filterTriangulatedMapPoints(xyzPoints, pose1, pose2, ... - scales1, scales2, reprojectionErrors, scaleFactor, isInFront) - -camToPoints1= xyzPoints - pose1.Translation; -camToPoints2= xyzPoints - pose2.Translation; - -% Check scale consistency and reprojection errors -distances1 = vecnorm(camToPoints1, 2, 2); -distances2 = vecnorm(camToPoints2, 2, 2); -ratioDist = distances1./distances2; -ratioScale = scales2./scales1; - -ratioFactor = 1.5 * scaleFactor; - -isInScale = (ratioDist./ratioScale < ratioFactor | ... - ratioScale./ratioDist < ratioFactor); - -maxError = sqrt(6); -isSmallError= reprojectionErrors < maxError*min(scales1, scales2); -inlier = isInScale & isSmallError & isInFront; -end - -function isLarge = isLargeParalalx(points1, points2, pose1, pose2, intrinsics, minParallax) - -% Parallax check -K = intrinsics.IntrinsicMatrix; -ray1 = [points1, ones(size(points1(:,1)))]/K *pose1.Rotation; -ray2 = [points2, ones(size(points1(:,2)))]/K *pose2.Rotation; - -cosParallax = sum(ray1 .* ray2, 2) ./(vecnorm(ray1, 2, 2) .* vecnorm(ray2, 2, 2)); -isLarge = cosParallax < cosd(minParallax) & cosParallax > 0; -end - -%-------------------------------------------------------------------------- -function [points2d, isInFrontOfCamera] = projectPoints(points3d, P) -points3dHomog = [points3d, ones(size(points3d, 1), 1, 'like', points3d)]'; -points2dHomog = P * points3dHomog; -isInFrontOfCamera = points2dHomog(3, :)' > 0; -points2d = bsxfun(@rdivide, points2dHomog(1:2, :), points2dHomog(3, :)); -end - -function isValid = checkEpipolarConstraint(intrinsics, currPose, kfPose, matchedPoints1, matchedPoints2, indexPairs, uScales2) -% Epipole in the current key frame -epiPole = world2img(kfPose.Translation, pose2extr(currPose), intrinsics); -distToEpipole = vecnorm(matchedPoints2 - epiPole, 2, 2); - -% Compute fundamental matrix -F = computeF(intrinsics, kfPose, currPose); - -% Epipolar line in the second image -epiLine = epipolarLine(F, matchedPoints2); -distToLine = abs(sum(epiLine.* [matchedPoints1, ones(size(matchedPoints1,1), 1)], 2))./... - sqrt(sum(epiLine(:,1:2).^2, 2)); -isValid = distToLine < 2*uScales2(indexPairs(:,2)) & ... - distToEpipole > 10*uScales2(indexPairs(:,2)); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperLocalBundleAdjustmentStereo.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperLocalBundleAdjustmentStereo.m deleted file mode 100644 index 1272b7951bbf8e6d80da44cd4b1a590038d46e4c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperLocalBundleAdjustmentStereo.m +++ /dev/null @@ -1,49 +0,0 @@ -function [mapPoints, vSetKeyFrames, newPointIdx, stereoMapPointsIndices] = helperLocalBundleAdjustmentStereo(mapPoints, ... - vSetKeyFrames, currKeyFrameId, intrinsics, newPointIdx, stereoMapPointsIndices) -%helperLocalBundleAdjustmentStereo refine the pose of the current key frame and -% the map of the surrrounding scene. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2020-2022 The MathWorks, Inc. - -if currKeyFrameId > 2 - - [refinedViews, dist] = connectedViews(vSetKeyFrames, currKeyFrameId, MaxDistance=2); - refinedKeyFrameIds = refinedViews.ViewId; - - % Always fix the first two key frames - fixedViewIds = refinedKeyFrameIds(dist==2); - fixedViewIds = fixedViewIds(1:min(10, numel(fixedViewIds))); - - % Always fix the first two key frames - fixedViewIds = [fixedViewIds; intersect(refinedKeyFrameIds, [1 2])]; - - refinedKeyFrameIds = [refinedKeyFrameIds; currKeyFrameId]; - -else - refinedKeyFrameIds = [1 2]; - fixedViewIds = 1; -end - -% Refine local key frames and map points -[mapPoints, vSetKeyFrames, mapPointIdx, reprojectionErrors] = bundleAdjustment(... - mapPoints, vSetKeyFrames, refinedKeyFrameIds, intrinsics, 'FixedViewIDs', fixedViewIds, ... - 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-16, 'Solver', 'preconditioned-conjugate-gradient', ... - 'MaxIteration', 10); - -maxError = 6; -isInlier = reprojectionErrors < maxError; -outlierIdx = mapPointIdx(~isInlier); -newPointIdx = setdiff(newPointIdx, outlierIdx); - -% Update map points and key frames -if ~isempty(outlierIdx) - mapPoints = removeWorldPoints(mapPoints, outlierIdx); -end - -newPointIdx = newPointIdx - arrayfun(@(x) nnz(x>outlierIdx), newPointIdx); -stereoMapPointsIndices = stereoMapPointsIndices - arrayfun(@(x) nnz(x>outlierIdx), stereoMapPointsIndices); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperORBFeatureExtractorFunction.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperORBFeatureExtractorFunction.m deleted file mode 100644 index d8c77bf675b0e62057d8b72b15581914ba951f22..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperORBFeatureExtractorFunction.m +++ /dev/null @@ -1,25 +0,0 @@ -function [features, featureMetrics]= helperORBFeatureExtractorFunction(I) -% helperORBFeatureExtractorFunction Implements the ORB feature extraction -% used in bagOfFeatures. -% -% This is an example helper function that is subject to change or removal -% in future releases. - -% Copyright 2021 The MathWorks, Inc. - -numPoints = 1000; - -% Detect ORB features -Igray = im2gray(I); - -points = detectORBFeatures(Igray, 'ScaleFactor', 1.2, 'NumLevels', 8); - -% Select a subset of features, uniformly distributed throughout the image -points = selectUniform(points, numPoints, size(Igray, 1:2)); - -% Extract features -features = extractFeatures(Igray, points); - -% Compute the Feature Metric. Use the variance of features as the metric -featureMetrics = var(single(features.Features),[],2); - diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLastKeyFrame.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLastKeyFrame.m deleted file mode 100644 index 467ff8188bc13a55f385e8062267d67f5d77ff54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLastKeyFrame.m +++ /dev/null @@ -1,106 +0,0 @@ -%helperTrackLastKeyFrame Estimate the camera pose by tracking the last key frame -% [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrameStereo(mapPoints, -% views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) estimates -% the camera pose of the current frame by matching features with the -% previous key frame. -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A helperMapPoints objects storing map points -% views - View attributes of key frames -% currFeatures - Features in the current frame -% currPoints - Feature points in the current frame -% lastKeyFrameId - ViewId of the last key frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% -% Outputs -% ------- -% currPose - Estimated camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features corresponding to mapPointIdx - -% Copyright 2019-2022 The MathWorks, Inc. - -function [currPose, mapPointIdx, featureIdx] = helperTrackLastKeyFrame(... - mapPoints, views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor) - -% Match features from the previous key frame with known world locations -[index3d, index2d] = findWorldPointsInView(mapPoints, lastKeyFrameId); -lastKeyFrameFeatures = views.Features{lastKeyFrameId}(index2d,:); -lastKeyFramePoints = views.Points{lastKeyFrameId}(index2d); - -indexPairs = matchFeatures(currFeatures, binaryFeatures(lastKeyFrameFeatures),... - 'Unique', true, 'MaxRatio', 0.9, 'MatchThreshold', 40); - -% Estimate the camera pose -matchedImagePoints = currPoints.Location(indexPairs(:,1),:); -matchedWorldPoints = mapPoints.WorldPoints(index3d(indexPairs(:,2)), :); - -matchedImagePoints = cast(matchedImagePoints, 'like', matchedWorldPoints); -[currPose, inlier, status] = estworldpose(... - matchedImagePoints, matchedWorldPoints, intrinsics, ... - 'Confidence', 95, 'MaxReprojectionError', 3, 'MaxNumTrials', 1e4); - -if status - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Refine camera pose only -currPose = bundleAdjustmentMotion(matchedWorldPoints(inlier,:), ... - matchedImagePoints(inlier,:), currPose, intrinsics, ... - 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); - -% Search for more matches with the map points in the previous key frame -xyzPoints = mapPoints.WorldPoints(index3d,:); - -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(currPose), intrinsics); -projectedPoints = projectedPoints(isInImage, :); - -minScales = max(1, lastKeyFramePoints.Scale(isInImage)/scaleFactor); -maxScales = lastKeyFramePoints.Scale(isInImage)*scaleFactor; -r = 4; -searchRadius = r*lastKeyFramePoints.Scale(isInImage); - -indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 0.8, 'Unique', true); - -if size(indexPairs, 1) < 20 - indexPairs = matchFeaturesInRadius(binaryFeatures(lastKeyFrameFeatures(isInImage,:)), ... - binaryFeatures(currFeatures.Features), currPoints, projectedPoints, 2*searchRadius, ... - 'MatchThreshold', 40, 'MaxRatio', 1, 'Unique', true); -end - -if size(indexPairs, 1) < 10 - currPose=[]; - mapPointIdx=[]; - featureIdx=[]; - return -end - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= minScales(indexPairs(:, 1)) & ... - currPoints.Scale(indexPairs(:, 2)) <= maxScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Obtain the index of matched map points and features -tempIdx = find(isInImage); % Convert to linear index -mapPointIdx = index3d(tempIdx(indexPairs(:,1))); -featureIdx = indexPairs(:,2); - -% Refine the camera pose again -matchedWorldPoints = mapPoints.WorldPoints(mapPointIdx, :); -matchedImagePoints = currPoints.Location(featureIdx, :); - -currPose = bundleAdjustmentMotion(matchedWorldPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, 'AbsoluteTolerance', 1e-7,... - 'RelativeTolerance', 1e-15, 'MaxIteration', 20); -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLocalMap.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLocalMap.m deleted file mode 100644 index d64da7a28ae032e7fd6db8a0e0b689a2c90d06a6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperTrackLocalMap.m +++ /dev/null @@ -1,221 +0,0 @@ -function [localKeyFrameIds, currPose, mapPointIdx, featureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPoints, vSetKeyFrames, mapPointIdx, ... - featureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - newKeyFrameAdded, lastKeyFrameIndex, currFrameIndex, numSkipFrames, numPointsKeyFrame) -%helperTrackLocalMap Refine camera pose by tracking the local map -% -% This is an example helper function that is subject to change or removal -% in future releases. -% -% Inputs -% ------ -% mapPoints - A worldpointset object storing map points -% vSetKeyFrames - An imageviewset storing key frames -% mapPointsIndices - Indices of map points observed in the current frame -% featureIndices - Indices of features in the current frame -% corresponding to map points denoted by mapPointsIndices -% currPose - Current camera pose -% currFeatures - ORB Features in the current frame -% currPoints - Feature points in the current frame -% intrinsics - Camera intrinsics -% scaleFactor - scale factor of features -% numLevels - number of levels in feature exatraction -% newKeyFrameAdded - A boolean scalar indicating if a new key frame is -% added recently -% lastKeyFrameIndex - Frame index of the last key frame -% currFrameIndex - Frame index of the current frame -% numSkipFrames - Largest number of frames to skip -% numPointsKeyFrame - Minimum number of points tracked by a key frame -% -% Outputs -% ------- -% localKeyFrameIds - ViewIds of the local key frames -% currPose - Refined camera pose of the current frame -% mapPointIdx - Indices of map points observed in the current frame -% featureIdx - Indices of features in the current frame corresponding -% to mapPointIdx -% isKeyFrame - A boolean scalar indicating if the current frame is -% a key frame - -% Copyright 2019-2022 The MathWorks, Inc. - -persistent numPointsRefKeyFrame localPointsIndices localKeyFrameIdsInternal - -if isempty(numPointsRefKeyFrame) || newKeyFrameAdded - [localPointsIndices, localKeyFrameIdsInternal, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, mapPointIdx); -end - -% Project the map into the frame and search for more map point correspondences -newMapPointIdx = setdiff(localPointsIndices, mapPointIdx, 'stable'); -localFeatures = getFeatures(mapPoints, vSetKeyFrames.Views, newMapPointIdx); -[projectedPoints, inlierIndex, predictedScales, viewAngles] = removeOutlierMapPoints(mapPoints, ... - currPose, intrinsics, newMapPointIdx, scaleFactor, numLevels); - -newMapPointIdx = newMapPointIdx(inlierIndex); -localFeatures = localFeatures(inlierIndex,:); - -unmatchedfeatureIdx = setdiff(cast((1:size( currFeatures.Features, 1)).', 'uint32'), ... - featureIdx,'stable'); -unmatchedFeatures = currFeatures.Features(unmatchedfeatureIdx, :); -unmatchedValidPoints= currPoints(unmatchedfeatureIdx); - -% Search radius depends on scale and view direction -searchRadius = 4*ones(size(localFeatures, 1), 1); -searchRadius(viewAngles<3) = 2.5; -searchRadius = searchRadius.*predictedScales; - -indexPairs = matchFeaturesInRadius(binaryFeatures(localFeatures),... - binaryFeatures(unmatchedFeatures), unmatchedValidPoints, projectedPoints, ... - searchRadius, 'MatchThreshold', 40, 'MaxRatio', 0.9, 'Unique', true); - -% Filter by scales -isGoodScale = currPoints.Scale(indexPairs(:, 2)) >= ... - max(1, predictedScales(indexPairs(:, 1))/scaleFactor) & ... - currPoints.Scale(indexPairs(:, 2)) <= predictedScales(indexPairs(:, 1)); -indexPairs = indexPairs(isGoodScale, :); - -% Refine camera pose with more 3D-to-2D correspondences -mapPointIdx = [newMapPointIdx(indexPairs(:,1)); mapPointIdx]; -featureIdx = [unmatchedfeatureIdx(indexPairs(:,2)); featureIdx]; -matchedMapPoints = mapPoints.WorldPoints(mapPointIdx,:); -matchedImagePoints = currPoints.Location(featureIdx,:); - -isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointIdx, numSkipFrames, numPointsKeyFrame); - -localKeyFrameIds = localKeyFrameIdsInternal; - -if isKeyFrame - % Refine camera pose only if the current frame is a key frame - currPose = bundleAdjustmentMotion(matchedMapPoints, matchedImagePoints, ... - currPose, intrinsics, 'PointsUndistorted', true, ... - 'AbsoluteTolerance', 1e-7, 'RelativeTolerance', 1e-16,'MaxIteration', 20); -end -end - -function [localPointsIndices, localKeyFrameIds, numPointsRefKeyFrame] = ... - updateRefKeyFrameAndLocalPoints(mapPoints, vSetKeyFrames, pointIndices) - -if vSetKeyFrames.NumViews == 1 - localKeyFrameIds = vSetKeyFrames.Views.ViewId; - localPointsIndices = (1:mapPoints.Count)'; - numPointsRefKeyFrame = mapPoints.Count; - return -end - -% The reference key frame has the most covisible map points -viewIds = findViewsOfWorldPoint(mapPoints, pointIndices); -refKeyFrameId = mode(vertcat(viewIds{:})); - -localKeyFrames = connectedViews(vSetKeyFrames, refKeyFrameId, "MaxDistance", 2); -localKeyFrameIds = [localKeyFrames.ViewId; refKeyFrameId]; - -pointIdx = findWorldPointsInView(mapPoints, localKeyFrameIds); -if iscell(pointIdx) - numPointsRefKeyFrame = numel(pointIdx{localKeyFrameIds==refKeyFrameId}); - localPointsIndices = sort(vertcat(pointIdx{:})); -else - numPointsRefKeyFrame = numel(pointIdx); - localPointsIndices = sort(pointIdx); -end -end - -function features = getFeatures(mapPoints, views, mapPointIdx) - -% Efficiently retrieve features and image points corresponding to map points -% denoted by mapPointIdx -allIndices = zeros(1, numel(mapPointIdx)); - -% ViewId and offset pair -count = []; % (ViewId, NumFeatures) -viewsFeatures = views.Features; - -for i = 1:numel(mapPointIdx) - index3d = mapPointIdx(i); - - viewId = double(mapPoints.RepresentativeViewId(index3d)); - - if isempty(count) - count = [viewId, size(viewsFeatures{viewId},1)]; - elseif ~any(count(:,1) == viewId) - count = [count; viewId, size(viewsFeatures{viewId},1)]; - end - - idx = find(count(:,1)==viewId); - - if idx > 1 - offset = sum(count(1:idx-1,2)); - else - offset = 0; - end - allIndices(i) = mapPoints.RepresentativeFeatureIndex(index3d) + offset; -end - -uIds = count(:,1); - -% Concatenating features and indexing once is faster than accessing via a for loop -allFeatures = vertcat(viewsFeatures{uIds}); -features = allFeatures(allIndices, :); -end - -function [projectedPoints, inliers, predictedScales, viewAngles] = removeOutlierMapPoints(... - mapPoints, pose, intrinsics, localPointsIndices, scaleFactor, ... - numLevels) - -% 1) Points within the image bounds -xyzPoints = mapPoints.WorldPoints(localPointsIndices, :); -[projectedPoints, isInImage] = world2img(xyzPoints, pose2extr(pose), intrinsics); - -if isempty(projectedPoints) - error('Tracking failed. Try inserting new key frames more frequently.') -end - -% 2) Parallax less than 60 degrees -cameraNormVector = [0 0 1] * pose.Rotation; -cameraToPoints = xyzPoints - pose.Translation; -viewDirection = mapPoints.ViewingDirection(localPointsIndices, :); -validByView = sum(viewDirection.*cameraToPoints, 2) > ... - cosd(60)*(vecnorm(cameraToPoints, 2, 2)); - -% 3) Distance from map point to camera center is in the range of scale -% invariant depth -minDist = mapPoints.DistanceLimits(localPointsIndices,1)/scaleFactor; -maxDist = mapPoints.DistanceLimits(localPointsIndices,2)*scaleFactor; -dist = vecnorm(xyzPoints - pose.Translation, 2, 2); - -validByDistance = dist > minDist & dist < maxDist; - -inliers = isInImage & validByView & validByDistance; - -% Predicted scales -level= ceil(log(maxDist ./ dist)./log(scaleFactor)); -level(level<0) = 0; -level(level>=numLevels-1) = numLevels-1; -predictedScales = scaleFactor.^level; - -% View angles -viewAngles = acosd(sum(cameraNormVector.*cameraToPoints, 2) ./ ... - vecnorm(cameraToPoints, 2, 2)); - -predictedScales = predictedScales(inliers); -viewAngles = viewAngles(inliers); - -projectedPoints = projectedPoints(inliers, :); -end - -function isKeyFrame = checkKeyFrame(numPointsRefKeyFrame, lastKeyFrameIndex, ... - currFrameIndex, mapPointsIndices, numSkipFrames, numPointsKeyFrame) - -% More than numSkipFrames frames have passed from last key frame insertion -tooManyNonKeyFrames = currFrameIndex > lastKeyFrameIndex + numSkipFrames; - -% Track less than numPointsKeyFrame map points -tooFewMapPoints = numel(mapPointsIndices) < numPointsKeyFrame; - -% Tracked map points are fewer than 90% of points tracked by -% the reference key frame -tooFewTrackedPoints = numel(mapPointsIndices) < 0.9 * numPointsRefKeyFrame; - -isKeyFrame = (tooManyNonKeyFrames || tooFewMapPoints) && tooFewTrackedPoints; -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMatchedFeaturesRGBD.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMatchedFeaturesRGBD.m deleted file mode 100644 index 5aec70402a9a02803db91acb4e292a4e577e49cb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMatchedFeaturesRGBD.m +++ /dev/null @@ -1,56 +0,0 @@ -classdef helperVisualizeMatchedFeaturesRGBD < handle -%helperVisualizeMatchedFeaturesRGBD show the matched features in a frame -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2021 The MathWorks, Inc. - - properties (Access = private) - Image - - Feature - end - - methods (Access = public) - - function obj = helperVisualizeMatchedFeaturesRGBD(I1, I2, points) - - % Plot image - hFig = figure; - hAxes = newplot(hFig); - - % Set figure visibility and position - hFig.Visible = 'on'; - movegui(hFig, [200 200]); - - % Show the image and features - obj.Image = showMatchedFeatures(I1, I2, points, ... - points, 'montage', 'Parent', hAxes, ... - 'PlotOptions', {'g+','g+',''}); - title(hAxes, 'Matched Features in Current Frame'); - hold(hAxes, 'on'); - - obj.Feature = findobj(hAxes.Parent,'Type','Line'); - end - - function updatePlot(obj, I1, I2, points) - - % Color and depth image - obj.Image.CData = imfuse(I1, I2, 'montage'); - - % Connecting lines - obj.Feature(1).XData = NaN; - obj.Feature(1).YData = NaN; - - % Right image - obj.Feature(2).XData = points.Location(:,1) + size(I1, 2); - obj.Feature(2).YData = points.Location(:,2); - - % Left image - obj.Feature(3).XData = points.Location(:,1); - obj.Feature(3).YData = points.Location(:,2); - drawnow limitrate - end - end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMotionAndStructure.m b/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMotionAndStructure.m deleted file mode 100644 index b064c0480c02a1f23f6c64ff7d6a4dfe3c723953..0000000000000000000000000000000000000000 --- a/target/classes/vslam/Mathworks_VSLAM_RGBD/helperVisualizeMotionAndStructure.m +++ /dev/null @@ -1,156 +0,0 @@ -classdef helperVisualizeMotionAndStructure < handle -%helperVisualizeMatchedFeatures show map points and camera trajectory -% -% This is an example helper class that is subject to change or removal -% in future releases. - -% Copyright 2019-2022 The MathWorks, Inc. - - properties - XLim = [-1.5 1.5] - - YLim = [-1 0.5] - - ZLim = [-0.5 2] - - Axes - end - - properties (Access = private) - MapPointsPlot - - EstimatedTrajectory - - OptimizedTrajectory - - CameraPlot - end - - methods (Access = public) - function obj = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPoints, varargin) - - if nargin > 2 - obj.XLim = varargin{1}; - obj.YLim = varargin{2}; - obj.ZLim = varargin{3}; - end - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - obj.MapPointsPlot = pcplayer(obj.XLim, obj.YLim, obj.ZLim, ... - 'VerticalAxis', 'y', 'VerticalAxisDir', 'down'); - - obj.Axes = obj.MapPointsPlot.Axes; - obj.MapPointsPlot.view(xyzPoints); - obj.Axes.Children.DisplayName = 'Map points'; - - hold(obj.Axes, 'on'); - - % Set figure position on the screen - movegui(obj.Axes.Parent, [1000 200]); - - % Plot camera trajectory - obj.EstimatedTrajectory = plot3(obj.Axes, trajectory(:,1), trajectory(:,2), ... - trajectory(:,3), 'r', 'LineWidth', 2 , 'DisplayName', 'Estimated trajectory'); - - % Plot the current cameras - obj.CameraPlot = plotCamera(currPose, 'Parent', obj.Axes, 'Size', 0.05); - end - - function updatePlot(obj, vSetKeyFrames, mapPoints) - - [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints); - - % Update the point cloud - obj.MapPointsPlot.view(xyzPoints); - - % Update the camera trajectory - set(obj.EstimatedTrajectory, 'XData', trajectory(:,1), 'YData', ... - trajectory(:,2), 'ZData', trajectory(:,3)); - - % Update the current camera pose since the first camera is fixed - obj.CameraPlot.AbsolutePose = currPose.AbsolutePose; - obj.CameraPlot.Label = num2str(currPose.ViewId); - - drawnow limitrate - end - - function plotOptimizedTrajectory(obj, poses) - - % Delete the camera plot - delete(obj.CameraPlot); - - % Plot the optimized trajectory - trans = vertcat(poses.AbsolutePose.Translation); - obj.OptimizedTrajectory = plot3(obj.Axes, trans(:, 1), trans(:, 2), trans(:, 3), 'm', ... - 'LineWidth', 2, 'DisplayName', 'Optimized trajectory'); - end - - function plotActualTrajectory(obj, gTruth, optimizedPoses) - estimatedCams = vertcat(optimizedPoses.AbsolutePose.Translation); - actualCams = vertcat(gTruth.Translation); - scale = median(vecnorm(actualCams, 2, 2))/ median(vecnorm(estimatedCams, 2, 2)); - - % Update the plot based on the ground truth - updatePlotScale(obj, scale); - - % Plot the ground truth - plot3(obj.Axes, actualCams(:,1), actualCams(:,2), actualCams(:,3), ... - 'g','LineWidth',2, 'DisplayName', 'Actual trajectory'); - - drawnow limitrate - end - - function showLegend(obj) - % Add a legend to the axes - hLegend = legend(obj.Axes, 'Location', 'northeast', ... - 'TextColor', [1 1 1], 'FontWeight', 'bold'); - end - end - - methods (Access = private) - function [xyzPoints, currPose, trajectory] = retrievePlottedData(obj, vSetKeyFrames, mapPoints) - camPoses = poses(vSetKeyFrames); - currPose = camPoses(end,:); % Contains both ViewId and Pose - - % Ensure the rotation matrix is a rigid transformation - R = double(currPose.AbsolutePose.R); - t = double(currPose.AbsolutePose.Translation); - [U, ~, V] = svd(R); - currPose.AbsolutePose.A = eye(4); - currPose.AbsolutePose.A(1:3, 4) = t; - currPose.AbsolutePose.A(1:3, 1:3) = U * V'; - - trajectory = vertcat(camPoses.AbsolutePose.Translation); - xyzPoints = mapPoints.WorldPoints; - - % Only plot the points within the limit - inPlotRange = xyzPoints(:, 1) > obj.XLim(1) & ... - xyzPoints(:, 1) < obj.XLim(2) & xyzPoints(:, 2) > obj.YLim(1) & ... - xyzPoints(:, 2) < obj.YLim(2) & xyzPoints(:, 3) > obj.ZLim(1) & ... - xyzPoints(:, 3) < obj.ZLim(2); - xyzPoints = xyzPoints(inPlotRange, :); - end - - function updatePlotScale(obj, scale) - % Update the map points and camera trajectory based on the - % ground truth scale - obj.Axes.XLim = obj.Axes.XLim * scale; - obj.Axes.YLim = obj.Axes.YLim * scale; - obj.Axes.ZLim = obj.Axes.ZLim * scale; - - % Map points - obj.Axes.Children(end).XData = obj.Axes.Children(end).XData * scale; - obj.Axes.Children(end).YData = obj.Axes.Children(end).YData * scale; - obj.Axes.Children(end).ZData = obj.Axes.Children(end).ZData * scale; - - % Estiamted and optimized Camera trajectory - obj.EstimatedTrajectory.XData = obj.EstimatedTrajectory.XData * scale; - obj.EstimatedTrajectory.YData = obj.EstimatedTrajectory.YData * scale; - obj.EstimatedTrajectory.ZData = obj.EstimatedTrajectory.ZData * scale; - obj.OptimizedTrajectory.XData = obj.OptimizedTrajectory.XData * scale; - obj.OptimizedTrajectory.YData = obj.OptimizedTrajectory.YData * scale; - obj.OptimizedTrajectory.ZData = obj.OptimizedTrajectory.ZData * scale; - end - end -end \ No newline at end of file diff --git a/target/classes/vslam/Mathworks_VSLAM_RGBD/orbslamGroundTruth.mat b/target/classes/vslam/Mathworks_VSLAM_RGBD/orbslamGroundTruth.mat deleted file mode 100644 index ea1360e39c14cb70268bf6d6d4202b51eaf02014..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/Mathworks_VSLAM_RGBD/orbslamGroundTruth.mat and /dev/null differ diff --git a/target/classes/vslam/README.md b/target/classes/vslam/README.md deleted file mode 100644 index 3a958ebcebb9cd8a0278721e6c043284b4e5cad3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/README.md +++ /dev/null @@ -1,18 +0,0 @@ - -## Notes - -Notes from Rohan: -- could use MATLAB coder to move MATLAB code to C/C++ code - - not sure if this is possible for Java code as well - - Prof. mentioned wanting Java code s.t. other students can read and critique codebase -- use MATLAB functions, create new MATLAB objects for data structures / database system -- dataset used by MATLAB example: https://cvg.cit.tum.de/data/datasets/rgbd-dataset - - -#### Performing VSLAM using online dataset - -- Open up MATLAB console -- Install necessary Mathworks Library: Vision, Visual SLAM (users will be queried to download necessary packages) -- In MATLAB console, set imagesPath to 'rgbd_dataset_freiburg3_long_office_household/rgb' -- Run the vslam_implementation.m script with the imagesPath as input -- Use output of worldPointSet for figuring out which key features belong to which objects diff --git a/target/classes/vslam/extractPointsByViewId.m b/target/classes/vslam/extractPointsByViewId.m deleted file mode 100644 index a48481586db5295c8e093d4ae17afbe866b42f11..0000000000000000000000000000000000000000 --- a/target/classes/vslam/extractPointsByViewId.m +++ /dev/null @@ -1,41 +0,0 @@ -function extractPointsByViewId(viewId, worldPointSet) - % Define directories and file paths - % keyFramesDir = './KeyFrames'; - keyFramePointsDir = './KeyFramePoints'; - - % Construct filename for the image - % imageFilename = sprintf('%s/KeyFrame_%04d.png', keyFramesDir, viewId); - - % Load and display the image - % currImage = imread(imageFilename); - % figure; - % imshow(currImage); - % title(['Image for View ID: ', num2str(viewId)]); - % hold on; - - % Load corresponding CSV file for world point indices and pixel locations - csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', keyFramePointsDir, viewId); - dataMatrix = readmatrix(csvFilename); - - % Extract pixel locations and indices of world points - % pixelLocations = dataMatrix(:, 1:2); % Assuming first two columns are pixel X, Y - mapPointsIdx = dataMatrix(:, 3); % Assuming third column is mapPointsIdx - - % Extract world points using the indices - worldPoints = worldPointSet.WorldPoints(mapPointsIdx, :); - - % Append world points to the CSV - updatedDataMatrix = [dataMatrix, worldPoints]; % Concatenate world points - writematrix(updatedDataMatrix, csvFilename); % Write it back - - % % Overlay features on the image - % plot(pixelLocations(:,1), pixelLocations(:,2), 'yo', 'MarkerSize', 5, 'LineWidth', 2); - % - % % Optionally save or display the image - % figure; - % imshow(currImage); - % hold on; - % plot(pixelLocations(:,1), pixelLocations(:,2), 'yo', 'MarkerSize', 5, 'LineWidth', 2); - % title('Features Overlayed on Image'); -end - diff --git a/target/classes/vslam/imperial_london/.DS_Store b/target/classes/vslam/imperial_london/.DS_Store deleted file mode 100644 index 500c87f9c4fd0368a46724d25cfbce39dcd42e55..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/.DS_Store and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0002.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0002.csv deleted file mode 100644 index decf51081a53aef401e97f9e9a0b0edbd4b23460..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0002.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.952328,54,305,439,174 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0003.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0003.csv deleted file mode 100644 index 88e4b192a091c35d764e96a34e9c1f84ca6a32b8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0003.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.965473,-12,307,437,171 -sofa,0.592514,576,322,64,156 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0004.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0004.csv deleted file mode 100644 index 1570a6d50894d8e33b799fe10c04b13f25ddf77a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0004.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.982908,-5,315,358,164 -sofa,0.981918,456,338,185,141 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0005.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0005.csv deleted file mode 100644 index f9d8d81e0ac1cc595c2a899fa4138c8aeccfdc42..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0005.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.988577,-4,315,313,163 -sofa,0.982338,403,332,238,149 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0006.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0006.csv deleted file mode 100644 index 14f564513c5156ec49d0ba5c640ff7cf77a56224..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0006.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.986512,-5,323,282,154 -sofa,0.969826,383,327,255,151 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0007.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0007.csv deleted file mode 100644 index 276428057c9688cda616e999a9ca9a84b67264a9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0007.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.975408,325,327,314,150 -sofa,0.912207,1,332,220,146 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0008.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0008.csv deleted file mode 100644 index f777bec8e3a8c5c15c0f824b54dbad597147bfb3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0008.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.886575,297,272,338,149 -sofa,0.845557,0,268,195,209 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0009.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0009.csv deleted file mode 100644 index 794da973557e21d080c2499d876950cec538c4b3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0009.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.965334,267,213,370,144 -sofa,0.519108,0,207,155,272 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0010.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0010.csv deleted file mode 100644 index 6041f1ef5fb7cfb131b6989cc3050c8668af9545..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0010.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.972942,229,199,395,152 -diningtable,0.634724,353,337,288,143 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0011.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0011.csv deleted file mode 100644 index b47a62f52c0115ec2177fee8fb9dadd6cd6f1e53..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0011.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.978026,232,181,393,170 -diningtable,0.623284,389,315,249,168 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0012.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0012.csv deleted file mode 100644 index a7e6b4160b7b05f757aaedad5e28283afb5e3103..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0012.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.976634,231,199,391,180 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0013.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0013.csv deleted file mode 100644 index b0e23079a1f06d0182ff90241c83e5e1c368e5ce..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0013.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.962698,346,202,293,186 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0014.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0014.csv deleted file mode 100644 index 0cd4e477267128e14370db98897abef072ec6e16..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0014.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.869272,478,191,160,208 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0015.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0015.csv deleted file mode 100644 index 0921044a1f6a5bad072afcd19a6221f1326025fd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0015.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.786228,510,187,130,210 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0016.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0016.csv deleted file mode 100644 index 768bb469a95b331765bfc70d62b9f38acb5a11ed..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0016.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.710312,535,181,104,211 -sofa,0.671818,-11,171,481,303 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0017.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0017.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0017.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0018.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0018.csv deleted file mode 100644 index d9cf9595171a0bee47e09ed42afb010c29a02df5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0018.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.567392,-9,183,539,304 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0019.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0019.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0019.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0020.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0020.csv deleted file mode 100644 index 99439e02160fab5eaede65bbed9d2f3ae1041c03..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0020.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bed,0.544073,7,187,566,299 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0021.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0021.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0021.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0022.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0022.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0022.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0023.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0023.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0023.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0024.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0024.csv deleted file mode 100644 index 6c65d03305c31cd2e77f55ff47813bc23d8fe719..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0024.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.639918,-6,152,308,328 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0025.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0025.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0025.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0026.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0026.csv deleted file mode 100644 index 1a771f1ff124e92a92265c3fcc121da0132b9e17..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0026.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.716166,532,198,108,225 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0027.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0027.csv deleted file mode 100644 index 3ba73b2950cd2fa027ed40183c342a85c817b01a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0027.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.675142,511,210,129,200 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0028.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0028.csv deleted file mode 100644 index 89c06f1b64ee26e0aa05ac5f9ed6f6b888c1e493..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0028.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.895447,455,205,183,200 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0029.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0029.csv deleted file mode 100644 index 551ce0a525c239a103d39bf5867d3d0f1fc16120..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0029.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.974082,250,211,369,179 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0030.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0030.csv deleted file mode 100644 index 8570b2b7d886f6e7b4922037d272505f842706ed..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0030.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.995655,425,254,85,93 -sofa,0.952357,-1,244,376,210 -diningtable,0.642641,312,340,326,139 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0031.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0031.csv deleted file mode 100644 index f8ea73b4b0adb0388f643c1a01e29324c1d046d7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0031.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -sofa,0.992697,-2,251,278,225 -chair,0.991532,323,252,85,101 -diningtable,0.789564,224,344,413,135 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0032.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0032.csv deleted file mode 100644 index 85fcc835e323bd7b44a06582685ce60d65f17e50..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0032.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.996181,242,257,88,122 -sofa,0.987450,0,256,189,223 -diningtable,0.893306,154,361,470,123 -bowl,0.761200,310,383,150,55 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0033.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0033.csv deleted file mode 100644 index 49d9bde1de61f8177ce6e5e2cea4a1594ce7278b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0033.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.991804,110,296,104,134 -diningtable,0.866755,50,409,584,71 -chair,0.813645,541,294,99,155 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0034.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0034.csv deleted file mode 100644 index 77c6264e95339b8dc35ee4c3f0ee37133a3f79b7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0034.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.964840,6,299,125,149 -chair,0.964839,462,284,126,148 -diningtable,0.740993,1,407,624,72 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0035.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0035.csv deleted file mode 100644 index f0eb6525685a8e521f4a00418082cee7e704372b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0035.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.987398,384,273,121,139 -diningtable,0.748576,1,397,616,83 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0036.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0036.csv deleted file mode 100644 index f56bace50f3d56535bffaff195368144f5dcff99..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0036.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.990667,314,277,116,143 -vase,0.990550,571,289,68,77 -tvmonitor,0.921570,508,133,132,146 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0037.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0037.csv deleted file mode 100644 index 9361cd97c6529588295a5e137489ed80304a8bb0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0037.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.994073,516,285,65,76 -chair,0.985533,256,276,118,149 -tvmonitor,0.833849,450,119,188,158 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0038.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0038.csv deleted file mode 100644 index 080cfdcc0119ce77f4270e2bd1ccc40c75585f02..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0038.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.993365,454,287,62,74 -chair,0.981193,184,282,127,157 -tvmonitor,0.701652,397,135,196,140 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0039.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0039.csv deleted file mode 100644 index f5ed03bf853d43f735aaefa3c3837dda104d4ca7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0039.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.995808,414,304,63,76 -chair,0.992384,112,294,143,176 -tvmonitor,0.551602,346,145,234,148 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0040.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0040.csv deleted file mode 100644 index 845b6c454579f24c3f7a89ee42d3a995c23df93d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0040.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.995023,384,319,64,82 -chair,0.786902,38,316,165,165 -tvmonitor,0.623529,309,164,241,145 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0041.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0041.csv deleted file mode 100644 index 95cabf4315270e857dafa275fe71c9e6b1cce1e0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0041.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.989256,306,325,63,80 -tvmonitor,0.658645,219,169,243,146 -chair,0.527722,1,381,91,99 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0042.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0042.csv deleted file mode 100644 index 8ca77df55a1f72c442a483ab4e4ba540fccc4dc2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0042.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.997180,241,337,71,94 -tvmonitor,0.579429,140,167,268,160 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0043.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0043.csv deleted file mode 100644 index 61736fb3cad051955a8c2e92e800e0fa674fc771..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0043.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.994552,179,301,77,102 -vase,0.774514,568,442,72,38 -tvmonitor,0.699291,50,114,312,181 -pottedplant,0.529260,470,269,169,213 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0044.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0044.csv deleted file mode 100644 index 29b90f69a12779e9779c728bf3f48b506292cb2b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0044.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.997650,91,259,96,116 -pottedplant,0.786930,400,238,237,221 -tvmonitor,0.537807,1,-1,294,244 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0045.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0045.csv deleted file mode 100644 index ce6d7e76a5f8139d9de9768b7d26e17665adfc6f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0045.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.997072,1,217,114,139 -pottedplant,0.882975,351,197,252,220 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0046.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0046.csv deleted file mode 100644 index 798784d9d07f710dbdc0c9e57ea966b9722a07d3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0046.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -pottedplant,0.645971,281,129,277,239 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0047.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0047.csv deleted file mode 100644 index 7dfb38923887b1d866256b1580b77475ce1455e2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0047.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -pottedplant,0.778049,261,5,313,280 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0048.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0048.csv deleted file mode 100644 index f2ba595d7242874bc505f0a24dae2e7b0dcf760b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0048.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -pottedplant,0.780441,266,-1,235,230 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0049.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0049.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0049.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0050.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0050.csv deleted file mode 100644 index 59f18724cc0943e018687afd34262721b21c1e25..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0050.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -pottedplant,0.739804,164,0,240,257 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0051.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0051.csv deleted file mode 100644 index 969e95a2eb57d5394f1438c15c3e67deab93dea7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0051.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.501201,541,57,98,414 diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0052.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0052.csv deleted file mode 100644 index a6288b9c3d838387be183e49b90b61ddd3dfbd27..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0052.csv +++ /dev/null @@ -1 +0,0 @@ -Class,Confidence,X,Y,Width,Height diff --git a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0053.csv b/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0053.csv deleted file mode 100644 index b5aeb8cd9226e7f8aa69cc35b8d03bf8598c554e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/BoundedInfo/KeyFrame_0053.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -vase,0.937769,182,428,86,51 diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0002.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0002.png deleted file mode 100644 index e8eee9d7ca052e8d9419e498c6eb14eae15ebf71..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0002.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0003.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0003.png deleted file mode 100644 index 3963b01cce5d607778e2d62e393cb5cf6ac79cfc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0003.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0004.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0004.png deleted file mode 100644 index 4ee5228e55b43defa35691e78e63187e7a1e8cd2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0004.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0005.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0005.png deleted file mode 100644 index bba99fe0d5c17f2ed56ebcc74f64bd205a39c681..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0005.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0006.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0006.png deleted file mode 100644 index 363546a54aa8814a6df34dfa6f01f3dc605e328b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0006.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0007.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0007.png deleted file mode 100644 index a28e5f9a73a6c383bdd50de029a7dc22e6c3cb1a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0007.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0008.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0008.png deleted file mode 100644 index a6112940e4424bb01c51ff0425188c3b79de2993..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0008.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0009.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0009.png deleted file mode 100644 index 5578ec1d6a986d96ee49a02252cebaf48989ebcf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0009.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0010.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0010.png deleted file mode 100644 index 7da634cc4293e2b1c2075bfc9aeef614d1fbea5d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0010.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0011.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0011.png deleted file mode 100644 index 587fa7850a66d1e55d0449c6babcc7ed301c6af2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0011.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0012.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0012.png deleted file mode 100644 index 9540ac65a9da89039d2dc13e63d9e78f4e7f97b8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0012.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0013.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0013.png deleted file mode 100644 index c643d2e4af90d9afc48b03abffd76ccafb403b40..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0013.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0014.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0014.png deleted file mode 100644 index 486fdab45d73fa15d58860dccf5057630e86bda7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0014.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0015.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0015.png deleted file mode 100644 index 908881b953294a8aaa9c32482cb15afc97bb9182..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0015.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0016.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0016.png deleted file mode 100644 index f23a5edeaade28be0c86b1f4aa65de6d78bf6f59..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0016.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0017.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0017.png deleted file mode 100644 index 581b0a90f97ffe7afa8c669ffe1a878fe303e015..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0017.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0018.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0018.png deleted file mode 100644 index 54eb38872db9882715e35dd17a5a779563e7de7b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0018.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0019.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0019.png deleted file mode 100644 index 5c3028313f870e5df76f6da4d8668d335c7fff90..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0019.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0020.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0020.png deleted file mode 100644 index 8d02506e9c533a45b69b463d69246c7a99c16afe..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0020.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0021.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0021.png deleted file mode 100644 index a1f829d657e9383428a5d4c556a703a473efe551..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0021.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0022.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0022.png deleted file mode 100644 index fd1f2ee0e9b07bbc59870223947e7fefc5931467..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0022.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0023.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0023.png deleted file mode 100644 index a81a05bcf283e182eef53745ac4bac60fac81efd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0023.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0024.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0024.png deleted file mode 100644 index a32b4501598b472f536a8fc068b0a8596426c525..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0024.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0025.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0025.png deleted file mode 100644 index 5f9a4ac050daef3b0532cb08c9b6d6a6ffdd476d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0025.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0026.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0026.png deleted file mode 100644 index bf11a4ec42218256cc8bf9fcda35bb5527f0eb67..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0026.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0027.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0027.png deleted file mode 100644 index b3460b2d39fcf54addd5713c3cc90516f296c0fd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0027.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0028.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0028.png deleted file mode 100644 index 15fbd4a1830bec71af8eb91ed45faa4f7f79d7e9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0028.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0029.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0029.png deleted file mode 100644 index 1c74323bd0dd66b6819292856d4f72e64c6a0682..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0029.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0030.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0030.png deleted file mode 100644 index adc3b2e1dbc451df741c92df11effbce14bdc5b1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0030.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0031.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0031.png deleted file mode 100644 index a4ce80b3042cc5643d42afef9646b19c4efcec02..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0031.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0032.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0032.png deleted file mode 100644 index 30e37fcdd12a068540b79ad6179bc4b6784e47f0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0032.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0033.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0033.png deleted file mode 100644 index 512c340beef4cdbb619cc47c0acafc98111daf08..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0033.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0034.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0034.png deleted file mode 100644 index 41ce87956c712b6f2fd9132d35d3b9e2452659c8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0034.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0035.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0035.png deleted file mode 100644 index 7d575ff29b0fcc951471636d2ab2a56cdc5e8e90..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0035.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0036.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0036.png deleted file mode 100644 index 245daf84385a017afc3c7a78257fb6a3af442685..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0036.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0037.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0037.png deleted file mode 100644 index 59e6f0ac45fbc3e429759dbdd95beab605e3a29a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0037.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0038.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0038.png deleted file mode 100644 index 971ec0b76cca9636fdcbac7e5993e537deebcae1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0038.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0039.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0039.png deleted file mode 100644 index 249dde5285bfb20ecad4b186b5602306e3073006..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0039.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0040.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0040.png deleted file mode 100644 index 28e5cc73f0b447226f33a282a45b841a872cb295..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0040.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0041.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0041.png deleted file mode 100644 index 5d2438b46513463c7b03e998d7c9c3597e26fa90..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0041.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0042.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0042.png deleted file mode 100644 index cc4be517d2e19e2efa1db3c50c98ef60d8371b1d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0042.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0043.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0043.png deleted file mode 100644 index d41b62673b2c11b81cf9a5e90611b7be3e31795b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0043.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0044.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0044.png deleted file mode 100644 index 77e5bd0953ed5e7ca7f099446befbc4a550904c5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0044.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0045.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0045.png deleted file mode 100644 index 1f40bcbde442c23388809a6fcf6d4c52ba82ff19..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0045.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0046.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0046.png deleted file mode 100644 index 488b97dd0551cea44c9257a6d08c37674ac83aae..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0046.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0047.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0047.png deleted file mode 100644 index ac383b1442601e37379588164d7732fdb03a3dcf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0047.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0048.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0048.png deleted file mode 100644 index d8c35cc5068dd1223d8202a0ee11f614adf9fa8c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0048.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0049.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0049.png deleted file mode 100644 index dadfc3ee4d2dda8889377fc33e6e4d9a25df7a68..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0049.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0050.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0050.png deleted file mode 100644 index bc3f22fc610879035866c9f8791a68b7aa5a9492..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0050.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0051.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0051.png deleted file mode 100644 index c2f2ee01d464cf42ab537bc0e9ae3bcad2e236be..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0051.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0052.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0052.png deleted file mode 100644 index c5fb8690e7319e30e7cbe6be59af49c12883f0c7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0052.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0053.png b/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0053.png deleted file mode 100644 index 9bdef36694915f453def7c44d83f75a6309cd9d0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/BoundedKeyFrames/KeyFrame_0053.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/CameraIntrinsics.csv b/target/classes/vslam/imperial_london/CameraIntrinsics.csv deleted file mode 100644 index 17f6c0e735d283c5b45488520c523ac4bca66378..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraIntrinsics.csv +++ /dev/null @@ -1,6 +0,0 @@ -535.4,539.2,0 -320.1,247.6,0 -480,640,0 -535.4,0,320.1 -0,539.2,247.6 -0,0,1 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0001.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0001.csv deleted file mode 100644 index ee64b6d45d1da701f12650efc684763bf9796c5c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0001.csv +++ /dev/null @@ -1,4 +0,0 @@ --0,-0,-0 -1,0,0 -0,1,0 -0,0,1 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0002.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0002.csv deleted file mode 100644 index bcc37a57301028162d17a3749afd23ff0e471774..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0002.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.828269863570113,0.00562999521519127,0.143618825715749 -0.881022940345882,0.0604182863447733,0.469199540983853 --0.0377974606178161,0.997630269140566,-0.0574908520146237 --0.471561163111575,0.0329162083126792,0.881218810894987 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0003.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0003.csv deleted file mode 100644 index c46561712bff99a27dfc61f17927820014ef3109..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0003.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.920357094838191,0.0136484498697398,0.314963269682374 -0.799067053340375,0.0773988088583953,0.596239271310799 --0.0494820743940828,0.996781101638481,-0.0630789959498049 --0.599202276847802,0.0209011914416054,0.800324791329578 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0004.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0004.csv deleted file mode 100644 index d997aa94e891eaac4560d5858b34270fb9176b59..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0004.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.988512847656623,0.0241873221272865,0.488889966952273 -0.683651622535844,0.114624042533931,0.720750850070458 --0.0675813450718837,0.993288620915844,-0.0938641430865679 --0.726672705419973,0.0154610618096036,0.686809824307527 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0005.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0005.csv deleted file mode 100644 index a6456d5e9ca1796180c8f26aded5386fd3c455fa..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0005.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.0079508497542,0.0255894264860282,0.72122131022633 -0.564135131364176,0.112428975016811,0.817992224374654 --0.0653178880165003,0.993658139865619,-0.0915263600492286 --0.823094846944013,-0.0017962893604152,0.567901088464132 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0006.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0006.csv deleted file mode 100644 index 74262549ad25e892a5fcf49bcb08b025da3af84f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0006.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.998575461048816,0.0446854989533159,0.971330340185541 -0.450526348251767,0.110005814886166,0.885959779122144 --0.0452001265712376,0.993917347348694,-0.100425371282758 --0.891618168325922,0.00519878164250234,0.452758229721517 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0007.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0007.csv deleted file mode 100644 index 0353fdf9b519f2a1ead31873cb39d49f8a46e238..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0007.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.983506997661152,0.065519416130077,1.1980038372471 -0.311583959106976,0.119235747588221,0.942707946781134 --0.0439382029422137,0.992842560419896,-0.111054421528701 --0.949202228584316,-0.00681811674465926,0.314592820221036 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0008.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0008.csv deleted file mode 100644 index 9ac2e093fd546a46c0e4aceb89209f77173bb28f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0008.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.863196779830187,0.0785989585862184,1.38295140220683 -0.220014612427585,0.0197915504406206,0.97529578326244 --0.0522136122518193,0.998599885505513,-0.00848571529066596 --0.974098202962081,-0.0490567344972528,0.220739955120295 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0009.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0009.csv deleted file mode 100644 index 294d16e683a66ca2ab6732f90913627954f8f22a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0009.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.717593005135395,0.117208418514823,1.48504442041386 -0.143013038444289,-0.0856795139990149,0.98600521890902 --0.0382490562395004,0.995023118865499,0.0920108831604354 --0.988981435888319,-0.0508725250412083,0.139024119001746 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0010.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0010.csv deleted file mode 100644 index 6de43f0d249c49b260ebb6504ca14a9e3f09bae6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0010.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.532224607270127,0.144251415655097,1.59000247989827 -0.039106431232924,-0.107801699397867,0.993402979985039 --0.027308240780468,0.993676832759802,0.108906437008675 --0.998861825790585,-0.0313870298591684,0.0359152799643704 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0011.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0011.csv deleted file mode 100644 index 75eac68d9dd5c634f912185fa47868b7bb2140ca..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0011.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.328740272264189,0.167067195305465,1.68340955820898 -0.0195167831951314,-0.135102754353132,0.990639359676321 --0.000683819831565333,0.990826047736806,0.13514168682053 --0.999809295597992,-0.00331494984237649,0.0192453512150423 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0012.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0012.csv deleted file mode 100644 index 5067387a5408d5c64ba510ad1fdee730f4432916..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0012.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.290422438904399,0.150423753257095,1.83644056353283 --0.0245532709674858,-0.103371223998247,0.994339744219199 --0.0106737347017257,0.994610017802093,0.10313575459189 --0.999641539889332,-0.00808099850424677,-0.0255242862948206 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0013.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0013.csv deleted file mode 100644 index d8da6b32efc54082a71bbdf2ec6f4cba77dc1c47..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0013.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.340449969291815,0.143269679175289,1.94450153810633 -0.168997700661273,-0.0862892276369297,0.981831933869043 -0.0194160194808683,0.996258415084261,0.0842151326147229 --0.985425185064154,0.00483110418216766,0.170040774738471 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0014.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0014.csv deleted file mode 100644 index e0bcf906b91c41f856851341b5e17ade6ae43f06..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0014.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.356052925414596,0.145121631676456,1.98780962183599 -0.390571200488719,-0.0940454702109005,0.915756292297035 -0.0267463794082131,0.995507333278859,0.0908283027286459 --0.92018409491653,-0.010981753995845,0.391331870081932 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0015.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0015.csv deleted file mode 100644 index 5eeb78bfd27a32637d7461224e35f2be21e31023..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0015.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.363201963121128,0.144352869299391,1.99552386089223 -0.43639731188246,-0.0949195319002633,0.894733294700493 -0.0233960324786054,0.995280700626988,0.0941751167969086 --0.899449838426815,-0.0201645585938853,0.436558562773301 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0016.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0016.csv deleted file mode 100644 index 202922d591689dd2e7788dd1fe35435902b93a01..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0016.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.36837803429819,0.147259617627462,2.00977838857958 -0.473786171277651,-0.0955214672477337,0.875444066289163 -0.0232360001475742,0.995109777754515,0.0960032213756428 --0.880333318807829,-0.0251431802323985,0.47368878843033 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0017.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0017.csv deleted file mode 100644 index 72965fac09d0b1f6a07f94f156d24a3b724b9314..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0017.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.371840740990942,0.150757196804928,2.02657078747888 -0.496848091041831,-0.0957829708621027,0.862535562699254 -0.0256909043606091,0.995078362656247,0.0957028192191626 --0.867457175808248,-0.0253904443874317,0.496863536066581 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0018.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0018.csv deleted file mode 100644 index 79c3ab2f44cf12e86020f37f6a69675982cf0dab..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0018.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.370305615131399,0.151630422217176,2.03001668798661 -0.504659237108093,-0.0962182450639336,0.85794003503642 -0.026831601536268,0.995037859766339,0.0958108698980563 --0.862901570030137,-0.0253319353473068,0.504736736815425 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0019.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0019.csv deleted file mode 100644 index 60081e096671e761c4ff6a255cf44ce8704200a5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0019.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.371104465717633,0.151540515008,2.03879017317723 -0.51170747669802,-0.0967643844526176,0.853693219015386 -0.0282954770390776,0.994996392597564,0.0958203772533079 --0.858693673128244,-0.0248763465834765,0.511885087798212 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0020.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0020.csv deleted file mode 100644 index 6ad6c1f335fc2956f589d0e7fcf530bc6cd74f2c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0020.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.371811754122165,0.151938888352536,2.05250960171991 -0.524861913905221,-0.0925702864463671,0.846138708131821 -0.030220181820327,0.99546852858974,0.0901617945591375 --0.850650757915665,-0.021752026448478,0.525281008035594 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0021.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0021.csv deleted file mode 100644 index eb34cae196bdcc6c3e83071514c6ebac1f5feb1f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0021.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.37253217765573,0.149348924307118,2.07429412889319 -0.536268222163052,-0.0911320897231624,0.839113422679419 -0.0353610794273008,0.995707028590533,0.0855400916363047 --0.843306580052484,-0.0162004764775845,0.537188567080577 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0022.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0022.csv deleted file mode 100644 index 97eb9ff69ccae6deee29c3cac80e4fa63f444259..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0022.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.373639074039816,0.148612343525172,2.09741618419165 -0.542584688386551,-0.0906276881236877,0.835097885324723 -0.0378801028451667,0.995791323146561,0.0834550091633938 --0.83914656272722,-0.0136478163593351,0.543734110914253 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0023.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0023.csv deleted file mode 100644 index 79e1ad27a61153553438ba4e527e46398e962adf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0023.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.376614224410082,0.149094893168968,2.1244279606223 -0.540808474129931,-0.0904041254265511,0.836273453133074 -0.0394742547776103,0.99583987596549,0.0821262725733336 --0.840219005687807,-0.0114033128036365,0.542127279278672 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0024.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0024.csv deleted file mode 100644 index 52ffd7fc49024803ebf915c642d2ecc73e75078b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0024.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.381163173546344,0.147137283378799,2.15501982330664 -0.522919283800378,-0.0842596617276222,0.848207363818097 -0.0365812208695758,0.996403746743531,0.0764289719618443 --0.851596874647501,-0.00893772236085631,0.524121054919195 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0025.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0025.csv deleted file mode 100644 index dfc57b58d86fb6ce7dcfc399fd642c0e16223cdc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0025.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.379557996725827,0.145759511287461,2.20338809340369 -0.458408530035381,-0.0726935210137949,0.88576366576724 -0.0457417380632335,0.997258152236927,0.0581710511848009 --0.887563695173341,0.0138502635212171,0.460476771629837 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0026.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0026.csv deleted file mode 100644 index 486232c21ae1e8134f4427fa260ba68834429962..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0026.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.368785465077941,0.145861883942389,2.23683150195808 -0.403275240680261,-0.0705540356751121,0.912354760114854 -0.0518566478997588,0.997183062826446,0.0541925020705801 --0.913608213800028,0.0254571652393661,0.405797935449526 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0027.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0027.csv deleted file mode 100644 index 3d9fcbe4d63af191bdab4c40ffbae85bbf198c5f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0027.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.361757460376291,0.147787251949554,2.2555753730123 -0.359074060968343,-0.0682442564283678,0.930810689777595 -0.0475115578466499,0.99736657710411,0.0547956453252963 --0.932098959666133,0.0245485710413131,0.361370858051867 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0028.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0028.csv deleted file mode 100644 index 0efbfcf385012fde9befd4c0e39f26ba34ca5771..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0028.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.355588774807913,0.141697424374327,2.2703828647817 -0.263418994882188,-0.0801193947541046,0.961348696217711 -0.0400999269271857,0.996593230148153,0.0720689217576152 --0.963847720854125,0.0195656895382414,0.265734368867109 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0029.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0029.csv deleted file mode 100644 index 263b7962fecfc820144024cb1ddea2bbd87b8ba9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0029.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.343139855910133,0.139629304738968,2.29885954690037 --0.128201931628715,-0.0693796495198761,0.989318315285412 -0.0475454479017087,0.995973031834389,0.0760075670077698 --0.990607740283959,0.0567818993264038,-0.12438698001959 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0030.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0030.csv deleted file mode 100644 index abc91305d2ebf2deaf1dcd910a21635eb2d020d4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0030.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.181307398011726,0.140200366902738,2.39419307800445 --0.560264535579312,0.00416943019203365,0.828303245209127 -0.0753759008007067,0.996094980908423,0.0459702358872612 --0.824877035533527,0.0881895961036344,-0.558390966428092 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0031.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0031.csv deleted file mode 100644 index 728a916164ed116a57ed32da6171580d61c74f90..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0031.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.0638535172037294,0.164531011631924,2.26215590695315 --0.718309224889099,-0.00799967793241392,0.695677987715725 -0.0501715623765659,0.996734829485061,0.0632652670908869 --0.693912582223378,0.0803472765211401,-0.715562466447003 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0032.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0032.csv deleted file mode 100644 index 1ad60a7a7dbf5d8e394755faa79803d6687c313c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0032.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.223154548104959,0.131587784852594,2.197548936882 --0.82785157683529,-0.0095847299869491,0.560865313317201 -0.0324533421498598,0.997360913330967,0.0649460479392312 --0.560007631478919,0.0719676421087843,-0.825355748253245 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0033.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0033.csv deleted file mode 100644 index b50bb91c6bb4a3fd9f9af0cea9fa816a77cc8f4d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0033.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.393356403465416,0.063182453430556,2.22964038612952 --0.943919216635678,0.0268415714487981,0.329083640596198 -0.0387044082133478,0.998813707908883,0.0295490385319625 --0.327900108647044,0.0406288928653974,-0.943838339872771 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0034.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0034.csv deleted file mode 100644 index f4890233ef7c23e569257792e9031f09e7f227eb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0034.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.468121654345464,0.0655200892612559,2.15571072153658 --0.984295036709529,0.0341706084694906,0.173192523585209 -0.0417497566743982,0.998314688150408,0.0403080791006366 --0.171523288583845,0.0469057879155591,-0.984062807209684 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0035.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0035.csv deleted file mode 100644 index ba61ebc8f7d2edebac83b1394a1e5c51f25a2afe..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0035.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.512582779916885,0.10825355042168,1.98847963900906 --0.999514307605021,0.018501654843558,0.0250766357573318 -0.0202041428549799,0.99738209715382,0.0694315842289623 --0.0237263883545643,0.0699045137676944,-0.997271486331857 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0036.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0036.csv deleted file mode 100644 index 59ac78a0214783cb8e5f1789c6cd33e8483253c8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0036.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.605170290444806,0.142733625315131,1.81698102452016 --0.988445827720969,0.0421200488681405,-0.14560476346725 -0.0342159462190652,0.997823468338673,0.0563701610510041 -0.147662164027696,0.050736845742789,-0.987735621408244 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0037.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0037.csv deleted file mode 100644 index dcf27ef123d457d57a12b99559ab87d02ec64c9d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0037.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.673648158500067,0.157131461292066,1.70180396266735 --0.959275802557439,0.0438573976700359,-0.279045629418192 -0.0295653952887715,0.998036192890913,0.055223591708893 -0.280919600649725,0.0447245609192998,-0.958688631215253 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0038.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0038.csv deleted file mode 100644 index e79acaf887d1454979a2f1253e68ab62c0f1ec75..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0038.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.742266694797227,0.150324966322209,1.55887385514461 --0.900097810836818,0.0577202177211873,-0.431847551102223 -0.0382214082046193,0.997825169645632,0.0537033963220474 -0.434008127667702,0.0318324879311336,-0.90034639879909 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0039.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0039.csv deleted file mode 100644 index 666153d53fde1b96bb3e473ff5a9079a5d5a1499..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0039.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.804434912614402,0.16617195064006,1.33391477107436 --0.824487051926908,0.0287374300502012,-0.565150653648199 -0.0114900352435163,0.999353953119342,0.0340537145528565 -0.56576415607122,0.021583245790531,-0.824284588722952 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0040.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0040.csv deleted file mode 100644 index 2910b8ce7e41d2657f9176bb8be596aa5d21c06c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0040.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.784978174071812,0.154818985746353,1.22872860281135 --0.775396192907994,0.012099940756459,-0.631359117664011 -0.00180337146862607,0.999854757256301,0.0169473373510185 -0.631472479111429,0.012002325842655,-0.775305392925415 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0041.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0041.csv deleted file mode 100644 index 68cf26f8b823984935b3ea04baa19a4140f2d494..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0041.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.7967584667994,0.19928826555663,1.06868530928469 --0.634181414834953,-0.0182628685343354,-0.772968563856794 --0.0178173978121061,0.999800714797222,-0.00900394503366499 -0.772978960524245,0.00806215379794304,-0.634380428656966 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0042.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0042.csv deleted file mode 100644 index 7a5dc28bb9816b013aa03834da84819f04427e1a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0042.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.713334230296585,0.261732998866737,0.838240736110094 --0.478211994845293,-0.0616785464079695,-0.876075935578124 --0.0222147548665651,0.998061206750591,-0.0581406247452838 -0.877963434689796,-0.00834173198762906,-0.47865501444688 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0043.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0043.csv deleted file mode 100644 index 4fc72595d00339a2b4bd070936239b6716cef4bb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0043.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.565763462690566,0.254799667230417,0.679387681954242 --0.361318719296866,0.00868503458491849,-0.932401926885574 --0.0446007178540914,0.998651083162065,0.0265855236197212 -0.931375090418771,0.0511916426137489,-0.36044397161547 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0044.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0044.csv deleted file mode 100644 index e0010ad2ca0fa58e2d0a39b1663b47b18356108c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0044.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.454907562357309,0.376703837712526,0.477518788994787 --0.156192521144268,0.0178684073932042,-0.987564993484392 --0.0663702853900666,0.99738672117035,0.0285431892103905 -0.985494232127128,0.0700032031430671,-0.154598415237259 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0045.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0045.csv deleted file mode 100644 index f193f3a1f88a1eb2c7a66f19a548dfa2583d30e0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0045.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.330482906371878,0.393304226990795,0.406745155777056 --0.0228639408081628,0.09074503147335,-0.995611660977121 --0.0705614614463484,0.993241942227499,0.0921494674900566 -0.9972453661809,0.0723587138017683,-0.0163063229355197 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0046.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0046.csv deleted file mode 100644 index 1ba7dcb1ab31eda3fb53396a2b2101a88cc0adaf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0046.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.136962115914911,0.434176015007501,0.435843821265594 -0.0904289813923354,0.17310007692683,-0.980744086238745 --0.058112549268573,0.984017996002986,0.168319681439148 -0.994205980137845,0.0417725616905862,0.0990430317990815 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0047.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0047.csv deleted file mode 100644 index be685bf8a93c284a602caeec3444eb87f81cabeb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0047.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.00155853375185511,0.462570010199387,0.469482768741492 -0.117285024106058,0.340954933628448,-0.932734665569401 --0.031067750278279,0.940016853961939,0.339710331253181 -0.992612219355116,-0.010864966724302,0.120842602111142 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0048.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0048.csv deleted file mode 100644 index ec48d166f25ee5c050a0e3fdd658f90ea8f043bb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0048.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.0939273900112067,0.496009880736578,0.441844153454782 -0.130242674833655,0.4235194293566,-0.896475397659988 --0.0254928303162838,0.905308578576325,0.423988788953881 -0.991154357935554,-0.0323677387775664,0.128706519771872 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0049.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0049.csv deleted file mode 100644 index d56e7658c9e5729b88e2e9a404c7742addd87e60..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0049.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.189975922090776,0.512845999550325,0.406705860734134 -0.222891999089929,0.464559112251993,-0.857032081059592 --0.0234316969241928,0.881447809152682,0.471699814839045 -0.974561497454598,-0.0850563987221253,0.20735307259714 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0050.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0050.csv deleted file mode 100644 index f4ac43f9389979e07cb1c181ec9d6c62b0703912..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0050.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.226244004468598,0.484621335719569,0.413421700006532 -0.319054106382576,0.372926841215633,-0.871280694323791 -0.0130077734897245,0.917518275356378,0.397480832513844 -0.947647231320419,-0.13815131373964,0.287887025554739 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0051.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0051.csv deleted file mode 100644 index b8ba5144ed83dd8e24811589a10270853262e88d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0051.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.285450794791237,0.435854845054062,0.467879569165646 -0.374602234856663,0.261856978449119,-0.889440323168391 -0.0332034581861181,0.954886510128971,0.29510893435848 -0.926590900022699,-0.140080960916224,0.349008063494114 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0052.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0052.csv deleted file mode 100644 index fc8d8737b84ac27986d4def95e22be75b19e864d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0052.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.35590963537425,0.38374490744612,0.526460441229155 -0.441743477291649,0.130945314644496,-0.887533675328963 -0.0579221421667819,0.983063931571891,0.173868720272587 -0.89526963855427,-0.128213224805672,0.426677446401654 diff --git a/target/classes/vslam/imperial_london/CameraPoses/Pose_0053.csv b/target/classes/vslam/imperial_london/CameraPoses/Pose_0053.csv deleted file mode 100644 index bb3a028c7676bc355b3dfcc4cefa8396d8375add..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/CameraPoses/Pose_0053.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.382513927432799,0.333649570278636,0.550112574773009 -0.480688828908274,0.0778947034640131,-0.873424676165635 -0.0584863869455706,0.990980836754623,0.120566677515639 -0.874938622021479,-0.109038508598387,0.471797638122315 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0002.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0002.csv deleted file mode 100644 index ea049340d5cd166a45d7d5e0220d265267d7815d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0002.csv +++ /dev/null @@ -1,158 +0,0 @@ -291,75,1,0.5146054,-1.224414,3.106402 -329.8,166.6,3,0.9818702,-0.766371,3.401938 -185.32,240.04,8,-0.02511299,-0.1800625,3.362288 -303,254,9,0.7845386,-0.147815,3.392826 -232.6,253,10,0.2912827,-0.1252954,3.397793 -229,262.6,12,0.2644781,-0.06266066,3.379609 -297.4,303.4,13,0.6197696,0.1684004,3.103951 -295,185.8,18,0.7115114,-0.6001633,3.381582 -238,206,20,0.2929956,-0.4229641,3.344156 -282,372,21,0.444532,0.5395504,2.905701 -285.4,75.4,23,0.4764596,-1.213302,3.117811 -243,195,24,0.3420911,-0.4983045,3.398775 -335,425,27,0.4873031,0.7011388,2.372841 -329,426,39,0.4698386,0.7060722,2.397863 -223,180,43,0.2019959,-0.5779504,3.391154 -184.6,304.6,47,-0.06497882,0.185417,3.128173 -187,233.8,48,-0.01328443,-0.2173341,3.365188 -245,190,53,0.3463687,-0.5309781,3.378115 -238,190,55,0.3030787,-0.5264999,3.388007 -181,212.68,61,-0.04549457,-0.3382006,3.410348 -168.04,127.72,70,-0.1586614,-0.8432461,3.373233 -177.4,141.4,71,-0.09792162,-0.7730974,3.379331 -235,257.8,81,0.2939556,-0.09863108,3.355609 -282,183,82,0.5960411,-0.6032636,3.362837 -193,185.8,93,0.005669374,-0.5266738,3.387265 -400,174,94,1.518191,-0.7614215,3.325167 -341,424,95,0.4618345,0.6598712,2.278306 -237.16,193.96,96,0.3042638,-0.5078131,3.393231 -396,312,97,1.625707,0.230496,3.450252 -281.8,371.8,99,0.4408426,0.5383875,2.903933 -295,302.2,102,0.6090427,0.1624516,3.09936 -326,424,103,0.4688739,0.6978137,2.414289 -185.32,301.96,106,-0.05598626,0.1686781,3.154021 -238.6,199.72,107,0.3035281,-0.4604298,3.373388 -158.248,279.208,109,-0.1608609,0.04898683,3.400408 -183.88,304.84,112,-0.06462528,0.187235,3.134715 -330.76,425.8,113,0.4634541,0.7014568,2.375824 -234,228,116,0.2751177,-0.2806046,3.357897 -322.12,185.32,120,0.9073399,-0.6250448,3.369823 -293.32,195.4,122,0.6739439,-0.5320861,3.345163 -169.48,268.84,125,-0.09540579,-0.01433861,3.411813 -257.32,208.36,126,0.44131,-0.4223112,3.390202 -319.24,215.56,127,0.9404192,-0.4217781,3.430739 -301.96,263.08,128,0.8774418,-0.08775836,3.515339 -319,267,129,0.92569,-0.07120881,3.410784 -327.4,398.2,131,0.5882337,0.618696,2.571675 -329.32,166.6,132,0.928013,-0.745946,3.320616 -301.96,253,133,0.7568023,-0.1454804,3.345403 -166.888,129.5632,134,-0.1605324,-0.8425714,3.394372 -336.52,159.4,135,1.035492,-0.8252162,3.389441 -237.16,263.08,137,0.320534,-0.06338126,3.385469 -180.712,244.648,143,-0.0376497,-0.1643527,3.417492 -326.44,397,149,0.4742463,0.5800573,2.442477 -272,74,2,0.4071985,-1.232532,3.162772 -194,165,4,0.0002636892,-0.6473298,3.366482 -259,209.8,5,0.4380782,-0.41324,3.354209 -255,216,6,0.4159851,-0.364756,3.363834 -182,218,7,-0.03870046,-0.3219566,3.412415 -303,264,11,0.7911108,-0.08256245,3.389954 -241,439,14,-0.009165294,0.6888046,2.308352 -287,75,15,0.4939215,-1.226825,3.117405 -275,77,16,0.4132962,-1.199899,3.11864 -167.8,128.2,17,-0.1587087,-0.8419488,3.381545 -294,196,19,0.6996369,-0.5317577,3.380455 -269,73,22,0.3821633,-1.231444,3.150079 -248,221,25,0.3695405,-0.339879,3.373911 -237,264,26,0.3142292,-0.05862162,3.382413 -278,71,28,0.4170324,-1.232145,3.101007 -325,275,29,0.9800313,-0.01553936,3.411268 -463,439,30,1.23199,0.8195994,2.299006 -284,72,31,0.4470952,-1.226359,3.078166 -192,161,32,-0.001003253,-0.6670672,3.383899 -292,260,33,0.6993436,-0.09878816,3.377497 -275,181,34,0.5361001,-0.6091455,3.341071 -258,374,35,0.289955,0.5341135,2.881134 -177,141,36,-0.1048768,-0.7878456,3.36775 -235,195,37,0.2754636,-0.496252,3.370882 -222,207,38,0.2178522,-0.4214447,3.431039 -256,211,40,0.3948139,-0.3959205,3.303171 -237.4,211,41,0.3017248,-0.3886599,3.372919 -184.6,155.8,42,-0.0510777,-0.6929123,3.374343 -235,258,44,0.2939454,-0.09925068,3.355387 -288,195,45,0.7188889,-0.5644342,3.473133 -186,241,46,-0.01527366,-0.1801972,3.403358 -296,186,49,0.7055385,-0.5854651,3.377373 -184,177,50,-0.04658643,-0.5751675,3.395928 -193,173,51,0.00553779,-0.5963731,3.377447 -187,234,52,-0.006970262,-0.2243561,3.389426 -181,231,54,-0.04469637,-0.242588,3.39712 -225,255,56,0.2389411,-0.1106992,3.386347 -182,210,57,-0.04494566,-0.3677904,3.390217 -192,186,58,0.005687958,-0.5178635,3.381457 -260,202,59,0.4441837,-0.4633921,3.354667 -239.8,193,60,0.3016365,-0.5055306,3.342712 -302.2,254.2,62,0.7852336,-0.1473306,3.398653 -193,164.2,63,-0.000811854,-0.6578503,3.371172 -322,187,64,0.9069279,-0.6166943,3.371432 -186,150,65,-0.04483916,-0.7272227,3.373558 -280,186,66,0.5919361,-0.5857335,3.369872 -224.2,181,67,0.1969234,-0.5716248,3.360623 -178.6,261.4,68,-0.0450547,-0.05945377,3.404844 -333,284,69,1.037228,0.0441396,3.396294 -330,166,72,1.003974,-0.7725719,3.419943 -184.6,230.2,73,-0.02947837,-0.2475659,3.362591 -293.8,195.4,74,0.7042819,-0.5346218,3.386134 -237.4,263.8,75,0.3182433,-0.06200455,3.37395 -338,159,76,0.9753848,-0.7930477,3.286962 -177,377,77,-0.108631,0.5567272,3.04028 -308,261,78,0.8677491,-0.1087733,3.451555 -185.32,156.52,79,-0.05186925,-0.6874685,3.3517 -238.6,200.2,80,0.3024458,-0.4630845,3.371537 -184.6,176.2,83,-0.04451041,-0.5706668,3.384904 -246,194,84,0.3381328,-0.5082854,3.336739 -230,250,85,0.2653921,-0.1431204,3.374084 -233.8,194.2,86,0.2706853,-0.4959229,3.363505 -255,228,87,0.4234664,-0.2913519,3.369165 -185.8,241,88,-0.013956,-0.1810682,3.391656 -250,215,89,0.3859615,-0.3729099,3.371273 -289,184,90,0.6499889,-0.6080215,3.368404 -273,189,91,0.5333642,-0.5537217,3.354255 -233,214,92,0.2727866,-0.3674195,3.373729 -289,193.96,98,0.655971,-0.534866,3.364598 -322.6,185.8,100,0.9128084,-0.6248493,3.372419 -243.4,195.4,101,0.3282556,-0.4933029,3.352344 -325,274.6,104,0.9567934,-0.01488223,3.375676 -322.6,172.6,105,0.918357,-0.7173499,3.381445 -319,267.4,108,0.9020163,-0.06985029,3.370083 -185.32,150.76,110,-0.05077266,-0.7208293,3.360261 -179.56,260.2,111,-0.04998285,-0.06115727,3.37848 -183.88,176.68,114,-0.05151342,-0.5598835,3.35441 -294.76,185.32,115,0.6922401,-0.6006564,3.366868 -289,183.88,117,0.6448272,-0.6032348,3.357746 -192.52,185.32,118,0.003463787,-0.5174648,3.361814 -301.672,172.072,119,0.6729819,-0.6769173,3.261317 -223.912,180.712,121,0.199669,-0.5679835,3.373383 -192.808,172.072,123,0.003836368,-0.606968,3.372014 -279.208,185.896,124,0.5766987,-0.5941082,3.360342 -187.624,301.672,130,-0.05671202,0.1670294,3.10165 -296.488,303.4,136,0.6353174,0.1705178,3.156216 -184.168,177.256,138,-0.05137464,-0.556696,3.351791 -294.76,185.896,139,0.7026011,-0.6044998,3.382438 -185.5504,301.672,140,-0.03612597,0.1680033,3.226197 -318.2608,214.5808,141,0.9113547,-0.4238047,3.409078 -224.9488,181.4032,142,0.2107712,-0.5703045,3.377344 -243.6112,187.624,144,0.3228566,-0.532351,3.324113 -190.1124,302.0868,145,-0.03266144,0.1712767,3.139598 -317.0167,214.9956,146,0.8550649,-0.4046484,3.331474 -319.505,172.6941,147,0.9705507,-0.7467204,3.517038 -304.5751,172.6941,148,0.7462451,-0.6934491,3.353993 -312.0401,264.762,150,0.9298742,-0.08282664,3.524899 -182.6474,207.5306,151,-0.05081953,-0.3735165,3.34037 -185.1357,234.9021,152,-0.01947345,-0.2191729,3.383508 -329.4583,282.1802,153,1.007917,0.03019918,3.4013 -278.6966,183.1451,154,0.5351047,-0.6012293,3.320491 -314.5284,263.7667,155,0.8430696,-0.09364896,3.334252 -294.8209,305.5705,156,0.5749677,0.1746293,3.083612 -189.117,302.5845,157,-0.04187655,0.1784971,3.158655 -223.1573,180.1591,158,0.2030159,-0.5803186,3.390495 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0003.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0003.csv deleted file mode 100644 index 05a536a484da90745534fd75a6a76a243d47d212..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0003.csv +++ /dev/null @@ -1,334 +0,0 @@ -245.8,253,9,0.7845386,-0.147815,3.392826 -225.64,60.04,28,0.4170324,-1.232145,3.101007 -113.32,258.472,68,-0.0450547,-0.05945377,3.404844 -104.68,113.32,70,-0.1586614,-0.8432461,3.373233 -243,304,102,0.6090427,0.1624516,3.09936 -281,430,103,0.4688739,0.6978137,2.414289 -179.56,195.4,107,0.3035281,-0.4604298,3.373388 -123.688,139.24,110,-0.05077266,-0.7208293,3.360261 -121.96,306.856,112,-0.06462528,0.187235,3.134715 -121.96,166.6,114,-0.05151342,-0.5598835,3.35441 -245.8,263.08,128,0.8774418,-0.08775836,3.515339 -261.4,266.2,129,0.92569,-0.07120881,3.410784 -279.4,403,131,0.5882337,0.618696,2.571675 -274.024,163.432,132,0.928013,-0.745946,3.320616 -264.3472,214.5808,141,0.9113547,-0.4238047,3.409078 -115.048,239.464,143,-0.0376497,-0.1643527,3.417492 -532.36,420.04,169,2.480667,0.8626149,2.392133 -531.496,420.9041,212,2.581343,0.9020375,2.45958 -179.56,303.4,215,0.2311449,0.1612031,3.13019 -293.32,428.68,223,0.3986206,0.6389496,2.225132 -90.28001,277.48,228,-0.1771023,0.04535729,3.382387 -123.4,303.4,232,-0.06997696,0.1656095,3.13004 -234.28,179.56,239,0.6020446,-0.598698,3.292172 -341.416,419.176,242,0.8976615,0.7141411,2.507764 -185.32,189.64,254,0.313438,-0.5027622,3.352168 -172.36,250.12,255,0.2899208,-0.13744,3.430416 -217,61.48001,257,0.3486834,-1.208987,3.093622 -267.4,273.16,258,0.9546737,-0.02570109,3.411601 -222.76,376.84,259,0.4022185,0.5308549,2.902911 -228.52,376.84,262,0.3802273,0.5085127,2.797496 -166.6,234.28,267,0.3607412,-0.2552282,3.723164 -120.52,257.32,269,-0.01209634,-0.07521433,3.42766 -308.584,426.088,272,0.8169146,0.7789111,2.682775 -178.984,201.448,273,0.2669233,-0.429483,3.339087 -322.12,422.92,274,0.8265504,0.7421474,2.578411 -168.04,260.2,276,0.2048851,-0.07259396,3.270705 -233.2432,65.28161,279,0.4455712,-1.21126,3.081046 -283.0096,156.52,280,0.885823,-0.7719413,3.197539 -250.12,371.08,284,0.5816072,0.5247914,2.940633 -398.44,386.344,285,1.331551,0.5809119,2.537932 -197.992,382.5424,288,0.2347247,0.5383011,2.839399 -279.208,401.896,289,0.4727378,0.5800081,2.451037 -398.44,401.32,290,1.336779,0.6580434,2.525423 -104.68,112.9744,291,-0.2092099,-0.8064364,3.210396 -178.12,261.64,292,0.2951032,-0.07437318,3.343458 -118.504,215.272,295,-0.05442384,-0.3028203,3.375953 -185.896,182.44,296,0.3211269,-0.544636,3.355252 -389.8,408.52,297,1.368141,0.7499514,2.627803 -120.4394,202.554,298,-0.1516587,-0.3258688,3.019352 -261.928,265.384,299,0.8269057,-0.07972468,3.280507 -121.96,229.096,303,-0.02440363,-0.2315706,3.396771 -166.888,233.2432,305,0.2518525,-0.2390978,3.412676 -224.9489,189.117,309,0.6058942,-0.561127,3.39122 -120.4394,197.5773,310,0.07022595,-0.4632584,3.789144 -115.048,127.4896,311,-0.06158758,-0.8338273,3.544531 -123.3424,303.7456,312,0.0460263,0.1844366,3.502932 -90.57954,277.2036,313,-0.1639917,0.03227437,3.435626 -247.3437,369.2715,314,0.6081362,0.5283373,2.99725 -166.888,260.2,316,0.1513377,-0.07321034,3.150666 -224.2,67.24001,318,0.3522768,-1.144114,2.987323 -122.9277,140.3459,323,0.02485779,-0.8015249,3.671376 -105.5095,264.762,324,-0.120024,-0.02383798,3.318953 -205.0423,379.2247,326,0.284084,0.5285631,2.865557 -112.9744,254.8087,330,-0.03432332,-0.08244234,3.494496 -120.4394,227.4372,333,-0.002033851,-0.247386,3.501708 -191.08,202.6,335,0.3593932,-0.4213994,3.377355 -239.464,181.4032,336,0.7256125,-0.6265965,3.458139 -267.2503,272.227,337,0.8335876,-0.0363776,3.2224 -122.9277,304.5751,338,-0.09223124,0.1770246,3.058169 -237.3905,304.5751,345,0.5518083,0.1701017,3.051105 -245.8508,371.2621,346,0.6515677,0.5445583,3.099845 -215.56,240.04,351,0.3918487,-0.1948345,3.066768 -399.1313,399.1313,355,1.427246,0.6895625,2.585027 -179.3296,260.2,357,0.3535285,-0.08161982,3.468885 -165.2292,175.1824,358,0.2039937,-0.5883167,3.414294 -115.4627,127.9044,361,-0.05259385,-0.8342558,3.564973 -170.2058,249.8321,367,0.2837312,-0.1419417,3.45004 -122.8282,201.6582,369,-0.1283414,-0.3394258,3.062428 -177.1731,201.061,371,0.260224,-0.4245536,3.360241 -260.7807,215.9909,376,0.8320824,-0.4110236,3.344763 -159.2572,186.1311,383,0.328048,-0.5829239,3.826595 -241,66,1,0.5146054,-1.224414,3.106402 -274.6,163,3,0.9818702,-0.766371,3.401938 -130.6,153.4,4,0.0002636892,-0.6473298,3.366482 -201.4,205,5,0.4380782,-0.41324,3.354209 -200,211,6,0.4159851,-0.364756,3.363834 -117.4,211,7,-0.03870046,-0.3219566,3.412415 -120.52,237.16,8,-0.02511299,-0.1800625,3.362288 -246,264,11,0.7911108,-0.08256245,3.389954 -242.2,304.6,13,0.6197696,0.1684004,3.103951 -237,66,15,0.4939215,-1.226825,3.117405 -224,67,16,0.4132962,-1.199899,3.11864 -239.8,182.2,18,0.7115114,-0.6001633,3.381582 -239,192,19,0.6996369,-0.5317577,3.380455 -189.4,217,25,0.3695405,-0.339879,3.373911 -177,262,26,0.3142292,-0.05862162,3.382413 -269,275,29,0.9800313,-0.01553936,3.411268 -233,62,31,0.4470952,-1.226359,3.078166 -130.6,151,32,-0.001003253,-0.6670672,3.383899 -235,259,33,0.6993436,-0.09878816,3.377497 -115,127,36,-0.1048768,-0.7878456,3.36775 -176,189,37,0.2754636,-0.496252,3.370882 -161.8,201.4,38,0.2178522,-0.4214447,3.431039 -282,432,39,0.4698386,0.7060722,2.397863 -197.8,206.2,40,0.3948139,-0.3959205,3.303171 -179,206,41,0.3017248,-0.3886599,3.372919 -233,191,45,0.7188889,-0.5644342,3.473133 -122,237,46,-0.01527366,-0.1801972,3.403358 -121.96,306.28,47,-0.06497882,0.185417,3.128173 -121,167,50,-0.04658643,-0.5751675,3.395928 -131,163,51,0.00553779,-0.5963731,3.377447 -187,184,53,0.3463687,-0.5309781,3.378115 -116,225,54,-0.04469637,-0.242588,3.39712 -165,253,56,0.2389411,-0.1106992,3.386347 -203,197,59,0.4441837,-0.4633921,3.354667 -181,187,60,0.3016365,-0.5055306,3.342712 -268,184,64,0.9069279,-0.6166943,3.371432 -225,182,66,0.5919361,-0.5857335,3.369872 -164.2,172.6,67,0.1969234,-0.5716248,3.360623 -276,284,69,1.037228,0.0441396,3.396294 -238.6,191.8,74,0.7042819,-0.5346218,3.386134 -284,156,76,0.9753848,-0.7930477,3.286962 -251,260,78,0.8677491,-0.1087733,3.451555 -121,166.6,83,-0.04451041,-0.5706668,3.384904 -188,188,84,0.3381328,-0.5082854,3.336739 -170,248,85,0.2653921,-0.1431204,3.374084 -176.2,188.2,86,0.2706853,-0.4959229,3.363505 -121,237.4,88,-0.013956,-0.1810682,3.391656 -218,185,91,0.5333642,-0.5537217,3.354255 -130.6,177.4,93,0.005669374,-0.5266738,3.387265 -344,175,94,1.518191,-0.7614215,3.325167 -179.56,186.76,96,0.3042638,-0.5078131,3.393231 -337,313,97,1.625707,0.230496,3.450252 -226.6,376.6,99,0.4408426,0.5383875,2.903933 -267.4,183.4,100,0.9128084,-0.6248493,3.372419 -268.6,274.6,104,0.9567934,-0.01488223,3.375676 -268.6,170.2,105,0.918357,-0.7173499,3.381445 -261.64,265.96,108,0.9020163,-0.06985029,3.370083 -90.16481,276.7888,109,-0.1608609,0.04898683,3.400408 -113.32,258.76,111,-0.04998285,-0.06115727,3.37848 -283,431.8,113,0.4634541,0.7014568,2.375824 -173.8,224.2,116,0.2751177,-0.2806046,3.357897 -130.6,176.68,118,0.003463787,-0.5174648,3.361814 -246.376,166.888,119,0.6729819,-0.6769173,3.261317 -237.16,191.08,122,0.6739439,-0.5320861,3.345163 -223.912,180.712,124,0.5766987,-0.5941082,3.360342 -264.52,214.12,127,0.9404192,-0.4217781,3.430739 -125.416,301.672,130,-0.05671202,0.1670294,3.10165 -245.8,253,133,0.7568023,-0.1454804,3.345403 -283.24,156.52,135,1.035492,-0.8252162,3.389441 -239.464,303.4,136,0.6353174,0.1705178,3.156216 -121.96,166.888,138,-0.05137464,-0.556696,3.351791 -239.464,182.44,139,0.7026011,-0.6044998,3.382438 -187.624,183.4768,144,0.3228566,-0.532351,3.324113 -262.2737,214.9956,146,0.8550649,-0.4046484,3.331474 -264.762,170.2058,147,0.9705507,-0.7467204,3.517038 -247.3437,167.7175,148,0.7462451,-0.6934491,3.353993 -278.92,401.32,149,0.4742463,0.5800573,2.442477 -120.4394,201.061,151,-0.05081953,-0.3735165,3.34037 -221.9629,177.1731,154,0.5351047,-0.6012293,3.320491 -257.7947,263.7667,155,0.8430696,-0.09364896,3.334252 -237.49,305.5705,156,0.5749677,0.1746293,3.083612 -123.4254,305.5704,157,-0.04187655,0.1784971,3.158655 -104.2,112.6,159,-0.1704164,-0.8557312,3.375031 -421,204,160,2.326527,-0.6640487,3.342964 -171,234,161,0.266371,-0.2337915,3.409666 -169,261.4,162,0.2803172,-0.0713345,3.448136 -141,304,163,0.09003554,0.1804798,3.366524 -202,305,164,0.3259309,0.169175,3.032054 -251,372,165,0.5807244,0.517814,2.919004 -224,378,166,0.3786454,0.5238444,2.842806 -279,401,167,0.4205398,0.5547528,2.374945 -89,430,168,-0.3951372,0.5687231,2.353451 -411,439,170,1.535109,0.9235145,2.608134 -380,446,171,1.240149,0.917094,2.568262 -355,189,172,1.659534,-0.6928529,3.369544 -144,198,173,0.07722142,-0.4189639,3.371386 -150,212,174,0.06971278,-0.3168042,3.225575 -185.8,227.8,175,0.3241523,-0.2719449,3.332774 -282,403,176,0.5074347,0.5926084,2.481457 -394,411,177,1.284602,0.7090499,2.51776 -217,64,178,0.3901082,-1.229863,3.179285 -399,439,179,1.374238,0.8927712,2.552355 -133,160,180,0.01553731,-0.6328862,3.415656 -150,199,181,0.1373592,-0.431437,3.447338 -113,259,182,-0.03709486,-0.06697634,3.48314 -266,214,183,0.8696137,-0.4198996,3.335815 -241,303,184,0.6389667,0.1592374,3.180772 -367,413.8,185,1.323048,0.7904947,2.776213 -87,436,186,-0.4031429,0.5888199,2.342998 -89.8,278.2,187,-0.1733965,0.04937807,3.406137 -373,413,188,1.28616,0.7613374,2.684682 -364,415,189,1.070123,0.7165222,2.525021 -123,144,190,-0.06032917,-0.7101843,3.380137 -145,209.8,191,0.1120923,-0.3593747,3.43931 -151,223,192,0.1316711,-0.2840097,3.38126 -250,374,193,0.5724217,0.5276326,2.914325 -397,419,194,1.354752,0.7612891,2.554378 -115,237,195,-0.05214564,-0.184919,3.42089 -123.4,303.4,196,-0.07198543,0.164648,3.121276 -121,307,197,-0.0604919,0.192919,3.203083 -281,410,198,0.5361122,0.6390164,2.514867 -119.8,196.6,199,-0.0946627,-0.3878226,3.237662 -125.8,211,200,-0.01516956,-0.3316941,3.379951 -148,208,201,0.1264082,-0.3752243,3.444326 -163,225,202,0.2286651,-0.2834851,3.460541 -131.8,209.8,203,0.02711915,-0.3495325,3.423387 -224.2,181,204,0.5522029,-0.5841054,3.332142 -275.8,284.2,205,0.9775643,0.0357946,3.339064 -176.2,305.8,206,0.2167303,0.1802859,3.149725 -178.6,200.2,207,0.2827271,-0.4365387,3.366884 -103,267.4,208,-0.08983407,-0.01369646,3.476707 -400,401,209,1.360682,0.673023,2.541853 -397,413.8,210,1.306044,0.7335733,2.512186 -356.68,415.72,211,1.044486,0.7250526,2.555485 -117.64,215.56,213,-0.07630946,-0.2964368,3.317128 -169,248.2,214,0.2437133,-0.1459089,3.368098 -337,313,216,1.561875,0.2219677,3.40843 -396,407,217,1.29454,0.6937736,2.507244 -259,436.6,218,0.3118986,0.6897283,2.357395 -223,377.8,219,0.4752462,0.5723341,3.047988 -279,430,220,0.4636045,0.6950779,2.436169 -93,434,221,-0.3865138,0.5818798,2.331204 -128.2,301,222,-0.02620148,0.1637546,3.196128 -284,432,224,0.4169956,0.6745544,2.32173 -240.04,65.8,225,0.4335223,-1.169688,2.967221 -126.28,301.96,226,-0.0701296,0.1560383,3.082147 -217,61.48,227,0.3353211,-1.189695,3.064149 -243.4,307,229,0.6172668,0.1758196,3.110558 -231.4,61.48,230,0.4478711,-1.242999,3.110705 -224.2,67,231,0.367451,-1.154349,3.018763 -130.6,152.2,233,-0.01558806,-0.6819371,3.385775 -117.64,206.92,234,-0.07867712,-0.3414022,3.318901 -266.2,435.4,235,0.3519563,0.6905094,2.363284 -386,410,236,1.186217,0.6929572,2.492637 -114.76,238.6,237,-0.04898833,-0.1803936,3.436332 -119.8,257.8,238,-0.01710961,-0.07342127,3.424183 -151,221.8,240,0.1439484,-0.290652,3.418695 -172.36,261.64,241,0.1228229,-0.06242946,2.998598 -236.2,441.4,243,0.2752286,0.7351214,2.49026 -276.04,283.24,244,1.034474,0.02660756,3.430442 -175.24,304.84,245,0.1850291,0.1660268,3.075753 -305.8,427,246,0.6213024,0.7040731,2.440535 -221.32,62.92,247,0.3623238,-1.188977,3.052124 -114.76,127.72,248,-0.1014006,-0.7891616,3.400144 -178.12,199.72,249,0.2952833,-0.4396314,3.404905 -240.04,303.4,250,0.6349024,0.1584217,3.201836 -399.4,401.8,251,1.361593,0.6680648,2.543759 -88.84,431.56,252,-0.3949464,0.5750152,2.354755 -224.2,181,253,0.5692879,-0.5884977,3.356275 -278.2,429.4,256,0.4751148,0.7018608,2.457586 -271.72,433,260,0.3622039,0.6773033,2.33567 -218.44,175.24,261,0.5801287,-0.6467691,3.446423 -186.76,182.44,263,0.3529241,-0.5542191,3.439242 -267.4,169.48,264,0.8933676,-0.7175958,3.37077 -175.24,188.2,265,0.2796344,-0.5081931,3.42204 -389.8,409,266,1.207701,0.6840702,2.479236 -121.96,229.96,268,0.005771818,-0.2369803,3.497806 -396.712,415.72,270,1.353338,0.76007,2.556761 -284.392,426.088,271,0.4539077,0.6676121,2.375901 -237.736,191.08,275,0.623212,-0.531123,3.293537 -244.648,263.656,277,0.7768907,-0.08879832,3.415286 -222.184,63.20801,278,0.3745041,-1.193157,3.067723 -263.656,213.544,281,0.8605894,-0.4209807,3.349383 -120.232,237.736,282,-0.02409425,-0.1971154,3.425806 -274.024,282.664,283,0.9871672,0.03174062,3.373115 -102.6064,264.3472,286,-0.08155268,-0.02606895,3.516935 -267.112,274.024,287,0.9085326,-0.03170625,3.354424 -239.464,64.936,293,0.429272,-1.167671,2.965726 -267.112,170.344,294,0.9184871,-0.7250923,3.431288 -280.936,412.264,300,0.4495026,0.6067181,2.405459 -251.56,265.384,301,0.7019034,-0.06822873,3.164186 -234.28,178.984,302,0.6625601,-0.6135117,3.395307 -218.728,175.528,304,0.5182949,-0.6084571,3.341665 -241.5376,303.7456,306,0.5039203,0.1534306,2.958889 -384.6161,409.4993,307,1.462339,0.7746425,2.768213 -247.7584,166.888,308,0.7491716,-0.7203639,3.39026 -266.4208,168.9616,315,0.8368741,-0.6959851,3.306843 -268.4944,272.6416,317,1.001129,-0.04210697,3.494104 -222.8752,179.3296,319,0.620253,-0.6237983,3.457961 -177.256,200.0656,320,0.2574764,-0.4299944,3.326037 -119.1952,216.6544,321,-0.03581361,-0.3022531,3.426059 -280.936,401.2049,322,0.4039814,0.545839,2.338753 -262.2737,264.3472,325,0.8407031,-0.07558955,3.328656 -237.3904,189.6976,327,0.700399,-0.5539982,3.428179 -274.7152,280.936,328,1.038316,0.02796555,3.443439 -129.5632,150.2992,329,-0.01607499,-0.6733218,3.383985 -131.6368,158.5936,331,-0.06710956,-0.5817699,3.167998 -185.5504,187.624,332,0.3419791,-0.5206747,3.422749 -121.2688,235.3168,334,-0.01804111,-0.1999927,3.423608 -127.9044,150.2992,339,-0.0591739,-0.6310965,3.259616 -177.6708,202.554,340,0.2634168,-0.4302739,3.3565 -114.4674,383.2061,341,-0.1388311,0.5284028,2.952508 -123.4254,141.3413,342,-0.06898553,-0.7108364,3.33505 -272.227,162.7408,343,0.9105768,-0.7586276,3.342143 -123.4254,168.2151,344,-0.07197052,-0.5538425,3.289253 -114.4674,129.3973,347,-0.1029135,-0.7817807,3.400348 -224.9489,187.624,348,0.5548481,-0.5475055,3.284379 -195.089,383.2061,349,0.1906376,0.5239898,2.776519 -105.5095,114.4674,350,-0.2049703,-0.7984356,3.207843 -259.7853,264.762,352,0.9202255,-0.08913966,3.463948 -105.5095,263.7667,353,-0.1030659,-0.03170208,3.396213 -117.9511,217.4839,354,-0.03883333,-0.2942525,3.435702 -202.554,205.0423,356,0.4309257,-0.419205,3.352966 -234.9021,190.1124,359,0.7449676,-0.5761842,3.508734 -115.4627,239.8788,360,-0.05844161,-0.1664361,3.386064 -272.7246,168.2151,362,0.9026073,-0.7408759,3.341492 -122.8282,165.8264,363,-0.03832969,-0.5859527,3.414443 -263.7667,269.7386,364,0.8274216,-0.03184526,3.2357 -239.8788,305.5704,365,0.5605997,0.1572649,3.063105 -281.6826,159.2572,366,0.9606447,-0.7774125,3.312339 -263.7667,171.2011,368,0.9720301,-0.7645873,3.609533 -248.8367,168.2151,370,0.7409421,-0.7097403,3.375239 -272.7246,281.6826,372,0.9664276,0.03183739,3.364203 -233.9068,189.117,373,0.6464797,-0.5477754,3.356535 -115.6618,241.0732,374,-0.06261589,-0.1590922,3.366437 -258.9891,215.9909,375,0.9401227,-0.4287911,3.507378 -126.4114,301.9873,377,0.01011229,0.1711978,3.334519 -201.6582,309.1536,378,0.2230425,0.1763233,2.823132 -115.6618,129.9946,379,-0.06316705,-0.8068378,3.516814 -126.4114,144.3273,380,0.04127947,-0.7718492,3.647489 -280.4882,158.66,381,0.9791086,-0.8175325,3.370761 -273.3218,165.8264,382,0.8492383,-0.7039111,3.238221 -115.6618,255.4059,384,0.05732102,-0.1046006,3.762577 -266.1555,269.7386,385,0.8055295,-0.04129646,3.236289 -273.3218,280.4882,386,1.053861,0.01033721,3.492088 -126.4114,155.0768,387,0.03613871,-0.6965342,3.613412 -255.4059,262.5723,388,0.8712226,-0.1050492,3.436263 -176.5759,201.6582,389,0.2042815,-0.3930561,3.196484 -251.8227,169.4095,390,0.7258368,-0.6743346,3.301374 -119.245,230.3236,391,-0.02433041,-0.2316885,3.44854 -237.49,183.7423,392,0.6624549,-0.5601437,3.378479 -223.1573,187.3255,393,0.53474,-0.5256308,3.275449 -183.7423,180.1591,394,0.2769319,-0.5400394,3.292891 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0004.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0004.csv deleted file mode 100644 index 098eec2a803b77f8f82c556f42919452228f422e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0004.csv +++ /dev/null @@ -1,245 +0,0 @@ -51.4,145,63,-0.000811854,-0.6578503,3.371172 -218,162,76,0.9753848,-0.7930477,3.286962 -104.68,193.96,80,0.3024458,-0.4630845,3.371537 -199.72,186.76,120,0.9073399,-0.6250448,3.369823 -88.09121,171.0352,121,0.199669,-0.5679835,3.373383 -168.04,193.96,122,0.6739439,-0.5320861,3.345163 -176.68,271.72,128,0.8774418,-0.08775836,3.515339 -218.44,421.48,131,0.5882337,0.618696,2.571675 -208.36,168.616,132,0.928013,-0.745946,3.320616 -168.616,313.768,136,0.6353174,0.1705178,3.156216 -193.8448,218.728,141,0.9113547,-0.4238047,3.409078 -180.1591,170.2058,148,0.7462451,-0.6934491,3.353993 -153.64,182.44,204,0.5522029,-0.5841054,3.332142 -205,293.8,205,0.9775643,0.0357946,3.339064 -97.48,316.36,206,0.2167303,0.1802859,3.149725 -103.24,199.72,207,0.2827271,-0.4365387,3.366884 -168.616,56.29601,230,0.4478711,-1.242999,3.110705 -49.96,142.12,233,-0.01558806,-0.6819371,3.385775 -159.4,57.16,247,0.3623238,-1.188977,3.052124 -196.264,282.664,258,0.9546737,-0.02570109,3.411601 -150.2992,177.256,261,0.5801287,-0.6467691,3.446423 -111.592,182.44,263,0.3529241,-0.5542191,3.439242 -99.49601,187.624,265,0.2796344,-0.5081931,3.42204 -323.8,423.4,266,1.207701,0.6840702,2.479236 -102.6064,200.0656,273,0.2669233,-0.429483,3.339087 -332.2,399.88,285,1.331551,0.5809119,2.537932 -100.5328,266.4208,292,0.2951032,-0.07437318,3.343458 -112.9744,181.4032,296,0.3211269,-0.544636,3.355252 -218.44,430.12,300,0.4495026,0.6067181,2.405459 -90.16481,235.3168,305,0.2518525,-0.2390978,3.412676 -195.089,282.1802,317,1.001129,-0.04210697,3.494104 -163.432,61.48001,318,0.3522768,-1.144114,2.987323 -187.624,272.227,325,0.8407031,-0.07558955,3.328656 -110.4861,187.624,332,0.3419791,-0.5206747,3.422749 -115.4627,205.0423,335,0.3593932,-0.4213994,3.377355 -100.5328,200.0656,340,0.2634168,-0.4302739,3.3565 -158.5936,187.624,348,0.5548481,-0.5475055,3.284379 -195.089,281.6826,364,0.8274216,-0.03184526,3.2357 -190.9086,172.9927,368,0.9720301,-0.7645873,3.609533 -192.103,218.9769,375,0.9401227,-0.4287911,3.507378 -190.9086,280.4882,385,0.8055295,-0.04129646,3.236289 -183.7423,269.7386,388,0.8712226,-0.1050492,3.436263 -183.7423,172.9927,390,0.7258368,-0.6743346,3.301374 -155.0768,190.9086,393,0.53474,-0.5256308,3.275449 -523.5473,334.8496,402,2.896217,0.185818,2.090377 -462.376,375.976,403,2.335308,0.471276,2.265055 -49,208.6,429,0.03907384,-0.3435576,3.441344 -103.24,313.48,431,0.2341141,0.1703524,3.116818 -87.40001,170.344,444,0.1461744,-0.5506486,3.276271 -101.8,222.76,455,0.3127111,-0.3089415,3.414004 -164.2,181,458,0.6392656,-0.6058692,3.362604 -113.32,182.44,460,0.3711958,-0.5508481,3.450841 -509.0321,376.3217,462,2.257703,0.4153355,1.918926 -204.047,168.2151,464,0.8795943,-0.7382623,3.306825 -153.064,187.624,465,0.5704991,-0.553617,3.364098 -129.5632,397.0576,466,0.3616623,0.5780912,3.016624 -102.952,313.768,470,0.283912,0.1778862,3.225198 -97.76801,315.496,471,0.2304621,0.1838477,3.166589 -104.68,194.536,474,0.332881,-0.4746176,3.460042 -322.408,424.36,475,1.30061,0.7226693,2.559983 -96.04,260.2,476,0.2708896,-0.09769807,3.342897 -217,163.432,478,0.9721347,-0.8003308,3.311531 -177.256,388.7632,479,0.6404244,0.5591109,3.031442 -332.7761,413.6465,486,1.321126,0.6521533,2.507473 -208.36,168.04,3,0.9818702,-0.766371,3.401938 -123,215,6,0.4159851,-0.364756,3.363834 -173.8,260.2,9,0.7845386,-0.147815,3.392826 -174,271,11,0.7911108,-0.08256245,3.389954 -171.4,184.6,18,0.7115114,-0.6001633,3.381582 -113.8,218.2,25,0.3695405,-0.339879,3.373911 -98,268,26,0.3142292,-0.05862162,3.382413 -197,284,29,0.9800313,-0.01553936,3.411268 -170,56,31,0.4470952,-1.226359,3.078166 -162,267,33,0.6993436,-0.09878816,3.377497 -33,114,36,-0.1048768,-0.7878456,3.36775 -100.6,187,37,0.2754636,-0.496252,3.370882 -103,207.4,41,0.3017248,-0.3886599,3.372919 -163,193,45,0.7188889,-0.5644342,3.473133 -35,238,46,-0.01527366,-0.1801972,3.403358 -38.2,159.4,50,-0.04658643,-0.5751675,3.395928 -85,257,56,0.2389411,-0.1106992,3.386347 -107.8,185.8,60,0.3016365,-0.5055306,3.342712 -154.6,183.4,66,0.5919361,-0.5857335,3.369872 -205,294,69,1.037228,0.0441396,3.396294 -169,195.4,74,0.7042819,-0.5346218,3.386134 -180,268,78,0.8677491,-0.1087733,3.451555 -100.36,186.76,86,0.2706853,-0.4959229,3.363505 -146.2,185.8,91,0.5333642,-0.5537217,3.354255 -48.52,170.92,93,0.005669374,-0.5266738,3.387265 -277,183,94,1.518191,-0.7614215,3.325167 -265,325,97,1.625707,0.230496,3.450252 -200.2,187,100,0.9128084,-0.6248493,3.372419 -170,314,102,0.6090427,0.1624516,3.09936 -201.4,173.8,105,0.918357,-0.7173499,3.381445 -191.08,274.6,108,0.9020163,-0.06985029,3.370083 -177.256,168.616,119,0.6729819,-0.6769173,3.261317 -195.4,219.88,127,0.9404192,-0.4217781,3.430739 -190.6,274.6,129,0.92569,-0.07120881,3.410784 -173.8,260.2,133,0.7568023,-0.1454804,3.345403 -217,160.84,135,1.035492,-0.8252162,3.389441 -170.344,184.168,139,0.7026011,-0.6044998,3.382438 -192.6007,219.9722,146,0.8550649,-0.4046484,3.331474 -197.5773,172.6941,147,0.9705507,-0.7467204,3.517038 -150.2992,177.1731,154,0.5351047,-0.6012293,3.320491 -186.1311,272.7246,155,0.8430696,-0.09364896,3.334252 -165.8264,316.32,156,0.5749677,0.1746293,3.083612 -348,216,160,2.326527,-0.6640487,3.342964 -54,313,163,0.09003554,0.1804798,3.366524 -130,316,164,0.3259309,0.169175,3.032054 -218.2,419.8,167,0.4205398,0.5547528,2.374945 -454.6,430.12,169,2.480667,0.8626149,2.392133 -288,199,172,1.659534,-0.6928529,3.369544 -64,196,173,0.07722142,-0.4189639,3.371386 -219,422,176,0.5074347,0.5926084,2.481457 -328,425,177,1.284602,0.7090499,2.51776 -70,197,181,0.1373592,-0.431437,3.447338 -197,219,183,0.8696137,-0.4198996,3.335815 -41.8,134.2,190,-0.06032917,-0.7101843,3.380137 -34,317,197,-0.0604919,0.192919,3.203083 -219,430,198,0.5361122,0.6390164,2.514867 -67,207,201,0.1264082,-0.3752243,3.444326 -83,227,202,0.2286651,-0.2834851,3.460541 -48.52,208.36,203,0.02711915,-0.3495325,3.423387 -331,428.2,210,1.306044,0.7335733,2.512186 -265,325,216,1.561875,0.2219677,3.40843 -148,395,219,0.4752462,0.5723341,3.047988 -43,311,222,-0.02620148,0.1637546,3.196128 -179.56,61.48,225,0.4335223,-1.169688,2.967221 -153.64,55.72,227,0.3353211,-1.189695,3.064149 -163,62.2,231,0.367451,-1.154349,3.018763 -319,425,236,1.186217,0.6929572,2.492637 -165.16,181,239,0.6020446,-0.598698,3.292172 -70.60001,223,240,0.1439484,-0.290652,3.418695 -204.04,293.32,244,1.034474,0.02660756,3.430442 -166.6,313.48,250,0.6349024,0.1584217,3.201836 -334,415,251,1.361593,0.6680648,2.543759 -201.16,173.8,264,0.8933676,-0.7175958,3.37077 -166.888,194.536,275,0.623212,-0.531123,3.293537 -159.976,58.02401,278,0.3745041,-1.193157,3.067723 -216.6544,160.6672,280,0.885823,-0.7719413,3.197539 -194.536,218.728,281,0.8605894,-0.4209807,3.349383 -203.176,293.032,283,0.9871672,0.03174062,3.373115 -178.12,388.36,284,0.5816072,0.5247914,2.940633 -195.9184,280.936,287,0.9085326,-0.03170625,3.354424 -217,420.9041,289,0.4727378,0.5800081,2.451037 -333.64,414.28,290,1.336779,0.6580434,2.525423 -178.984,61.48001,293,0.429272,-1.167671,2.965726 -323.56,422.92,297,1.368141,0.7499514,2.627803 -184.168,274.024,301,0.7019034,-0.06822873,3.164186 -165.16,182.44,302,0.6625601,-0.6135117,3.395307 -147.88,177.256,304,0.5182949,-0.6084571,3.341665 -168.9616,314.1136,306,0.5039203,0.1534306,2.958889 -156.2712,189.117,309,0.6058942,-0.561127,3.39122 -154.4464,181.4032,319,0.620253,-0.6237983,3.457961 -166.888,193.8448,327,0.700399,-0.5539982,3.428179 -204.2128,291.304,328,1.038316,0.02796555,3.443439 -168.9616,183.4768,336,0.7256125,-0.6265965,3.458139 -207.5306,170.2058,343,0.9105768,-0.7586276,3.342143 -167.7175,314.5284,345,0.5518083,0.1701017,3.051105 -88.09122,170.2058,358,0.2039937,-0.5883167,3.414294 -167.7175,192.6007,359,0.7449676,-0.5761842,3.508734 -205.2414,169.4095,362,0.9026073,-0.7408759,3.341492 -168.2151,314.5284,365,0.5605997,0.1572649,3.063105 -215.9909,165.2292,366,0.9606447,-0.7774125,3.312339 -180.1591,171.2011,370,0.7409421,-0.7097403,3.375239 -99.5375,201.061,371,0.260224,-0.4245536,3.360241 -201.061,290.6405,372,0.9664276,0.03183739,3.364203 -165.2292,192.103,373,0.6464797,-0.5477754,3.356535 -190.9086,219.5741,376,0.8320824,-0.4110236,3.344763 -201.6582,291.2377,386,1.053861,0.01033721,3.492088 -165.8264,190.9086,392,0.6624549,-0.5601437,3.378479 -111,189,395,0.3521299,-0.5073372,3.430124 -83.8,201.4,396,0.2063412,-0.4101184,3.424535 -33,210,397,-0.01420289,-0.331724,3.510563 -101.8,223,398,0.3294182,-0.3118237,3.450736 -89,268,399,0.2809668,-0.05586288,3.442245 -256,369,400,1.238456,0.4858545,3.092599 -333,400,401,1.311282,0.5787058,2.505106 -354,446,404,1.587932,0.8774444,2.555353 -148,176,405,0.5483332,-0.6221832,3.392904 -69,266,406,0.1992544,-0.0589444,3.508022 -219,449,407,0.4642426,0.689161,2.397835 -190,276,408,0.9198843,-0.06736293,3.418833 -87.4,169,409,0.2377118,-0.604492,3.499722 -55,265,410,0.1349459,-0.05835815,3.532856 -129.4,398.2,411,0.3655384,0.5796052,3.022927 -34,193,412,-0.02930878,-0.4159303,3.479131 -37,313,413,-0.04919314,0.1804617,3.191274 -41.8,128.2,414,-0.04381713,-0.7470752,3.432664 -115,219,415,0.3689666,-0.3367561,3.378761 -123,227,416,0.396888,-0.2939661,3.331584 -73,257,417,0.1667452,-0.1043369,3.387938 -325,424,418,1.306432,0.7169011,2.548914 -52.6,149.8,419,0.01770771,-0.6479602,3.424967 -121,207.4,420,0.4321279,-0.4230365,3.45677 -105.4,194.2,421,0.2890049,-0.4593186,3.35432 -218,443,422,0.4653911,0.6671653,2.409647 -53,147,423,0.00618743,-0.6549003,3.390842 -40.6,140.2,424,-0.05514983,-0.6750189,3.394805 -57,222,425,0.06791265,-0.2752701,3.391668 -43,211,426,0.01213914,-0.3266505,3.443865 -52.6,218.2,427,0.04464458,-0.2914923,3.392725 -64.60001,209.8,428,0.09755382,-0.3436442,3.388341 -148.6,176.2,430,0.5505813,-0.6255701,3.395283 -158.2,57.4,432,0.3952775,-1.211758,3.122662 -196.6,219.4,433,0.9003708,-0.4189007,3.383799 -332.2,399.4,434,1.289951,0.5719713,2.491506 -315.4,425.8,435,1.113257,0.6814775,2.443556 -301,430,436,0.965949,0.6754792,2.403367 -455.8,430.6,437,2.590412,0.8931063,2.433689 -457,446,438,2.445713,0.9572918,2.342046 -110.44,189.64,439,0.3683165,-0.5105727,3.47139 -500.2,337,440,2.717264,0.2093555,2.184966 -218,420,441,0.526413,0.600481,2.503546 -503,428,442,2.274918,0.7256256,1.945881 -283,435,443,0.7985111,0.6669228,2.356296 -62.2,265,445,0.08124023,-0.0550261,3.297088 -501,412,446,2.135252,0.6154871,1.921479 -269.8,439,447,0.8903646,0.7393343,2.544025 -355,442.6,448,1.62745,0.8873907,2.581547 -93,237,449,0.2292005,-0.2161131,3.315216 -119,316,450,0.271206,0.1753834,3.024643 -327.4,425.8,451,1.30214,0.7214319,2.525058 -177.4,391,452,0.6664299,0.5737475,3.058539 -129.16,398.44,453,0.2473735,0.5293831,2.803129 -217,160.6,454,1.002877,-0.8156388,3.362936 -173.8,269.8,456,0.7996606,-0.08544757,3.428942 -49.96,156.52,457,0.03882674,-0.6291139,3.512365 -117.4,212.2,459,0.4028381,-0.3786373,3.42879 -77.32,222.76,461,0.1840252,-0.2901698,3.42353 -330.76,428.68,463,1.348432,0.7458637,2.540518 -326.44,425.8,467,1.263689,0.7117,2.498731 -169.48,183.88,468,0.7397053,-0.619548,3.471259 -70.12,222.76,469,0.1522571,-0.2861114,3.43803 -263.656,324.136,472,1.549329,0.2258515,3.403227 -173.8,61.48001,473,0.3950969,-1.144819,2.954674 -173.8,260.2,477,0.7865643,-0.1486972,3.415129 -264.3472,324.4817,480,1.682471,0.2437961,3.550977 -359.7328,407.4257,481,2.142967,0.7849374,2.965078 -208.36,168.9616,482,0.9422252,-0.7468476,3.362683 -214.9956,160.2525,483,0.9140439,-0.7874951,3.260999 -105.5095,195.089,484,0.2807351,-0.4511343,3.33356 -202.554,292.1335,485,1.012971,0.03456764,3.411153 -115.6618,251.8227,487,0.4072287,-0.1581654,3.409715 -263.7667,323.4864,488,1.615143,0.2317245,3.481668 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0005.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0005.csv deleted file mode 100644 index 040bd094ff980e6d3ab1e9ef91e47a0c5d7f5d99..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0005.csv +++ /dev/null @@ -1,185 +0,0 @@ -147.88,152.2,72,1.003974,-0.7725719,3.419943 -103.24,179.56,74,0.7042819,-0.5346218,3.386134 -113.8,260.2,78,0.8677491,-0.1087733,3.451555 -219,173,94,1.518191,-0.7614215,3.325167 -97.76801,177.256,98,0.655971,-0.534866,3.364598 -104.68,166.888,115,0.6922401,-0.6006564,3.366868 -86.01761,162.7408,124,0.5766987,-0.5941082,3.360342 -132.328,208.36,127,0.9404192,-0.4217781,3.430739 -108.136,263.656,128,0.8774418,-0.08775836,3.515339 -104.68,166.888,139,0.7026011,-0.6044998,3.382438 -130.3927,207.5306,146,0.8550649,-0.4046484,3.331474 -140.968,287.848,244,1.034474,0.02660756,3.430442 -87.40001,165.16,253,0.5692879,-0.5884977,3.356275 -80.48801,156.52,261,0.5801287,-0.6467691,3.446423 -158.5936,144.0784,280,0.885823,-0.7719413,3.197539 -115.4627,150.2992,308,0.7491716,-0.7203639,3.39026 -115.4627,391.6663,314,0.6081362,0.5283373,2.99725 -137.8576,157.7642,315,0.8368741,-0.6959851,3.306843 -130.3927,274.7153,317,1.001129,-0.04210697,3.494104 -85.6029,162.7408,319,0.620253,-0.6237983,3.457961 -286.12,415.72,355,1.427246,0.6895625,2.585027 -61.48,407.08,411,0.3655384,0.5796052,3.022927 -446.2,405.4,446,2.135252,0.6154871,1.921479 -107.56,263.08,456,0.7996606,-0.08544757,3.428942 -61.48001,407.08,466,0.3616623,0.5780912,3.016624 -204.2128,320.3344,472,1.549329,0.2258515,3.403227 -108.136,251.56,477,0.7865643,-0.1486972,3.415129 -158.248,144.424,478,0.9721347,-0.8003308,3.311531 -115.048,394.9841,479,0.6404244,0.5591109,3.031442 -155.2759,142.8343,483,0.9140439,-0.7874951,3.260999 -83.08,402.76,534,0.5535929,0.6050267,3.149287 -134.2,278.2,542,1.001765,-0.01831121,3.457642 -308.584,367.336,544,1.496475,0.4184366,2.49197 -529.48,257.32,553,3.111673,-0.3633605,1.693443 -58.02401,413.992,557,0.3448364,0.6047453,3.005061 -528.04,297.64,558,3.189444,-0.06992247,1.710382 -448.552,417.448,559,2.119911,0.6851487,1.900706 -89.12801,401.896,562,0.4997593,0.5742466,3.020521 -137.512,213.544,565,1.013792,-0.4042243,3.496072 -520.84,304.84,566,3.160276,-0.01665367,1.75904 -490.024,386.344,567,2.673906,0.5422066,1.824172 -513.64,195.4,570,3.04412,-0.8168719,1.802848 -411.5728,368.0273,573,2.04972,0.4157154,2.115813 -448.8977,330.7025,576,2.209794,0.18014,1.952125 -458.851,389.178,578,2.275902,0.5258805,1.897626 -307.0634,369.2715,579,1.551472,0.4428123,2.541321 -490.3697,384.6161,581,2.62399,0.5239304,1.807702 -448.8977,331.9466,583,2.246536,0.1788093,1.965518 -463.4129,328.6288,584,2.481503,0.1700405,1.954744 -106.12,168.04,18,0.7115114,-0.6001633,3.381582 -97,176.2,45,0.7188889,-0.5644342,3.473133 -87.4,165.16,66,0.5919361,-0.5857335,3.369872 -159,145,76,0.9753848,-0.7930477,3.286962 -205,321.4,97,1.625707,0.230496,3.450252 -139.24,156.52,105,0.918357,-0.7173499,3.381445 -115.048,150.2992,119,0.6729819,-0.6769173,3.261317 -126.28,267.4,129,0.92569,-0.07120881,3.410784 -168.04,427.24,131,0.5882337,0.618696,2.571675 -147.88,151.336,132,0.928013,-0.745946,3.320616 -109,251.56,133,0.7568023,-0.1454804,3.345403 -104.68,312.04,136,0.6353174,0.1705178,3.156216 -132.3833,156.2712,147,0.9705507,-0.7467204,3.517038 -122.8282,262.5723,155,0.8430696,-0.09364896,3.334252 -290,209,160,2.326527,-0.6640487,3.342964 -63,314,164,0.3259309,0.169175,3.032054 -171,429,176,0.5074347,0.5926084,2.481457 -280,426,177,1.284602,0.7090499,2.51776 -170,438,198,0.5361122,0.6390164,2.514867 -283,430.6,210,1.306044,0.7335733,2.512186 -205.48,320.68,216,1.561875,0.2219677,3.40843 -82.60001,403,219,0.4752462,0.5723341,3.047988 -272.2,427,236,1.186217,0.6929572,2.492637 -132.328,277.48,258,0.9546737,-0.02570109,3.411601 -277,425,266,1.207701,0.6840702,2.479236 -102.6064,177.256,275,0.623212,-0.531123,3.293537 -131.6368,274.7152,287,0.9085326,-0.03170625,3.354424 -108.8272,312.04,306,0.5039203,0.1534306,2.958889 -125.416,267.2503,325,0.8407031,-0.07558955,3.328656 -139.9312,287.1568,328,1.038316,0.02796555,3.443439 -145.3226,150.2992,343,0.9105768,-0.7586276,3.342143 -105.5095,314.5284,345,0.5518083,0.1701017,3.051105 -92.23841,171.0352,348,0.5548481,-0.5475055,3.284379 -99.5375,177.1731,359,0.7449676,-0.5761842,3.508734 -115.6618,151.4936,370,0.7409421,-0.7097403,3.375239 -138.3553,287.6545,372,0.9664276,0.03183739,3.364203 -126.4114,208.8246,375,0.9401227,-0.4287911,3.507378 -129.9946,273.3218,385,0.8055295,-0.04129646,3.236289 -137.1609,284.0714,386,1.053861,0.01033721,3.492088 -199,369,400,1.238456,0.4858545,3.092599 -304,446,404,1.587932,0.8774444,2.555353 -80,157,405,0.5483332,-0.6221832,3.392904 -127,268.6,408,0.9198843,-0.06736293,3.418833 -47.8,190.6,420,0.4321279,-0.4230365,3.45677 -80.2,156.52,430,0.5505813,-0.6255701,3.395283 -133.48,206.92,433,0.9003708,-0.4189007,3.383799 -285,399,434,1.289951,0.5719713,2.491506 -169,428.2,441,0.526413,0.600481,2.503546 -449.8,419.8,442,2.274918,0.7256256,1.945881 -279.4,427,451,1.30214,0.7214319,2.525058 -116.2,395.56,452,0.6664299,0.5737475,3.058539 -44.2,197.8,459,0.4028381,-0.3786373,3.42879 -455.1185,370.1009,462,2.257703,0.4153355,1.918926 -144.3273,150.2992,464,0.8795943,-0.7382623,3.306825 -85.672,170.344,465,0.5704991,-0.553617,3.364098 -278.92,427.24,467,1.263689,0.7117,2.498731 -274.024,426.088,475,1.30061,0.7226693,2.559983 -285.0833,413.6465,486,1.321126,0.6521533,2.507473 -523,203,489,3.059961,-0.757407,1.736549 -215,222,490,1.538759,-0.4302761,3.369089 -528,299,491,3.145693,-0.06181462,1.704907 -207,308,492,1.575048,0.1539163,3.415893 -494,380,493,2.531267,0.4702517,1.763023 -88,401,494,0.5174347,0.5779486,3.05656 -479,395,495,2.308426,0.5493553,1.783864 -405.4,440.2,496,2.076283,0.8503271,2.149348 -148,150,497,0.932874,-0.7597779,3.346087 -77.8,167.8,498,0.5798844,-0.5786598,3.457369 -38.2,170.2,499,0.3884365,-0.5230361,3.491168 -104.2,179.8,500,0.7096991,-0.5379937,3.405198 -137,204,501,1.161464,-0.4995912,3.711035 -215,218,502,1.494167,-0.4542048,3.327548 -212,251,503,1.569855,-0.2250984,3.406751 -529,267,504,3.174626,-0.2993701,1.710632 -520,305,505,3.137083,-0.01201163,1.756174 -449,416,506,2.138987,0.6721523,1.898639 -88,166,507,0.5364523,-0.5635716,3.291818 -40.6,164.2,508,0.351833,-0.5374817,3.40324 -40.6,167.8,509,0.3460495,-0.5165884,3.388082 -217,198,510,1.670857,-0.6387168,3.502588 -44,198,511,0.4329794,-0.3874706,3.488759 -133,216,512,0.9027407,-0.367299,3.384801 -66,316,513,0.3692331,0.186693,3.065474 -283,428,514,1.31038,0.7250042,2.503741 -216,208,515,1.55125,-0.5282978,3.38344 -214,233,516,1.581987,-0.3517776,3.41384 -210,272,517,1.55449,-0.09461273,3.393346 -512,313,518,3.108051,0.04779902,1.807493 -166.6,427,519,0.4892161,0.5841385,2.468476 -219,179,520,1.591378,-0.7238205,3.416381 -211,261,521,1.520339,-0.1723956,3.358563 -114,268,522,0.7752265,-0.05931851,3.336999 -459,391,523,2.267421,0.5410722,1.893453 -101,174,524,0.688998,-0.5660493,3.408691 -33,164,525,0.3310847,-0.53628,3.435747 -115,267.4,526,0.9358812,-0.07436056,3.554676 -116.2,392.68,527,0.6695464,0.5585755,3.060264 -58.6,412.84,528,0.3172325,0.5878391,2.955843 -114,32,529,0.5388551,-1.259195,3.189581 -219.4,172.6,530,1.646055,-0.8107994,3.48319 -229,188.2,531,1.693573,-0.7022662,3.416704 -527.8,298.6,532,3.179302,-0.06308433,1.711279 -199,369.4,533,1.304156,0.5012978,3.163243 -446,373,535,2.149435,0.4285306,1.938691 -452,419,536,2.263035,0.7141069,1.929596 -529,246,537,3.094651,-0.4434068,1.694574 -148.6,152.2,538,0.8759932,-0.7231094,3.262953 -96.04,176.68,539,0.6815554,-0.5518441,3.441153 -514.6,195.4,540,3.020308,-0.8116806,1.791332 -132.04,217,541,0.9154339,-0.3643672,3.410286 -511,313,543,3.128834,0.04483514,1.816633 -446,405,545,2.176075,0.6208463,1.938526 -448.6,416.2,546,2.12282,0.6829066,1.900591 -530.2,256.6,547,3.142878,-0.3718791,1.698368 -455,368,548,2.229646,0.4021191,1.910925 -448.6,405.4,549,2.172437,0.6195844,1.925591 -137.8,212.68,550,0.9986594,-0.3997139,3.470035 -529,248.2,551,3.070693,-0.4286247,1.690291 -447.4,427.24,552,2.147559,0.739992,1.914641 -218.44,172.36,554,1.542349,-0.7675722,3.379047 -522.28,202.6,555,3.043782,-0.7591177,1.738701 -461.8,328.6,556,2.676442,0.1783213,2.033625 -445,373,560,2.129588,0.4272541,1.934591 -133.48,277.48,561,0.9404934,-0.01636216,3.377105 -448.84,417.16,563,2.135363,0.6879647,1.900957 -114.76,260.2,564,0.8541021,-0.1077982,3.447514 -218.728,173.8,568,1.494863,-0.7466168,3.326511 -448.552,331.048,569,2.200821,0.1817496,1.95074 -137.8576,212.5072,571,0.8848776,-0.3821688,3.319196 -125.416,266.4208,572,0.8984652,-0.07267033,3.402144 -459.2657,388.7632,574,2.165518,0.5036986,1.889062 -137.8576,156.52,575,0.8712508,-0.7054305,3.350107 -156.2712,147.3133,577,0.9578272,-0.7804959,3.310045 -411.5729,369.2715,580,2.215033,0.4437812,2.191012 -453.8744,369.2715,582,2.291762,0.4216333,1.940415 -466.8136,330.6527,585,2.477258,0.18112,1.934392 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0006.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0006.csv deleted file mode 100644 index bf1767cc9e5dc1dc56ab174545ac38c6c0cf4fb1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0006.csv +++ /dev/null @@ -1,178 +0,0 @@ -92.58401,140.968,72,1.003974,-0.7725719,3.419943 -83.94401,146.152,105,0.918357,-0.7173499,3.381445 -70.12001,268.84,129,0.92569,-0.07120881,3.410784 -83.94402,146.152,264,0.8933676,-0.7175958,3.37077 -238.6,437.8,297,1.368141,0.7499514,2.627803 -253,407.08,401,1.311282,0.5787058,2.505106 -64.936,413.992,452,0.6664299,0.5737475,3.058539 -454.6,373.96,493,2.531267,0.4702517,1.763023 -169,177.4,520,1.591378,-0.7238205,3.416381 -65.28161,409.4993,527,0.6695464,0.5585755,3.060264 -482.2,295,532,3.179302,-0.06308433,1.711279 -411.4,371.08,535,2.149435,0.4285306,1.938691 -77.32,278.92,542,1.001765,-0.01831121,3.457642 -82.21601,210.088,550,0.9986594,-0.3997139,3.470035 -168.616,166.888,554,1.542349,-0.7675722,3.379047 -476.2,201.16,555,3.043782,-0.7591177,1.738701 -56.29601,260.2,564,0.8541021,-0.1077982,3.447514 -474.76,300.52,566,3.160276,-0.01665367,1.75904 -378.3953,368.0273,573,2.04972,0.4157154,2.115813 -424.0145,386.6897,574,2.165518,0.5036986,1.889062 -102.5235,135.3693,577,0.9578272,-0.7804959,3.310045 -519.4001,278.8624,590,3.053198,-0.1880594,1.431561 -518.5707,279.6919,605,3.641283,-0.1980559,1.499249 -546.76,129.16,620,3.056261,-1.25802,1.250967 -87.4,291.88,624,0.9933303,0.04528996,3.362814 -420.04,366.76,626,2.292197,0.4061622,1.92658 -69.4,405.4,628,0.6678655,0.536882,3.026445 -412.264,329.32,632,2.20196,0.1848967,1.952408 -253,422.92,634,1.373675,0.6674784,2.527551 -54.568,320.68,637,0.6645069,0.1770567,3.169975 -451.72,382.6,638,2.632803,0.5293902,1.804364 -421,367,640,2.312674,0.4111597,1.926556 -245.8,434.2,644,1.248977,0.6935291,2.484686 -422.632,388.072,646,2.355752,0.546274,1.920445 -155.2759,321.9933,647,1.732152,0.231744,3.582061 -476.2,201.448,649,3.074452,-0.762683,1.744154 -467.5601,194.536,652,3.011844,-0.8019983,1.792358 -415.72,402.76,653,2.142089,0.6070055,1.902563 -90.57954,137.8576,655,0.963908,-0.7800134,3.405899 -476.2692,202.554,667,3.083642,-0.7512222,1.742414 -85.6029,289.6452,671,1.018267,0.03439141,3.407493 -441.4327,389.178,672,2.327703,0.542097,1.797282 -426.0881,326.5552,673,2.434119,0.1701705,1.93086 -484.7296,245.8508,675,3.089343,-0.4301403,1.687334 -466.8136,305.5704,680,3.032056,0.02574357,1.790146 -414.0612,329.4583,681,2.312652,0.1853344,1.981282 -483.7342,257.297,683,3.015325,-0.3300822,1.671701 -469.7996,195.089,686,3.217475,-0.8359839,1.823628 -276.04,412.84,687,1.635186,0.6689662,2.554582 -35,166,45,0.7188889,-0.5644342,3.473133 -55.72,260.2,78,0.8677491,-0.1087733,3.451555 -170,165,94,1.518191,-0.7614215,3.325167 -155.08,325,97,1.625707,0.230496,3.450252 -75.64961,202.1392,127,0.9404192,-0.4217781,3.430739 -242,206,160,2.326527,-0.6640487,3.342964 -248,436,177,1.284602,0.7090499,2.51776 -86.01761,289.2304,244,1.034474,0.02660756,3.430442 -77.03201,279.208,258,0.9546737,-0.02570109,3.411601 -77.72321,278.8624,287,0.9085326,-0.03170625,3.354424 -83.11458,145.3226,315,0.8368741,-0.6959851,3.306843 -253.288,424.36,355,1.427246,0.6895625,2.585027 -154,378,400,1.238456,0.4858545,3.092599 -70.12,268.84,408,0.9198843,-0.06736293,3.418833 -253,407,434,1.289951,0.5719713,2.491506 -413,404,446,2.135252,0.6154871,1.921479 -247,436.6,451,1.30214,0.7214319,2.525058 -419.8672,368.0273,462,2.257703,0.4153355,1.918926 -154.4464,324.4817,472,1.549329,0.2258515,3.403227 -104.68,132.328,478,0.9721347,-0.8003308,3.311531 -103.0211,130.3927,483,0.9140439,-0.7874951,3.260999 -477,202,489,3.059961,-0.757407,1.736549 -482,295,491,3.145693,-0.06181462,1.704907 -157,314,492,1.575048,0.1539163,3.415893 -444,392,495,2.308426,0.5493553,1.783864 -371.8,441.4,496,2.076283,0.8503271,2.149348 -166,213,502,1.494167,-0.4542048,3.327548 -162,254,503,1.569855,-0.2250984,3.406751 -475,302,505,3.137083,-0.01201163,1.756174 -416,415,506,2.138987,0.6721523,1.898639 -167.8,190.6,510,1.670857,-0.6387168,3.502588 -251,438,514,1.31038,0.7250042,2.503741 -164,234,516,1.581987,-0.3517776,3.41384 -467,309,518,3.108051,0.04779902,1.807493 -161.8,259,521,1.520339,-0.1723956,3.358563 -56.2,268.6,522,0.7752265,-0.05931851,3.336999 -55.72,267.4,526,0.9358812,-0.07436056,3.554676 -179.8,182.2,531,1.693573,-0.7022662,3.416704 -152.2,378.28,533,1.304156,0.5012978,3.163243 -483,244,537,3.094651,-0.4434068,1.694574 -275.752,370.792,544,1.496475,0.4184366,2.49197 -483,254,547,3.142878,-0.3718791,1.698368 -413.8,404.2,549,2.172437,0.6195844,1.925591 -414.28,425.8,552,2.147559,0.739992,1.914641 -483.4,254.44,553,3.111673,-0.3633605,1.693443 -415.72,417.448,559,2.119911,0.6851487,1.900706 -412,372,560,2.129588,0.4272541,1.934591 -417.16,418.6,563,2.135363,0.6879647,1.900957 -467.56,193.96,570,3.04412,-0.8168719,1.802848 -69.42881,268.4944,572,0.8984652,-0.07267033,3.402144 -413.6465,328.6288,576,2.209794,0.18014,1.952125 -424.0145,386.6897,578,2.275902,0.5258805,1.897626 -272.7246,374.2481,579,1.551472,0.4428123,2.541321 -419.0379,366.7831,582,2.291762,0.4216333,1.940415 -427.9958,329.4583,585,2.477258,0.18112,1.934392 -551,130,586,2.937926,-1.21153,1.209797 -45,170,587,0.7281616,-0.5479248,3.426136 -552,242,588,3.252025,-0.4629896,1.229534 -518,260,589,3.217665,-0.3323286,1.456955 -87.4,292.6,591,1.039339,0.0473993,3.417426 -554.2,281.8,592,2.986245,-0.1572568,1.199253 -155.8,325,593,1.622106,0.2352039,3.462218 -561.4,397,594,2.935001,0.5879632,1.153243 -254,424,595,1.313398,0.6556736,2.482323 -513.4,433,596,2.206175,0.7101634,1.366328 -415,446,597,2.13881,0.8552583,1.90091 -572,439,598,2.357819,0.7304384,1.07726 -532,259,599,3.29253,-0.3511654,1.368763 -492,430,600,2.282189,0.7253253,1.49364 -569,438,601,2.229996,0.7011831,1.084421 -452,359,602,2.60938,0.3780127,1.799946 -548,130,603,2.947517,-1.21953,1.237664 -78,281,604,0.9334275,-0.008591824,3.368428 -158,301,606,1.610694,0.07773534,3.449066 -70.60001,269.8,607,0.9210867,-0.06465358,3.416516 -167.8,185.8,608,1.617454,-0.6671444,3.444905 -483,248,609,3.071783,-0.4123667,1.689806 -160,278,610,1.607296,-0.06710235,3.443242 -420,393,611,2.293184,0.5662555,1.920982 -56.2,260.2,612,0.9547462,-0.1175069,3.579844 -165,224,613,1.61194,-0.4240367,3.44219 -550,284,614,3.047826,-0.1600089,1.226063 -51.4,317.8,615,0.6617403,0.170362,3.188222 -551.8,129.4,616,3.012857,-1.239693,1.215469 -152.2,385.48,617,1.264548,0.5342991,3.119137 -253,424.6,618,1.327878,0.6618142,2.497386 -415,427,619,2.138714,0.7390389,1.903051 -65.8,412.84,621,0.6388806,0.5633877,3.00915 -476.2,201.4,622,3.103828,-0.7708226,1.750096 -49.96,250.12,623,0.8060617,-0.1539629,3.436899 -54.28,319.24,625,0.6694606,0.1760537,3.17804 -250.6,437.8,627,1.393286,0.7518988,2.554637 -48.52,263.08,629,0.8122932,-0.08772489,3.446545 -244.36,434.44,630,1.312804,0.7234154,2.539706 -73,238.6,631,1.026214,-0.2493936,3.554612 -443.08,391.24,633,2.328967,0.5455707,1.790586 -481.96,244.36,635,3.102775,-0.4318658,1.697187 -422.92,388.36,636,2.259359,0.5363663,1.888719 -104.68,133.48,639,0.9949095,-0.8098089,3.338135 -466.12,307.72,641,3.158952,0.03877337,1.824811 -418.6,326.44,642,2.551428,0.1797871,2.014759 -411.4,371.8,643,2.085635,0.4213867,1.915323 -483.1121,244.648,645,3.124038,-0.4448191,1.69752 -66.66401,410.536,648,0.6299113,0.5494625,2.994128 -71.50241,237.3904,650,0.967999,-0.2425159,3.491907 -465.832,308.584,651,3.119448,0.03779195,1.823337 -483.1121,294.76,654,3.121776,-0.0685413,1.696796 -469.6337,193.8448,656,2.956433,-0.7950364,1.769793 -168.9616,166.888,657,1.558396,-0.7716951,3.39097 -477.9281,202.1392,658,3.059991,-0.7516208,1.733037 -484.1489,243.6112,659,3.064372,-0.4404794,1.672637 -467.5601,307.8929,660,3.151907,0.03264581,1.81046 -475.8545,299.5984,661,3.156941,-0.02812895,1.751932 -484.1489,293.3777,662,3.132361,-0.07659531,1.68827 -442.6768,388.7632,663,2.344755,0.5382086,1.793485 -415.7201,403.2784,664,2.226718,0.6217299,1.93047 -468.8043,195.089,665,3.06496,-0.8089513,1.794953 -483.7342,244.8554,666,3.192087,-0.447699,1.704845 -476.2692,299.5985,668,3.040116,-0.02184935,1.727057 -453.8744,374.2481,669,2.506976,0.4635692,1.762822 -483.7342,292.1335,670,3.008205,-0.07702301,1.669209 -475.7716,204.047,674,3.076026,-0.7435286,1.740827 -475.7716,299.5985,676,3.108445,-0.03305101,1.746359 -416.0519,368.2761,677,2.321528,0.4290775,1.957684 -451.8837,377.2341,678,2.492265,0.4849662,1.765558 -484.7296,290.6405,679,3.126055,-0.0892062,1.68595 -424.0145,326.97,682,2.63967,0.1797455,2.000532 -470.3968,305.5705,684,3.101167,0.01901853,1.79033 -481.1464,205.2414,685,3.1726,-0.7582163,1.729974 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0007.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0007.csv deleted file mode 100644 index 17787875724f520b6a4a689969fa0e33f42259d5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0007.csv +++ /dev/null @@ -1,142 +0,0 @@ -204.04,434.44,355,1.427246,0.6895625,2.585027 -101.8,182.44,510,1.670857,-0.6387168,3.502588 -104.68,153.064,530,1.646055,-0.8107994,3.48319 -117.64,172.36,531,1.693573,-0.7022662,3.416704 -369.64,420.04,536,2.263035,0.7141069,1.929596 -411.4,309.4,543,3.128834,0.04483514,1.816633 -427.24,255.88,553,3.111673,-0.3633605,1.693443 -365.32,372.52,560,2.129588,0.4272541,1.934591 -418.6,301.96,566,3.160276,-0.01665367,1.75904 -376.3217,386.6897,578,2.275902,0.5258805,1.897626 -365.9536,328.6288,583,2.246536,0.1788093,1.965518 -495,137,586,2.937926,-1.21153,1.209797 -519.4,435.4,598,2.357819,0.7304384,1.07726 -393.256,391.528,633,2.328967,0.5455707,1.790586 -86.01761,326.5552,647,1.732152,0.231744,3.582061 -426.088,294.76,654,3.121776,-0.0685413,1.696796 -415.7201,195.9184,656,2.956433,-0.7950364,1.769793 -403.2784,378.3953,678,2.492265,0.4849662,1.765558 -508.6,297.4,693,3.439553,-0.09918731,1.105916 -522,436,695,2.255505,0.7016246,1.060255 -536.2,281.8,701,3.325462,-0.1965149,0.9151198 -484.6,293.8,705,3.248452,-0.09186208,1.282232 -504,299,706,3.088509,-0.05995005,1.147029 -94.31201,251.56,708,1.876894,-0.2394696,3.704012 -418.6,302.2,709,3.201511,-0.01509945,1.768866 -372.52,418.6,710,2.206028,0.6940148,1.891199 -366.76,405.64,716,2.260017,0.6302404,1.93431 -365.32,329.32,723,2.24411,0.1823563,1.960462 -373.96,326.44,728,2.521046,0.1706398,1.966704 -496.36,281.8,730,3.226318,-0.1864144,1.198889 -369.064,405.3521,736,2.153328,0.6098982,1.902842 -227.0224,376.3217,739,1.578047,0.4356841,2.533958 -88.84,327.88,97,1.625707,0.230496,3.450252 -367,406,446,2.135252,0.6154871,1.921479 -372.1744,368.0273,462,2.257703,0.4153355,1.918926 -404.2,375.4,493,2.531267,0.4702517,1.763023 -395,393,495,2.308426,0.5493553,1.783864 -419,302,505,3.137083,-0.01201163,1.756174 -369,418,506,2.138987,0.6721523,1.898639 -411,310,518,3.108051,0.04779902,1.807493 -425.8,294.76,532,3.179302,-0.06308433,1.711279 -365.8,373,535,2.149435,0.4285306,1.938691 -367,406.6,549,2.172437,0.6195844,1.925591 -368.2,428.68,552,2.147559,0.739992,1.914641 -369.064,420.9041,559,2.119911,0.6851487,1.900706 -369.2715,371.7598,582,2.291762,0.4216333,1.940415 -377.2341,329.4583,585,2.477258,0.18112,1.934392 -492,244,588,3.252025,-0.4629896,1.229534 -502.6,393.4,594,2.935001,0.5879632,1.153243 -443,429,600,2.282189,0.7253253,1.49364 -491,137,603,2.947517,-1.21953,1.237664 -494,283,614,3.047826,-0.1600089,1.226063 -494.2,136.6,616,3.012857,-1.239693,1.215469 -368.2,429.4,619,2.138714,0.7390389,1.903051 -489.16,136.36,620,3.056261,-1.25802,1.250967 -372.52,368.2,626,2.292197,0.4061622,1.92658 -427.24,247.24,635,3.102775,-0.4318658,1.697187 -411.4,309.16,641,3.158952,0.03877337,1.824811 -368.2,327.88,642,2.551428,0.1797871,2.014759 -366,374,643,2.085635,0.4213867,1.915323 -427.816,246.376,645,3.124038,-0.4448191,1.69752 -374.248,389.8,646,2.355752,0.546274,1.920445 -410.536,308.584,651,3.119448,0.03779195,1.823337 -413.992,196.264,652,3.011844,-0.8019983,1.792358 -421.9409,204.2128,658,3.059991,-0.7516208,1.733037 -430.2353,245.6848,659,3.064372,-0.4404794,1.672637 -411.5728,307.8929,660,3.151907,0.03264581,1.81046 -419.8672,299.5984,661,3.156941,-0.02812895,1.751932 -428.1617,293.3777,662,3.132361,-0.07659531,1.68827 -394.9841,390.8369,663,2.344755,0.5382086,1.793485 -368.0273,405.3521,664,2.226718,0.6217299,1.93047 -414.0612,197.5773,665,3.06496,-0.8089513,1.794953 -421.5262,205.0423,667,3.083642,-0.7512222,1.742414 -404.1079,374.2481,669,2.506976,0.4635692,1.762822 -394.1547,391.6663,672,2.327703,0.542097,1.797282 -422.0239,207.033,674,3.076026,-0.7435286,1.740827 -427.9958,245.8508,675,3.089343,-0.4301403,1.687334 -419.0379,299.5985,676,3.108445,-0.03305101,1.746359 -427.9958,290.6405,679,3.126055,-0.0892062,1.68595 -413.0659,305.5704,680,3.032056,0.02574357,1.790146 -364.2948,329.4583,681,2.312652,0.1853344,1.981282 -374.2481,326.97,682,2.63967,0.1797455,2.000532 -428.9911,259.7853,683,3.015325,-0.3300822,1.671701 -413.0659,305.5705,684,3.101167,0.01901853,1.79033 -423.8155,205.2414,685,3.1726,-0.7582163,1.729974 -413.0659,198.075,686,3.217475,-0.8359839,1.823628 -227.08,421.48,687,1.635186,0.6689662,2.554582 -506,136,688,2.989323,-1.225901,1.140177 -532.6,267.4,689,3.366089,-0.3053853,0.9339655 -369,406,690,2.179271,0.617326,1.908775 -465,431,691,2.282218,0.7224108,1.368577 -541,270,692,3.224063,-0.2664344,0.8828518 -369,428,694,2.155755,0.7362211,1.898869 -524,437,696,2.291857,0.7071871,1.052085 -325,449,697,2.24254,0.9070863,2.183348 -513,436,698,2.264916,0.7179429,1.111075 -508,297,699,3.042684,-0.057279,1.115024 -414,196,700,2.983737,-0.7972,1.79125 -485,298,702,3.192211,-0.0356586,1.273268 -517,410,703,2.29291,0.5819504,1.089371 -505,135.4,704,3.063434,-1.251441,1.145183 -519,435,707,2.275383,0.70868,1.077688 -515.8,299.8,711,3.214733,-0.04765007,1.073177 -515.8,433,712,2.238013,0.6925302,1.089441 -464.68,296.2,713,2.808764,-0.05599222,1.405548 -499,139,714,2.877575,-1.170146,1.188933 -508.6,135.4,715,2.931412,-1.208472,1.119166 -373,393,717,2.245936,0.5534133,1.905062 -413.8,195.4,718,2.975287,-0.7969431,1.791308 -536,274,719,3.353961,-0.2573059,0.914147 -530,272,720,3.24432,-0.2700106,0.9613362 -381.4,382.6,721,2.287572,0.4927007,1.860575 -536,282,722,3.396713,-0.174622,0.9092413 -502.12,392.68,724,2.975005,0.5879378,1.158446 -503.56,136.36,725,2.928774,-1.201647,1.149701 -509.32,134.92,726,2.910773,-1.203779,1.119128 -502.12,297.64,727,3.367225,-0.06859118,1.156618 -379.72,381.16,729,2.375014,0.495109,1.888943 -370.792,369.064,731,2.248502,0.4151167,1.916513 -504.8849,392.9105,732,2.831208,0.5700414,1.150211 -419.176,301.672,733,3.145202,-0.01607638,1.759511 -427.816,256.744,734,3.049246,-0.3503222,1.687386 -374.248,327.592,735,2.507385,0.1720237,1.962322 -509.032,135.784,737,2.902925,-1.200504,1.115436 -379.432,381.16,738,2.42927,0.5026195,1.898987 -502.8113,135.784,740,3.025387,-1.241943,1.161653 -496.5905,135.784,741,2.968824,-1.218362,1.200628 -502.8113,297.5248,742,4.099977,-0.1040009,1.135649 -411.5729,307.0634,743,3.108972,0.03282425,1.812957 -501.1524,135.3693,744,2.506593,-1.077163,1.179065 -329.4583,371.2621,745,2.159445,0.4420063,2.152622 -364.2948,334.435,746,2.315954,0.216225,1.980854 -478.7576,293.6265,747,2.938161,-0.0807887,1.316836 -430.9818,248.2395,748,3.299042,-0.4496492,1.693121 -423.8155,298.4041,749,3.174331,-0.04345156,1.741828 -384.4005,330.6527,750,2.461572,0.1941611,1.882634 -416.6491,198.075,751,2.9802,-0.7871905,1.772317 -366.4846,330.6527,752,2.421286,0.2070074,1.989538 -373.6509,327.0695,753,2.871997,0.1888327,2.043296 -324,447,754,2.134598,0.8662612,2.161072 -322.12,431.56,755,2.093186,0.7673612,2.162821 -226.6,421,756,1.677819,0.6834655,2.573459 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0008.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0008.csv deleted file mode 100644 index 196738b11a6e0e49c9351836c6e1116c3a3a624a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0008.csv +++ /dev/null @@ -1,167 +0,0 @@ -192.52,408.52,448,1.62745,0.8873907,2.581547 -298.6,389.8,496,2.076283,0.8503271,2.149348 -388.6,133,540,3.020308,-0.8116806,1.791332 -345.16,362.44,546,2.12282,0.6829066,1.900591 -344.872,362.152,563,2.135363,0.6879647,1.900957 -349.3648,328.6288,574,2.165518,0.5036986,1.889062 -342.28,394.12,597,2.13881,0.8552583,1.90091 -493.48,374.248,601,2.229996,0.7011831,1.084421 -173.8,394.6,627,1.393286,0.7518988,2.554637 -167.8,392.2,630,1.312804,0.7234154,2.539706 -350.92,333.64,636,2.259359,0.5363663,1.888719 -346.6,309.16,640,2.312674,0.4111597,1.926556 -399.1313,235.3168,662,3.132361,-0.07659531,1.68827 -368.0273,330.7025,663,2.344755,0.5382086,1.793485 -341.416,348.328,664,2.226718,0.6217299,1.93047 -346.6,334.6,717,2.245936,0.5534133,1.905062 -486.28,71.56001,725,2.928774,-1.201647,1.149701 -353.5121,322.4081,729,2.375014,0.495109,1.888943 -473.32,333.64,732,2.831208,0.5700414,1.150211 -389.8,242.92,733,3.145202,-0.01607638,1.759511 -491.752,70.12001,737,2.902925,-1.200504,1.115436 -378.3953,314.1136,768,2.532199,0.4689145,1.757364 -396.712,142.696,777,3.074266,-0.752957,1.749054 -480.52,240.04,788,3.068999,-0.03841266,1.119102 -484.8401,70.12001,793,2.699355,-1.135375,1.176801 -494.5169,372.1744,796,2.146875,0.6746925,1.085733 -476.2,71.56001,797,2.875811,-1.18401,1.220526 -369.64,333.64,798,2.252918,0.5350991,1.774684 -460.36,225.64,799,3.242535,-0.1587798,1.249691 -552.2321,139.24,802,3.446515,-0.8539253,0.6130558 -534.952,154.792,804,3.44407,-0.7429121,0.734864 -533.8,192.52,808,3.460384,-0.4494548,0.731197 -493.48,351.784,821,2.314682,0.5901093,1.074991 -293.032,374.248,834,2.191254,0.8020107,2.19547 -197.992,365.9536,835,1.692981,0.6749813,2.571725 -338.9969,272.6416,836,2.420512,0.2140006,2.00287 -347.2913,309.9664,462,2.257703,0.4153355,1.918926 -379,317,493,2.531267,0.4702517,1.763023 -370,334,495,2.308426,0.5493553,1.783864 -390,244,505,3.137083,-0.01201163,1.756174 -344,359,506,2.138987,0.6721523,1.898639 -397,236.2,532,3.179302,-0.06308433,1.711279 -381.4,250.6,543,3.128834,0.04483514,1.816633 -342,348,549,2.172437,0.6195844,1.925591 -345.2177,361.8065,559,2.119911,0.6851487,1.900706 -344.3882,312.0401,582,2.291762,0.4216333,1.940415 -341.0704,268.4944,583,2.246536,0.1788093,1.965518 -350.3602,269.7386,585,2.477258,0.18112,1.934392 -476.2,71.8,586,2.937926,-1.21153,1.209797 -466,186,588,3.252025,-0.4629896,1.229534 -472.6,333.4,594,2.935001,0.5879632,1.153243 -464,225,614,3.047826,-0.1600089,1.226063 -343,370.6,619,2.138714,0.7390389,1.903051 -369.064,332.776,633,2.328967,0.5455707,1.790586 -381.16,250.12,641,3.158952,0.03877337,1.824811 -340.6,269.8,642,2.551428,0.1797871,2.014759 -400.168,185.896,645,3.124038,-0.4448191,1.69752 -381.16,249.832,651,3.119448,0.03779195,1.823337 -388.7632,133.7104,652,3.011844,-0.8019983,1.792358 -398.44,236.008,654,3.121776,-0.0685413,1.696796 -382.5424,249.832,660,3.151907,0.03264581,1.81046 -390.8369,241.5376,661,3.156941,-0.02812895,1.751932 -389.178,132.881,665,3.06496,-0.8089513,1.794953 -376.7364,314.5284,669,2.506976,0.4635692,1.762822 -366.7831,331.9466,672,2.327703,0.542097,1.797282 -401.1219,186.1311,675,3.089343,-0.4301403,1.687334 -392.164,239.8788,676,3.108445,-0.03305101,1.746359 -401.1219,233.9068,679,3.126055,-0.0892062,1.68595 -383.2061,248.8367,680,3.032056,0.02574357,1.790146 -339.4116,269.7386,681,2.312652,0.1853344,1.981282 -344.3882,269.7386,682,2.63967,0.1797455,2.000532 -384.4005,248.2395,684,3.101167,0.01901853,1.79033 -398.7332,144.3273,685,3.1726,-0.7582163,1.729974 -198.28,365.32,687,1.635186,0.6689662,2.554582 -505,210,689,3.366089,-0.3053853,0.9339655 -479.8,239.8,693,3.439553,-0.09918731,1.105916 -344,369,694,2.155755,0.7362211,1.898869 -497,375,695,2.255505,0.7016246,1.060255 -298,391,697,2.24254,0.9070863,2.183348 -480,240,699,3.042684,-0.057279,1.115024 -493,374,707,2.275383,0.70868,1.077688 -389.8,242.92,709,3.201511,-0.01509945,1.768866 -493,374.2,712,2.238013,0.6925302,1.089441 -490.6,70.12,715,2.931412,-1.208472,1.119166 -342.28,348.04,716,2.260017,0.6302404,1.93431 -507.4,217,719,3.353961,-0.2573059,0.914147 -502,214,720,3.24432,-0.2700106,0.9613362 -507,225,722,3.396713,-0.174622,0.9092413 -346.6,310.312,731,2.248502,0.4151167,1.916513 -353.512,322.408,738,2.42927,0.5026195,1.898987 -477.9281,71.50241,741,2.968824,-1.218362,1.200628 -381.713,249.8321,743,3.108972,0.03282425,1.812957 -339.4116,274.7153,746,2.315954,0.216225,1.980854 -391.5668,237.49,749,3.174331,-0.04345156,1.741828 -359.3182,273.3218,750,2.461572,0.1941611,1.882634 -391.5668,133.5777,751,2.9802,-0.7871905,1.772317 -341.4023,276.905,752,2.421286,0.2070074,1.989538 -344.9855,269.7386,753,2.871997,0.1888327,2.043296 -297,389,754,2.134598,0.8662612,2.161072 -294.76,373.96,755,2.093186,0.7673612,2.162821 -197.8,365.8,756,1.677819,0.6834655,2.573459 -71,95,757,1.559018,-0.6638542,3.316302 -400.6,195.4,758,3.131152,-0.3678474,1.707156 -472,333,759,2.858903,0.5666439,1.163375 -345,363,760,2.075715,0.6826789,1.876153 -168,393,761,1.258745,0.7223154,2.500474 -480,242,762,3.382814,-0.05878599,1.105574 -494,352,763,2.245811,0.5802388,1.079164 -545,147,764,3.298244,-0.7672606,0.6901406 -529,227,765,3.38559,-0.1885895,0.7597052 -532,245,766,3.361638,-0.0517496,0.7358009 -524,241,767,3.42752,-0.08497456,0.7839885 -405.4,231.4,769,2.784464,-0.07853114,1.63253 -533,241,770,3.463863,-0.09641322,0.7194899 -345.4,304.6,771,2.272431,0.3878835,1.925118 -357,324,772,2.337961,0.4979179,1.867835 -352,318,773,2.389354,0.4744799,1.903097 -344,300,774,2.3294,0.3584196,1.950865 -349,311,775,2.32017,0.4247733,1.910318 -522,233,776,3.338147,-0.1390337,0.81366 -536.2,153.4,778,3.300972,-0.7136188,0.747164 -369.4,333.4,779,2.281264,0.5423489,1.777468 -176,380,780,1.467281,0.7154657,2.578787 -479.8,74.2,781,2.92251,-1.179876,1.19341 -73,95.8,782,1.553926,-0.6581429,3.300159 -538.12,251.56,783,3.524023,-0.009567308,0.6634566 -295,374.2,784,2.135193,0.7735997,2.169772 -496,372,785,2.217471,0.6811083,1.066253 -554.2,139,786,3.322203,-0.828373,0.6280345 -349,329.8,787,2.251757,0.5286092,1.896404 -548,261,789,3.379839,0.05957329,0.6161631 -469,224.2,790,3.324884,-0.1843983,1.200831 -531.4,244.6,791,3.395555,-0.05705778,0.7349312 -346.6,310.6,792,2.16179,0.4129681,1.895789 -406.6,237.4,794,3.083002,-0.06225768,1.642485 -543.88,146.44,795,3.215753,-0.7511515,0.7112223 -395.56,140.68,800,3.056519,-0.7497435,1.750925 -546.76,260.2,801,3.593307,0.05414921,0.5903733 -532.36,241.48,803,3.457731,-0.07974564,0.7285323 -529.48,244.36,805,3.598906,-0.06064688,0.722872 -507.4,224.2,806,3.185057,-0.1889132,0.9370789 -544.2833,150.2992,807,3.230861,-0.7126424,0.7066414 -397.0576,142.0048,809,3.117501,-0.7552076,1.749043 -535.9889,154.4464,810,3.542403,-0.7573056,0.7214101 -534.952,251.56,811,3.75133,-0.01636751,0.6486339 -484.1489,69.42881,812,2.933056,-1.210319,1.167305 -529.7681,244.648,813,3.189156,-0.05168907,0.77852 -476.2,71.84801,814,2.937722,-1.20546,1.218278 -400.168,227.368,815,3.546787,-0.1540548,1.723478 -339.688,270.568,816,2.394038,0.1884821,1.995055 -474.472,241.192,817,3.315377,-0.06510407,1.15932 -462.376,225.64,818,3.258244,-0.1686859,1.240157 -450.9713,183.4768,819,3.287832,-0.4809815,1.343022 -529.7681,243.6112,820,3.670365,-0.07946496,0.7043453 -463.4129,224.9488,822,3.107879,-0.1667909,1.245338 -440.6033,227.0224,823,4.09816,-0.1926948,1.394876 -463.8276,224.9489,824,3.490333,-0.1958146,1.226572 -195.089,319.505,825,1.69825,0.4609941,2.608889 -391.6663,242.3671,826,3.184093,-0.0226782,1.764214 -528.524,242.3671,827,3.548795,-0.04952559,0.7276996 -349.3649,329.4583,828,2.209858,0.5223173,1.886226 -399.1313,234.9021,829,3.259202,-0.08312175,1.71747 -338.4163,275.7106,830,2.483634,0.2275543,2.017554 -463.8276,224.9489,831,3.497755,-0.1959351,1.226443 -344.3882,269.7386,832,2.533321,0.1790449,1.98988 -435,239,833,9.504415,-0.2550454,1.537497 -296,375,837,2.105565,0.7836437,2.162105 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0009.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0009.csv deleted file mode 100644 index 83d7a07c3d7b2663f976f272b1607dd2a79b7d09..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0009.csv +++ /dev/null @@ -1,192 +0,0 @@ -358.12,60.04,540,3.020308,-0.8116806,1.791332 -317.8,303.4,546,2.12282,0.6829066,1.900591 -324.4817,206.2864,585,2.477258,0.18112,1.934392 -316.36,313.48,619,2.138714,0.7390389,1.903051 -317.224,248.104,626,2.292197,0.4061622,1.92658 -350.056,187.624,651,3.119448,0.03779195,1.823337 -316.6,313,694,2.155755,0.7362211,1.898869 -358.696,180.712,733,3.145202,-0.01607638,1.759511 -324.4817,262.2737,738,2.42927,0.5026195,1.898987 -134.92,343.72,761,1.258745,0.7223154,2.500474 -527.6945,71.50241,786,3.322203,-0.828373,0.6280345 -320.2,271,787,2.251757,0.5286092,1.896404 -342.28,273.16,798,2.252918,0.5350991,1.774684 -365.9536,71.50241,800,3.056519,-0.7497435,1.750925 -506.1291,88.09122,810,3.542403,-0.7573056,0.7214101 -265.384,318.952,834,2.191254,0.8020107,2.19547 -321.4,267.4,862,2.669828,0.5498478,1.94353 -159.976,260.2,876,1.554918,0.4250856,2.52441 -515.8,199,878,3.487738,0.06601706,0.5979928 -315.4,254.2,883,1.936059,0.3992773,1.879978 -70.12001,391.528,890,0.5718146,0.65402,2.326422 -287.56,337.96,891,2.110153,0.8822213,2.04036 -467.5601,310.312,892,2.255423,0.6947594,1.070201 -137.8,381.16,893,1.203184,0.852501,2.452266 -111.592,358.696,895,0.7347137,0.6147454,2.302701 -507.304,87.40001,899,3.51482,-0.7523553,0.71077 -94.31201,372.5201,900,0.764057,0.6657174,2.370595 -358.696,59.75201,901,2.861158,-0.7778332,1.780413 -281.8,345.16,905,2.167948,0.9438403,2.077768 -87.40001,377.704,906,0.5492223,0.6068478,2.266756 -132.328,341.416,908,1.029769,0.6472617,2.388508 -123.688,348.328,909,1.306427,0.7519847,2.559935 -323.56,339.4,910,2.115754,0.877697,1.837906 -312.04,206.92,911,2.712226,0.1689959,2.01032 -319.24,336.52,912,2.093596,0.8612826,1.860805 -281.8,340.84,913,2.014856,0.8745579,2.046358 -85.6029,379.2247,917,0.7819507,0.6946696,2.407785 -101.224,367.336,919,0.7919329,0.6600849,2.365731 -517.3265,79.79681,920,3.287251,-0.7594122,0.6924298 -140.968,327.592,921,1.169612,0.630569,2.424247 -133.7104,345.2177,924,1.176506,0.7042254,2.455465 -307.72,214.12,926,2.452888,0.2282841,2.008683 -514.2161,197.992,930,3.512654,0.05678637,0.6043785 -157.7642,356.8298,933,1.601599,0.8819156,2.554343 -329.32,341.416,936,2.093863,0.8739421,1.807921 -307.0634,217.4839,943,2.570757,0.2425791,2.027682 -369.2715,120.4394,945,3.252337,-0.4583111,1.705964 -157.96,358.12,448,1.62745,0.8873907,2.581547 -344,274,495,2.308426,0.5493553,1.783864 -359,181,505,3.137083,-0.01201163,1.756174 -318,300,506,2.138987,0.6721523,1.898639 -365.8,173.8,532,3.179302,-0.06308433,1.711279 -316,289,549,2.172437,0.6195844,1.925591 -322.4081,268.4944,574,2.165518,0.5036986,1.889062 -317.0167,249.8321,582,2.291762,0.4216333,1.940415 -437,120,588,3.252025,-0.4629896,1.229534 -133.48,340.84,630,1.312804,0.7234154,2.539706 -341.416,274.024,633,2.328967,0.5455707,1.790586 -349.48,188.2,641,3.158952,0.03877337,1.824811 -368.0273,173.1088,654,3.121776,-0.0685413,1.696796 -351.4384,187.624,660,3.151907,0.03264581,1.81046 -359.7328,179.3296,661,3.156941,-0.02812895,1.751932 -359.3182,177.1731,676,3.108445,-0.03305101,1.746359 -368.2761,171.2011,679,3.126055,-0.0892062,1.68595 -314.5284,207.5306,682,2.63967,0.1797455,2.000532 -162.28,312.04,687,1.635186,0.6689662,2.554582 -476,146,689,3.366089,-0.3053853,0.9339655 -472,312,695,2.255505,0.7016246,1.060255 -358.12,181,709,3.201511,-0.01509945,1.768866 -468,311,712,2.238013,0.6925302,1.089441 -473,151,720,3.24432,-0.2700106,0.9613362 -477,162,722,3.396713,-0.174622,0.9092413 -265.96,319.24,755,2.093186,0.7673612,2.162821 -161.8,313,756,1.677819,0.6834655,2.573459 -319,304,760,2.075715,0.6826789,1.876153 -470,289,763,2.245811,0.5802388,1.079164 -317.8,247,771,2.272431,0.3878835,1.925118 -328.6,265,772,2.337961,0.4979179,1.867835 -314.2,238.6,774,2.3294,0.3584196,1.950865 -321,251,775,2.32017,0.4247733,1.910318 -365.608,70.12001,777,3.074266,-0.752957,1.749054 -509.8,87.4,778,3.300972,-0.7136188,0.747164 -266.2,317.8,784,2.135193,0.7735997,2.169772 -439,160.6,790,3.324884,-0.1843983,1.200831 -469.6337,309.9664,796,2.146875,0.6746925,1.085733 -515.08,198.28,801,3.593307,0.05414921,0.5903733 -526.3121,71.84801,802,3.446515,-0.8539253,0.6130558 -505,127.72,808,3.460384,-0.4494548,0.731197 -443.368,177.256,817,3.315377,-0.06510407,1.15932 -433.9678,160.2525,824,3.490333,-0.1958146,1.226572 -359.3182,180.1591,826,3.184093,-0.0226782,1.764214 -366.7831,172.6941,829,3.259202,-0.08312175,1.71747 -314.5284,207.033,832,2.533321,0.1790449,1.98988 -162.7408,312.04,835,1.692981,0.6749813,2.571725 -508,190,838,3.551887,-0.006385322,0.6471083 -319,250.6,839,2.189639,0.4100983,1.889403 -272,280,840,2.001508,0.5525197,2.112504 -317.8,289,841,2.150177,0.6048936,1.889914 -136,343,842,1.131528,0.6826844,2.424517 -329,360,843,2.132476,0.9912618,1.809506 -120,403,844,0.9917988,0.8526713,2.410837 -321.4,302.2,845,2.077233,0.669728,1.857019 -357.4,59.8,846,2.978725,-0.8030364,1.793475 -433,164,847,3.067681,-0.1508513,1.25716 -162,313,848,2.256386,0.8253811,2.824078 -528,71,849,3.331908,-0.8332815,0.6137649 -453,277,850,2.63659,0.5648529,1.120284 -287.8,338.2,851,2.092688,0.8798082,2.038479 -506,138,852,3.466592,-0.4034216,0.7067599 -369,123,853,3.181158,-0.4241752,1.708487 -350,189,854,3.283697,0.04089603,1.830922 -321,271,855,2.220963,0.5193862,1.88722 -139,344.2,856,1.260181,0.7221478,2.475127 -319,338,857,2.034673,0.8442841,1.857269 -285,340,858,2.120743,0.8973594,2.054961 -316,255,859,1.909654,0.3995429,1.873542 -314,206,860,2.820091,0.1749165,2.022904 -325,339,861,2.095807,0.8687512,1.832791 -271,335,863,2.121989,0.8767239,2.133044 -133,341.8,864,0.9538551,0.6255585,2.34735 -325,207,865,2.511992,0.1719566,1.913641 -282,340,866,2.103383,0.8941922,2.068328 -118.6,353.8,867,1.227007,0.7517476,2.539697 -111.4,358.6,868,1.002184,0.7017549,2.448424 -470.2,289,869,2.27082,0.5760036,1.067571 -278.2,338.2,870,2.379785,0.9592433,2.149652 -365.32,70.12,871,2.999024,-0.7440349,1.740898 -369.4,123.4,872,3.275131,-0.4380887,1.711051 -134,341,873,1.367235,0.7511249,2.550906 -71.56001,389.8,874,0.6163779,0.6709616,2.354588 -436.6,119.8,875,3.268974,-0.4701759,1.231639 -310.6,336.52,877,2.108492,0.864023,1.909385 -369.4,118.6,879,3.15543,-0.45559,1.704892 -284.2,340.6,880,2.177823,0.9163286,2.062759 -64.36,395.56,881,0.5590155,0.6608884,2.334038 -283,347.8,882,2.090554,0.9350352,2.059007 -315.4,289,884,1.958586,0.5760624,1.874749 -323.8,339.4,885,2.068523,0.8635925,1.834555 -125.8,347.8,886,1.036856,0.6718276,2.414918 -116.2,355.24,887,1.287691,0.7768797,2.580865 -320.2,337,888,2.105048,0.8623286,1.859051 -113.32,356.68,889,1.207792,0.7599621,2.550928 -470.44,287.56,894,2.249147,0.5701212,1.076649 -369.64,120.52,896,3.078451,-0.4333797,1.700917 -320.68,270.28,897,2.173875,0.5094994,1.881309 -101.8,365.32,898,0.7329369,0.636453,2.332113 -268.84,330.76,902,2.075838,0.8421996,2.137006 -85.96001,379.72,903,0.7212175,0.6704968,2.368605 -526.6,71.56001,904,3.39625,-0.8318466,0.6123183 -268.84,333.64,907,2.034221,0.8452224,2.125692 -287.848,339.688,914,2.126431,0.8848273,2.038069 -86.01761,378.3953,915,0.6001874,0.6301121,2.302748 -320.68,270.568,916,2.12832,0.5004592,1.873556 -158.248,358.696,918,1.394137,0.8168901,2.455204 -94.31201,372.1744,922,0.7094153,0.6513543,2.342602 -268.84,332.776,923,2.095632,0.8583425,2.138365 -312.04,206.632,925,2.511518,0.1691698,1.988782 -310.312,336.232,927,1.987022,0.8287371,1.896954 -315.496,337.96,928,2.135373,0.8732054,1.88342 -120.232,351.784,929,0.9308061,0.6540207,2.379392 -324.136,341.416,931,2.043961,0.8638527,1.829603 -139.9312,326.5552,932,1.113795,0.6163052,2.404009 -160.6672,260.2,934,1.492266,0.4173096,2.493326 -289.2304,336.9232,935,2.23653,0.9122761,2.057817 -270.568,330.7025,937,2.123918,0.8564217,2.137516 -131.6368,341.0704,938,0.9468096,0.620835,2.349106 -314.1136,206.2864,939,2.602242,0.1732885,1.993224 -309.9664,334.8496,940,2.024456,0.8301729,1.90254 -316.1873,336.9232,941,2.091085,0.8531414,1.881926 -324.4817,338.9969,942,2.039809,0.8539078,1.83134 -264.3472,318.2608,944,2.131844,0.7863867,2.170352 -282.1802,344.3882,946,2.034485,0.8943104,2.051643 -262.2737,319.505,947,2.738528,0.933554,2.342618 -132.3833,341.4023,948,1.15234,0.679944,2.448366 -162.7408,314.5284,949,2.721396,0.946272,3.039556 -140.3459,326.97,950,1.191802,0.6350736,2.437477 -324.4817,262.2737,951,2.401829,0.4928387,1.893812 -329.4583,339.4116,952,1.958662,0.8293264,1.793555 -314.5284,336.9233,953,2.118885,0.8646979,1.889923 -319.505,339.4116,954,2.397447,0.9580709,1.901671 -309.5518,331.9466,955,1.865129,0.7824797,1.884214 -317.5144,254.8087,956,2.170213,0.3982534,1.905578 -260.7807,320.5004,957,2.1359,0.7748134,2.182653 -323.4864,269.7386,958,2.257112,0.5139828,1.878547 -341.4023,272.7246,959,2.231977,0.5244177,1.771976 -469.7996,311.5424,960,2.324471,0.7101644,1.057349 -141.3413,326.4724,961,0.9690136,0.5757291,2.325551 -323.4864,269.7386,962,2.482574,0.541449,1.905659 -165.8264,312.7368,963,2.788289,0.9525019,3.043131 -373.6509,119.245,964,3.440727,-0.4939501,1.686645 -337.8191,269.7386,965,2.411971,0.5364192,1.808312 -316.32,255.4059,966,2.316807,0.4385428,1.928675 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0010.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0010.csv deleted file mode 100644 index b861f5878bebc2f4fc4c2be9868ffdd4b9e65d4b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0010.csv +++ /dev/null @@ -1,178 +0,0 @@ -305.8,172.6,543,3.128834,0.04483514,1.816633 -327.592,99.49601,551,3.070693,-0.4286247,1.690291 -323.56,156.52,558,3.189444,-0.06992247,1.710382 -328.6288,98.45921,645,3.124038,-0.4448191,1.69752 -305.128,172.072,651,3.119448,0.03779195,1.823337 -436.6,145,722,3.396713,-0.174622,0.9092413 -316.1873,162.7408,733,3.145202,-0.01607638,1.759511 -222.184,312.04,755,2.093186,0.7673612,2.162821 -326.2,110.2,758,3.131152,-0.3678474,1.707156 -280.36,238.6,792,2.16179,0.4129681,1.895789 -392.68,145,799,3.242535,-0.1587798,1.249691 -461.8,164.2,803,3.457731,-0.07974564,0.7285323 -457.48,166.6,805,3.598906,-0.06064688,0.722872 -462.376,111.592,808,3.460384,-0.4494548,0.731197 -392.9105,144.0784,818,3.258244,-0.1686859,1.240157 -106.408,310.312,835,1.692981,0.6749813,2.571725 -280.6,238.6,839,2.189639,0.4100983,1.889403 -229,332.2,863,2.121989,0.8767239,2.133044 -472.6,183.4,878,3.487738,0.06601706,0.5979928 -247.24,335.08,891,2.110153,0.8822213,2.04036 -225.64,327.592,902,2.075838,0.8421996,2.137006 -483.4,54.28,904,3.39625,-0.8318466,0.6123183 -227.08,330.76,907,2.034221,0.8452224,2.125692 -287.56,335.08,910,2.115754,0.877697,1.837906 -242.92,337.96,913,2.014856,0.8745579,2.046358 -282.664,258.472,916,2.12832,0.5004592,1.873556 -287.848,336.232,931,2.043961,0.8638527,1.829603 -434.2,298.6,970,2.576198,0.7524048,1.026099 -326.2,103,977,3.21159,-0.4462104,1.713899 -274.6,332.2,980,2.089272,0.8647274,1.904272 -460.6,143.8,986,3.344209,-0.1808263,0.7502068 -473.32,62.92,988,3.639212,-0.8234765,0.6313716 -464.2,148.6,992,3.348231,-0.154447,0.7238075 -463,111.4,999,3.343644,-0.4314173,0.7468191 -305.8,263.8,1000,2.19314,0.5291987,1.762699 -564.3281,337.96,1001,2.630584,0.9689243,0.2586251 -280.936,296.488,1005,2.065233,0.6732079,1.87374 -279.4,274.6,1006,1.921013,0.5439096,1.86922 -278.92,235.72,1011,2.103519,0.3809824,1.895109 -401.896,161.704,1012,3.513307,-0.09705693,1.141692 -82.21601,331.048,1013,1.177748,0.632639,2.435436 -467.56,70.12,1018,3.407076,-0.7227768,0.7257823 -277.48,280.936,1019,2.074986,0.601384,1.891364 -472.744,63.20801,1022,3.589768,-0.8101624,0.6479369 -314.92,163.72,1023,3.249339,-0.03237796,1.776259 -80.48801,394.984,1025,1.26214,0.8850279,2.486797 -296.488,336.232,1026,2.169056,0.8877554,1.783604 -443.368,165.16,1028,3.594332,-0.06659464,0.8177443 -438.1841,299.944,1035,2.194001,0.6828509,1.079949 -315.4,164.2,505,3.137083,-0.01201163,1.756174 -280.6,293.8,506,2.138987,0.6721523,1.898639 -322.6,157,532,3.179302,-0.06308433,1.711279 -283.0096,258.1264,574,2.165518,0.5036986,1.889062 -396,102,588,3.252025,-0.4629896,1.229534 -277.48,236.008,626,2.292197,0.4061622,1.92658 -74.44,348.04,630,1.312804,0.7234154,2.539706 -304.84,172.36,641,3.158952,0.03877337,1.824811 -324.4817,156.52,654,3.121776,-0.0685413,1.696796 -317.5144,162.2432,676,3.108445,-0.03305101,1.746359 -440,300,695,2.255505,0.7016246,1.060255 -437,300,712,2.238013,0.6925302,1.089441 -281,297,760,2.075715,0.6826789,1.876153 -439,277,763,2.245811,0.5802388,1.079164 -287.56,253,772,2.337961,0.4979179,1.867835 -222.76,312.04,784,2.135193,0.7735997,2.169772 -281.8,260.2,787,2.251757,0.5286092,1.896404 -398.2,143.8,790,3.324884,-0.1843983,1.200831 -304.84,263.08,798,2.252918,0.5350991,1.774684 -77.8,351.4,842,1.131528,0.6826844,2.424517 -106,310,848,2.256386,0.8253811,2.824078 -247,334.6,851,2.092688,0.8798082,2.038479 -306,173,854,3.283697,0.04089603,1.830922 -282,333,857,2.034673,0.8442841,1.857269 -288,334,861,2.095807,0.8687512,1.832791 -439,277,869,2.27082,0.5760036,1.067571 -74.2,349,873,1.367235,0.7511249,2.550906 -273.16,332.2,877,2.108492,0.864023,1.909385 -326.2,98.2,879,3.15543,-0.45559,1.704892 -243.4,337,880,2.177823,0.9163286,2.062759 -278,243,883,1.936059,0.3992773,1.879978 -278,280,884,1.958586,0.5760624,1.874749 -287.8,335.8,885,2.068523,0.8635925,1.834555 -283,332.2,888,2.105048,0.8623286,1.859051 -80.2,394.12,893,1.203184,0.852501,2.452266 -438.76,276.04,894,2.249147,0.5701212,1.076649 -326.44,98.92001,896,3.078451,-0.4333797,1.700917 -281.8,260.2,897,2.173875,0.5094994,1.881309 -465.832,70.12001,899,3.51482,-0.7523553,0.71077 -241.48,342.28,905,2.167948,0.9438403,2.077768 -73.576,350.056,908,1.029769,0.6472617,2.388508 -270.28,191.08,911,2.712226,0.1689959,2.01032 -283.24,332.2,912,2.093596,0.8612826,1.860805 -246.376,336.232,914,2.126431,0.8848273,2.038069 -227.368,331.048,923,2.095632,0.8583425,2.138365 -270.568,191.08,925,2.511518,0.1691698,1.988782 -277.48,332.776,928,2.135373,0.8732054,1.88342 -81.87041,330.7025,932,1.113795,0.6163052,2.404009 -100.5328,364.2948,933,1.601599,0.8819156,2.554343 -293.032,336.232,936,2.093863,0.8739421,1.807921 -73.57601,349.3648,938,0.9468096,0.620835,2.349106 -272.6416,330.7025,940,2.024456,0.8301729,1.90254 -278.8624,330.7025,941,2.091085,0.8531414,1.881926 -287.1568,334.8496,942,2.039809,0.8539078,1.83134 -222.8752,314.1136,944,2.131844,0.7863867,2.170352 -326.4724,99.5375,945,3.252337,-0.4583111,1.705964 -242.3671,339.4116,946,2.034485,0.8943104,2.051643 -277.2036,331.9466,953,2.118885,0.8646979,1.889923 -278.6966,242.8648,956,2.170213,0.3982534,1.905578 -219.5741,312.7368,957,2.1359,0.7748134,2.182653 -281.6826,257.7947,958,2.257112,0.5139828,1.878547 -436.9538,299.5985,960,2.324471,0.7101644,1.057349 -322,46,967,3.05944,-0.7621673,1.746569 -362.2,119.8,968,3.31191,-0.3246609,1.456652 -437,275,969,2.25978,0.5668332,1.082055 -431,301,971,2.225946,0.700292,1.110221 -82.60001,332.2,972,1.131559,0.6243938,2.413248 -296.2,335.8,973,2.181647,0.8982156,1.800832 -81,390,974,1.078731,0.7924173,2.394536 -376,119,975,3.143917,-0.3272681,1.373317 -81,395,976,1.1522,0.839156,2.430768 -313,35,978,2.982605,-0.8083121,1.803868 -465,168,979,3.186094,-0.01971547,0.7511868 -237.4,334.6,981,2.096219,0.883272,2.08942 -465,139,982,3.456624,-0.223723,0.7090156 -278.2,279.4,983,2.148338,0.6148763,1.895442 -323,157,984,3.119354,-0.04944534,1.720822 -288,254,985,2.325089,0.4957696,1.868212 -293.8,337,987,2.181946,0.9130306,1.811041 -308.2,262.6,989,2.208606,0.5243795,1.75126 -435.4,274.6,990,2.251558,0.5656551,1.090898 -322.12,47.08,991,3.054312,-0.7554755,1.746308 -280.6,297.4,993,2.129173,0.6928113,1.880761 -430.6,301,994,2.084241,0.6625083,1.134338 -278.2,332.2,995,2.018198,0.8422746,1.877728 -404,163,996,3.285989,-0.05268102,1.153883 -436.6,299.8,997,2.257189,0.7103081,1.093686 -295,357.4,998,2.19045,1.023317,1.800534 -104.68,250.12,1002,1.487058,0.4073828,2.49358 -80,339,1003,1.183407,0.663536,2.447427 -462,144,1004,3.160549,-0.1676319,0.784413 -59.8,425.8,1007,0.9218445,0.8370187,2.381561 -475,62.2,1008,3.420529,-0.774606,0.6751024 -237.16,335.08,1009,1.959499,0.8500085,2.069318 -283.24,191.08,1010,2.427274,0.1681415,1.909803 -293.32,336.52,1014,2.174436,0.9072616,1.814038 -437.32,299.08,1015,2.282019,0.6999912,1.066097 -435.88,274.6,1016,2.232839,0.5615675,1.095701 -296.2,335.08,1017,2.175666,0.8949679,1.799217 -265.96,202.6,1020,2.508409,0.2413488,2.018708 -466.6,145,1021,3.268937,-0.1746388,0.7282012 -241.5376,392.9105,1024,1.602916,0.992213,1.979141 -282.664,191.08,1027,2.712569,0.1590302,1.949822 -465.4865,69.42881,1029,3.570604,-0.755295,0.7003366 -471.7073,181.4032,1030,3.449421,0.05593665,0.6299226 -305.8192,262.2737,1031,2.201159,0.5211,1.763202 -278.8624,278.8624,1032,2.137315,0.6044608,1.889999 -241.5376,341.0704,1033,2.178152,0.9423398,2.082454 -247.3437,336.9233,1034,2.192949,0.913088,2.045608 -460.8417,171.2011,1036,3.634731,-0.02557168,0.6670675 -304.5751,262.2737,1037,2.191661,0.5190521,1.769161 -299.5985,334.435,1038,2.076476,0.869796,1.779037 -299.5985,335.4303,1039,2.187498,0.9060069,1.788522 -469.7996,180.1591,1040,3.345335,0.04323344,0.6715996 -281.6826,248.8367,1041,2.261116,0.4666001,1.897159 -227.9348,329.4583,1042,1.97506,0.8257649,2.114057 -239.8788,341.4023,1043,2.054298,0.8911039,2.06927 -281.6826,335.4303,1044,2.056132,0.8744583,1.863523 -275.7106,236.8928,1045,2.008088,0.3861509,1.895457 -470.3968,180.1591,1046,3.594566,0.03964094,0.6080894 -237.49,237.49,1047,2.076769,0.4031292,2.093476 -319.9032,162.2432,1048,3.294996,-0.03447624,1.750325 -269.7386,194.4918,1049,2.437313,0.1844195,1.982368 -301.9873,334.2359,1050,2.143935,0.8812044,1.768118 -463.2305,169.4095,1051,3.604999,-0.03958369,0.6645677 -438.1482,298.4041,1052,2.228655,0.6870971,1.081337 -230.3236,327.0695,1053,2.10352,0.8548768,2.134211 -241.0732,337.8191,1054,2.303576,0.9584869,2.104868 -251.8227,334.2359,1055,1.980147,0.845258,2.016242 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0011.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0011.csv deleted file mode 100644 index 1220cfa28f7fd285fc5681086cf9d378f91cfa1b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0011.csv +++ /dev/null @@ -1,190 +0,0 @@ -460.6,286.6,696,2.291857,0.7071871,1.052085 -424.36,139.24,711,3.214733,-0.04765007,1.073177 -470.2,136.6,770,3.463863,-0.09641322,0.7194899 -469,139,803,3.457731,-0.07974564,0.7285323 -327.88,70.12,879,3.15543,-0.45559,1.704892 -457.192,286.12,892,2.255423,0.6947594,1.070201 -271.72,172.36,911,2.712226,0.1689959,2.01032 -481.384,159.976,930,3.512654,0.05678637,0.6043785 -286.12,270.28,983,2.148338,0.6148763,1.895442 -325,135.4,984,3.119354,-0.04944534,1.720822 -473.8,82.60001,999,3.343644,-0.4314173,0.7468191 -289.576,287.848,1005,2.065233,0.6732079,1.87374 -242.92,331.048,1009,1.959499,0.8500085,2.069318 -253.288,396.712,1024,1.602916,0.992213,1.979141 -309.9664,326.5552,1026,2.169056,0.8877554,1.783604 -473.8,103,1067,3.652109,-0.3352308,0.6581249 -586.6,322.6,1071,2.488233,0.942237,0.3067295 -231.4,326.2,1073,2.054947,0.8556044,2.137639 -460.6,105.4,1075,3.456277,-0.294284,0.7988613 -233.8,327.4,1076,2.007447,0.8506576,2.117332 -596.2,320.2,1079,2.47,0.9233973,0.2659548 -459.4,122.2,1082,3.58252,-0.194181,0.7719156 -289,257.8,1083,2.099053,0.551725,1.875723 -456.04,145,1085,3.390326,-0.02764817,0.8420235 -289,172.6,1086,2.451511,0.1647785,1.900991 -471.0161,121.96,1090,3.893243,-0.2249033,0.6091005 -317.8,215.56,1091,2.411288,0.3803172,1.751321 -472.6,112.6,1093,3.52062,-0.2541334,0.6979548 -473.32,150.76,1095,3.348079,0.01512873,0.7243762 -470.2,145,1098,3.634615,-0.04641287,0.6753263 -458.92,114.76,1099,3.759243,-0.2611827,0.7352944 -289,257.32,1102,2.044179,0.5432213,1.872352 -458.92,121.96,1104,3.846493,-0.2199541,0.7125741 -68.68,361,1106,1.126371,0.6895133,2.42863 -73.576,337.96,1109,0.937353,0.5645095,2.318986 -579.88,322.12,1110,2.446524,0.9291959,0.3636607 -290.44,244.36,1111,2.098928,0.4924313,1.870088 -440.2,142.12,1113,3.306613,-0.05484866,0.9648242 -275.752,210.088,1115,2.380138,0.3524136,1.963137 -458.92,124.84,1116,3.282789,-0.1500645,0.8458881 -458.2,135.4,1118,3.464841,-0.1030818,0.813661 -457.48,150.76,1119,3.477944,0.008343581,0.8016031 -467.5601,81.87041,1120,3.329994,-0.4288133,0.7902654 -274.7152,208.36,1121,2.337073,0.34089,1.964115 -313.768,249.832,1122,2.241561,0.5401163,1.766924 -289.576,258.472,1124,2.072653,0.5540078,1.872784 -94.31201,243.6112,1126,1.543401,0.4165285,2.523639 -317.224,142.696,1127,3.128471,-0.02041272,1.771223 -401.32,339.4,1136,1.260108,0.659839,1.474031 -291.304,237.3904,1137,2.318175,0.4818082,1.88031 -253.288,329.32,1139,2.091222,0.8869906,2.041118 -473.7809,150.2992,1140,3.313594,0.0110862,0.7327017 -268.4944,183.4768,1141,2.409719,0.2194185,2.001585 -403.2784,119.1952,1144,3.250399,-0.180244,1.215507 -285.0833,220.8016,1146,2.040072,0.3749003,1.88923 -465.4,127,1148,2.640378,-0.08352651,0.9635864 -289,283,506,2.138987,0.6721523,1.898639 -325,136,532,3.179302,-0.06308433,1.711279 -325,134.92,558,3.189444,-0.06992247,1.710382 -291.304,245.6848,574,2.165518,0.5036986,1.889062 -401,74,588,3.252025,-0.4629896,1.229534 -307,152.2,641,3.158952,0.03877337,1.824811 -328.6288,71.50241,645,3.124038,-0.4448191,1.69752 -306.856,151.336,651,3.119448,0.03779195,1.823337 -461,287,695,2.255505,0.7016246,1.060255 -456,286,712,2.238013,0.6925302,1.089441 -227.368,305.128,755,2.093186,0.7673612,2.162821 -290.2,287.8,760,2.075715,0.6826789,1.876153 -227.08,303.4,784,2.135193,0.7735997,2.169772 -404,120,790,3.324884,-0.1843983,1.200831 -287.56,225.64,792,2.16179,0.4129681,1.895789 -100.5328,303.7456,835,1.692981,0.6749813,2.571725 -287.8,225.4,839,2.189639,0.4100983,1.889403 -253,329.8,851,2.092688,0.8798082,2.038479 -298,328,861,2.095807,0.8687512,1.832791 -458.2,261.4,869,2.27082,0.5760036,1.067571 -484,161,878,3.487738,0.06601706,0.5979928 -250.12,332.2,880,2.177823,0.9163286,2.062759 -287.8,269.8,884,1.958586,0.5760624,1.874749 -297.4,328.6,885,2.068523,0.8635925,1.834555 -253,329.32,891,2.110153,0.8822213,2.04036 -457.48,260.2,894,2.249147,0.5701212,1.076649 -230.824,322.408,902,2.075838,0.8421996,2.137006 -291.88,326.44,912,2.093596,0.8612826,1.860805 -253.9792,328.6288,914,2.126431,0.8848273,2.038069 -231.1696,324.4817,923,2.095632,0.8583425,2.138365 -272.6416,173.1088,925,2.511518,0.1691698,1.988782 -287.848,325.864,928,2.135373,0.8732054,1.88342 -73.57601,336.9232,932,1.113795,0.6163052,2.404009 -303.4,329.32,936,2.093863,0.8739421,1.807921 -287.1568,324.4817,941,2.091085,0.8531414,1.881926 -284.0714,223.1573,956,2.170213,0.3982534,1.905578 -223.1573,305.5705,957,2.1359,0.7748134,2.182653 -290.6405,245.8508,958,2.257112,0.5139828,1.878547 -366,94,968,3.31191,-0.3246609,1.456652 -456,259,969,2.25978,0.5668332,1.082055 -283,326.2,980,2.089272,0.8647274,1.904272 -242.92,329.32,981,2.096219,0.883272,2.08942 -473,117,982,3.456624,-0.223723,0.7090156 -303.4,331,987,2.181946,0.9130306,1.811041 -454.6,259,990,2.251558,0.5656551,1.090898 -453,286,994,2.084241,0.6625083,1.134338 -287.8,326.2,995,2.018198,0.8422746,1.877728 -305.8,352.6,998,2.19045,1.023317,1.800534 -287.56,172.36,1010,2.427274,0.1681415,1.909803 -303.4,329.32,1014,2.174436,0.9072616,1.814038 -454.6,258.76,1016,2.232839,0.5615675,1.095701 -306.28,327.88,1017,2.175666,0.8949679,1.799217 -482.0753,158.5936,1030,3.449421,0.05593665,0.6299226 -287.1568,268.4944,1032,2.137315,0.6044608,1.889999 -254.8087,329.4583,1034,2.192949,0.913088,2.045608 -470.3968,147.9105,1036,3.634731,-0.02557168,0.6670675 -308.5564,329.4583,1039,2.187498,0.9060069,1.788522 -481.1464,155.0768,1040,3.345335,0.04323344,0.6715996 -245.8508,335.4303,1043,2.054298,0.8911039,2.06927 -291.2377,330.6527,1044,2.056132,0.8744583,1.863523 -284.6685,221.9629,1045,2.008088,0.3861509,1.895457 -319.9032,140.7441,1048,3.294996,-0.03447624,1.750325 -273.3218,176.5759,1049,2.437313,0.1844195,1.982368 -312.7368,327.0695,1050,2.143935,0.8812044,1.768118 -456.0641,284.0714,1052,2.228655,0.6870971,1.081337 -233.9068,323.4864,1053,2.10352,0.8548768,2.134211 -255.4059,330.6527,1055,1.980147,0.845258,2.016242 -477.4,38.2,1056,3.426631,-0.7223915,0.7142607 -273,172,1057,2.755781,0.1639507,2.014358 -237,229,1058,2.004534,0.4049039,2.09619 -603,287,1059,2.455493,0.7413133,0.2536896 -288,326,1060,1.953601,0.8253959,1.869887 -307,328.6,1061,2.082767,0.8743939,1.79138 -318,216,1062,2.441819,0.3850209,1.750807 -235,259,1063,1.941267,0.5309353,2.096223 -474,83,1064,3.371356,-0.4285555,0.7369289 -400.6,121,1065,3.240674,-0.1672578,1.234429 -235,224,1066,2.159678,0.4028683,2.13199 -293,291,1068,2.049711,0.6913244,1.854354 -475,152,1069,3.430666,0.02014996,0.6934887 -250.6,332.2,1070,2.09698,0.8991739,2.056243 -313,250,1072,2.19918,0.528826,1.770566 -309,249,1074,2.213292,0.5251235,1.791625 -471,142,1077,3.558705,-0.05637651,0.689591 -230.2,323.8,1078,2.065896,0.8512579,2.144095 -469,151,1080,3.533021,0.007136845,0.7074215 -287,276,1081,2.056912,0.6243448,1.881859 -463,119,1084,3.094945,-0.1692265,0.866962 -274.6,172.36,1087,2.519086,0.165503,1.981993 -608,264,1088,2.421166,0.614651,0.2552822 -581,323,1089,2.449756,0.9343628,0.3558623 -232.6,261.4,1092,1.968313,0.5459492,2.111503 -409.96,139.24,1094,3.23901,-0.0528985,1.169853 -285.4,220.6,1096,2.211538,0.3894995,1.901248 -588,322,1097,2.411942,0.9184174,0.3384403 -460.6,93.4,1100,3.680349,-0.4051057,0.7489179 -460.6,111.4,1101,3.552888,-0.2651933,0.773876 -463,129,1103,2.63722,-0.07270018,0.9767742 -473.32,81.64,1105,2.982692,-0.3741925,0.8431571 -289,287.56,1107,2.084799,0.6795412,1.876987 -253,395.56,1108,1.553246,0.9716547,1.969262 -587.08,322.12,1112,2.383404,0.90025,0.3464879 -481.96,160.84,1114,3.427504,0.07463741,0.6430294 -460.6,142.6,1117,3.467316,-0.04417901,0.7925856 -472.744,151.336,1123,3.306525,0.01868261,0.7412937 -445.096,140.968,1125,2.462447,0.0009755514,1.107784 -243.6112,328.6288,1128,2.063169,0.872366,2.082173 -583.3361,325.864,1129,2.448698,0.9498013,0.3429271 -578.152,324.136,1130,2.430665,0.9357178,0.3795434 -287.848,225.64,1131,2.107317,0.4117325,1.881484 -293.032,325.864,1132,2.089107,0.866298,1.858163 -464.104,142.696,1133,3.202459,-0.03169103,0.8267899 -289.576,232.552,1134,2.144441,0.438336,1.876673 -459.2657,133.7104,1135,3.101402,-0.08064174,0.8845482 -303.7456,328.6288,1138,2.161498,0.8935078,1.809575 -291.304,287.1568,1142,1.844951,0.6294466,1.848313 -457.1921,285.0833,1143,2.220128,0.6899722,1.072714 -307.8929,150.2992,1145,2.990551,0.03246008,1.824963 -291.304,231.1696,1147,1.983091,0.4141058,1.857837 -471.7073,121.2688,1149,4.01661,-0.2415358,0.5718629 -292.1335,244.8554,1150,2.097807,0.491697,1.865431 -267.2503,182.6474,1151,2.390031,0.2164886,2.006486 -230.9208,323.4864,1152,2.133363,0.8692415,2.153134 -272.227,172.6941,1153,2.95509,0.1683273,2.039237 -466.8136,150.2992,1154,4.052209,-0.0401605,0.5878645 -289.6452,237.3905,1155,2.086785,0.4537097,1.872286 -302.0868,326.97,1156,2.135102,0.8828608,1.815467 -239.8788,332.4443,1157,2.023775,0.8759838,2.092483 -284.6685,222.4605,1158,2.010501,0.3794464,1.888715 -294.6218,329.4583,1159,2.118028,0.8901798,1.849769 -272.7246,174.1871,1160,2.326734,0.1740738,1.972324 -312.7368,248.2395,1161,2.173038,0.5121691,1.76828 -237.49,330.6527,1162,1.999184,0.8604826,2.097578 -301.9873,327.0695,1163,2.031943,0.8534831,1.812415 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0012.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0012.csv deleted file mode 100644 index c5d9f52636bc139c4a8e2aebd00001e0cf0a24d6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0012.csv +++ /dev/null @@ -1,196 +0,0 @@ -366.76,114.76,589,3.217665,-0.3323286,1.456955 -455.4641,128.872,692,3.224063,-0.2664344,0.8828518 -442.6,128.2,720,3.24432,-0.2700106,0.9613362 -407.08,159.976,727,3.367225,-0.06859118,1.156618 -424.36,162.28,788,3.068999,-0.03841266,1.119102 -460.648,165.16,805,3.598906,-0.06064688,0.722872 -467.5601,284.392,894,2.249147,0.5701212,1.076649 -492.04,47.08,904,3.39625,-0.8318466,0.6123183 -481.96,55.72,1008,3.420529,-0.774606,0.6751024 -465.832,308.584,1015,2.282019,0.6999912,1.066097 -474.76,62.92,1018,3.407076,-0.7227768,0.7257823 -287.8,190.6,1027,2.712569,0.1590302,1.949822 -480.0017,181.4032,1030,3.449421,0.05593665,0.6299226 -400.6,142.6,1065,3.240674,-0.1672578,1.234429 -257.8,357.4,1070,2.09698,0.8991739,2.056243 -238.6,351.4,1073,2.054947,0.8556044,2.137639 -451.72,166.6,1085,3.390326,-0.02764817,0.8420235 -296.2,192.52,1086,2.451511,0.1647785,1.900991 -454.6,137.8,1099,3.759243,-0.2611827,0.7352944 -300.52,281.8,1102,2.044179,0.5432213,1.872352 -299.08,310.6,1107,2.084799,0.6795412,1.876987 -471.0161,173.8,1123,3.306525,0.01868261,0.7412937 -299.944,282.664,1124,2.072653,0.5540078,1.872784 -261.928,355.24,1139,2.091222,0.8869906,2.041118 -275.752,203.176,1141,2.409719,0.2194185,2.001585 -268.84,427.24,1169,1.581914,0.9939008,1.975734 -407.08,129.16,1170,3.386967,-0.2599682,1.162805 -443.08,160.84,1171,3.062671,-0.03881721,0.9937574 -606,334,1181,2.429186,0.8780993,0.2607326 -427,159.4,1185,2.797351,-0.0293082,1.155847 -284.2,190.6,1187,2.491723,0.1500994,1.958403 -321.4,272.2,1189,2.213783,0.5283295,1.774746 -451,161.8,1192,3.678242,-0.06847258,0.774133 -293.8,239.8,1194,2.160071,0.3726716,1.897717 -451.72,172.36,1197,3.832521,-0.007965599,0.7223623 -582.76,359.56,1198,2.461793,1.00934,0.3567725 -471.4,175,1207,3.352158,0.0191696,0.7203848 -231.4,325,1208,2.387994,0.8271375,2.216706 -251.8,355,1212,2.08615,0.881289,2.086691 -297.4,250.6,1215,2.00186,0.4029695,1.881141 -302.2,350.2,1216,2.049015,0.8528141,1.859453 -449.8,155.8,1217,2.686654,-0.05159639,1.055103 -451.72,142.12,1220,2.736528,-0.1285241,1.033697 -93.16,366.76,1225,1.161972,0.634055,2.4293 -587.08,348.04,1228,2.435112,0.9512178,0.3534006 -80.2,398.44,1229,1.098319,0.6955529,2.439691 -239.464,350.056,1232,2.03225,0.848821,2.125245 -280.936,230.824,1233,2.543808,0.3610165,1.975986 -443.368,115.048,1237,3.727576,-0.413599,0.8306348 -457.192,120.232,1238,3.978437,-0.414144,0.6544601 -301.672,267.112,1240,2.07431,0.4883193,1.867069 -296.488,192.808,1243,2.547394,0.1524769,1.906106 -298.216,248.104,1250,2.057692,0.3959677,1.878503 -108.8272,266.4208,1255,1.435425,0.3987949,2.478352 -307.8929,171.0352,1257,3.19578,0.02062611,1.835805 -299,306,506,2.138987,0.6721523,1.898639 -326.44,155.08,558,3.189444,-0.06992247,1.710382 -301.672,266.4208,574,2.165518,0.5036986,1.889062 -402,96,588,3.252025,-0.4629896,1.229534 -330.7025,92.23841,645,3.124038,-0.4448191,1.69752 -308.584,172.072,651,3.119448,0.03779195,1.823337 -466,309,712,2.238013,0.6925302,1.089441 -467.8,284.2,869,2.27082,0.5760036,1.067571 -481,184,878,3.487738,0.06601706,0.5979928 -329.32,91.72,879,3.15543,-0.45559,1.704892 -257.32,356.68,880,2.177823,0.9163286,2.062759 -261.64,353.8,891,2.110153,0.8822213,2.04036 -262.2737,353.5121,914,2.126431,0.8848273,2.038069 -239.464,349.3648,923,2.095632,0.8583425,2.138365 -278.8624,191.7712,925,2.511518,0.1691698,1.988782 -296.488,350.056,928,2.135373,0.8732054,1.88342 -479.656,182.44,930,3.512654,0.05678637,0.6043785 -297.5248,349.3648,941,2.091085,0.8531414,1.881926 -230.3236,327.0695,957,2.1359,0.7748134,2.182653 -292.6,351.4,980,2.089272,0.8647274,1.904272 -326.2,155.8,984,3.119354,-0.04944534,1.720822 -313,355,987,2.181946,0.9130306,1.811041 -314.2,377.8,998,2.19045,1.023317,1.800534 -318.2608,351.4384,1026,2.169056,0.8877554,1.783604 -262.2737,354.3415,1034,2.192949,0.913088,2.045608 -478.7576,180.1591,1040,3.345335,0.04323344,0.6715996 -254.8087,359.3182,1043,2.054298,0.8911039,2.06927 -301.9873,355.735,1044,2.056132,0.8744583,1.863523 -297.1101,247.3437,1045,2.008088,0.3861509,1.895457 -320.5004,162.2432,1048,3.294996,-0.03447624,1.750325 -280.4882,194.4918,1049,2.437313,0.1844195,1.982368 -466.8136,309.1536,1052,2.228655,0.6870971,1.081337 -241.0732,348.5686,1053,2.10352,0.8548768,2.134211 -266.1555,352.1518,1055,1.980147,0.845258,2.016242 -475,63.4,1056,3.426631,-0.7223915,0.7142607 -248,250,1058,2.004534,0.4049039,2.09619 -606,310,1059,2.455493,0.7413133,0.2536896 -472,175,1069,3.430666,0.02014996,0.6934887 -590.2,345.4,1071,2.488233,0.942237,0.3067295 -322,272,1072,2.19918,0.528826,1.770566 -318,271,1074,2.213292,0.5251235,1.791625 -599.8,343,1079,2.47,0.9233973,0.2659548 -298,299,1081,2.056912,0.6243448,1.881859 -299.8,280.6,1083,2.099053,0.551725,1.875723 -585,346,1089,2.449756,0.9343628,0.3558623 -471.88,173.8,1095,3.348079,0.01512873,0.7243762 -466.12,165.16,1098,3.634615,-0.04641287,0.6753263 -89.8,391,1106,1.126371,0.6895133,2.42863 -591.4,345.16,1112,2.383404,0.90025,0.3464879 -479.08,182.44,1114,3.427504,0.07463741,0.6430294 -455.8,165.4,1117,3.467316,-0.04417901,0.7925856 -453.16,155.08,1118,3.464841,-0.1030818,0.813661 -251.9056,353.5121,1128,2.063169,0.872366,2.082173 -301.672,350.056,1132,2.089107,0.866298,1.858163 -467.5601,307.8929,1143,2.220128,0.6899722,1.072714 -302.0868,269.7386,1150,2.097807,0.491697,1.865431 -312.0401,351.8532,1156,2.135102,0.8828608,1.815467 -248.8367,356.3322,1157,2.023775,0.8759838,2.092483 -304.5751,354.3415,1159,2.118028,0.8901798,1.849769 -323.4864,269.7386,1161,2.173038,0.5121691,1.76828 -248.2395,355.735,1162,1.999184,0.8604826,2.097578 -312.7368,352.1518,1163,2.031943,0.8534831,1.812415 -415,159.4,1164,3.133246,-0.05516447,1.146339 -308,173,1165,3.096433,0.043745,1.833614 -296.2,243.4,1166,2.1438,0.3831708,1.889875 -468,284,1167,2.217574,0.5761329,1.071721 -605,342,1168,2.403115,0.905659,0.2779187 -111,265,1172,1.435922,0.3950695,2.471703 -607,343,1173,2.474591,0.9307382,0.2246677 -588,347,1174,2.440645,0.9434136,0.3454273 -329,104,1175,3.12937,-0.3913213,1.707023 -318,164,1176,3.147179,-0.02124557,1.770733 -603,342,1177,2.407665,0.9069734,0.2858723 -583,359.8,1178,2.421313,0.9991553,0.3777697 -268.6,425.8,1179,1.595775,0.9908897,1.973256 -608,308,1180,2.453551,0.7346395,0.2446501 -330,91,1182,3.035584,-0.4479718,1.707115 -460.6,164.2,1183,3.664553,-0.06690663,0.7055029 -470,307,1184,2.207225,0.6849333,1.060673 -305,310,1186,2.030734,0.665624,1.846705 -301,269,1188,2.062036,0.4933732,1.86622 -297,251,1190,2.039305,0.40578,1.885345 -259,357,1191,2.087114,0.8906854,2.052553 -300,281,1193,2.039777,0.5401582,1.869382 -465.4,166.6,1195,3.431267,0.00134663,0.7371051 -303,351,1196,2.052738,0.8537205,1.853886 -367,115,1199,3.151373,-0.3315787,1.463879 -479.8,183.4,1200,3.458926,0.0762139,0.6242548 -92.2,368.2,1201,1.184825,0.6456947,2.441037 -606,313,1202,2.400339,0.7528826,0.2876094 -329.8,91,1203,3.053242,-0.4531083,1.705543 -329.32,104.68,1204,3.082201,-0.3792577,1.705649 -300.52,261.64,1205,2.290245,0.4864846,1.870042 -304.6,309.4,1206,2.133411,0.686134,1.841912 -317.8,163,1209,3.0733,-0.0213594,1.772007 -301,268.6,1210,2.087412,0.4901255,1.866821 -465.4,309.4,1211,2.083302,0.6678725,1.121029 -586.6,350.2,1213,2.47317,0.9707379,0.3337544 -254.2,357.4,1214,2.095237,0.8954914,2.073579 -448.6,165.4,1218,3.946122,-0.07148893,0.7173705 -448.84,130.6,1219,2.78275,-0.2008801,1.03984 -453,137,1221,2.936085,-0.1866807,0.9719925 -84.52,391.24,1222,1.146984,0.6934081,2.44766 -367,115,1223,3.097818,-0.3224802,1.470352 -326.44,271.72,1224,2.163841,0.5139191,1.749611 -466.12,309.16,1226,2.202683,0.6944237,1.080317 -238.6,350.92,1227,2.06465,0.8557267,2.140299 -307.72,172.36,1230,3.253822,0.03447665,1.841529 -291.88,350.92,1231,2.083499,0.8639554,1.902222 -305.8,352.6,1234,2.114871,0.8828397,1.842639 -453.4,158.2,1235,3.302709,-0.07104591,0.8625215 -296.2,250.12,1236,2.045226,0.4075142,1.888087 -331.048,92.58401,1239,3.071045,-0.4539801,1.702203 -299.944,261.928,1241,2.233733,0.4792764,1.872425 -581.608,358.696,1242,2.460173,1.004823,0.3642896 -315.496,353.512,1244,2.120438,0.8861797,1.794062 -291.304,350.056,1245,2.123896,0.8723942,1.907613 -256.744,360.424,1246,2.086173,0.9126982,2.064576 -457.1921,129.5632,1247,3.609812,-0.2881789,0.7571434 -452.0081,168.616,1248,3.791417,-0.04465376,0.7323241 -318.2608,162.7408,1249,3.20563,-0.03496365,1.765091 -291.304,349.3648,1251,2.01298,0.8351319,1.905383 -326.5552,270.568,1252,2.148509,0.5068996,1.749935 -295.4512,191.7712,1253,2.745764,0.1528024,1.922885 -305.8192,353.5121,1254,2.170522,0.9018298,1.840536 -239.8788,349.3649,1256,2.011552,0.830423,2.129354 -287.1569,234.9021,1258,2.343622,0.3659106,1.937387 -297.1101,292.1335,1259,2.115871,0.6031766,1.883599 -317.0167,354.3415,1260,2.077146,0.8764254,1.790424 -319.505,162.7408,1261,2.928236,-0.01724084,1.765767 -297.1101,349.3649,1262,2.047636,0.8451009,1.880206 -289.6452,349.3649,1263,2.01213,0.8313234,1.91126 -457.8557,162.2432,1264,3.949612,-0.08337215,0.6444066 -263.7667,356.3322,1265,2.221708,0.9283454,2.040416 -287.6545,236.8928,1266,2.228657,0.3639838,1.931482 -466.8136,308.5564,1267,2.130989,0.674312,1.101422 -287.6545,347.3742,1268,2.102099,0.8541649,1.923992 -330.6527,151.4936,1269,3.231596,-0.1109998,1.685009 -305.5705,266.1555,1270,2.161221,0.4870966,1.848788 -255.4059,359.3182,1271,2.032602,0.8844638,2.05911 -297.64,350.92,1272,2.096432,0.8672816,1.880895 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0013.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0013.csv deleted file mode 100644 index 420037beeaa0188fc0a1f99d369d574b2ba00091..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0013.csv +++ /dev/null @@ -1,155 +0,0 @@ -538.4081,161.704,693,3.439553,-0.09918731,1.105916 -555.4,164.2,699,3.042684,-0.057279,1.115024 -554.2,169,711,3.214733,-0.04765007,1.073177 -572.68,149.32,722,3.396713,-0.174622,0.9092413 -524.584,149.608,799,3.242535,-0.1587798,1.249691 -525.6208,148.2256,818,3.258244,-0.1686859,1.240157 -427,182.2,854,3.283697,0.04089603,1.830922 -451.72,100.36,879,3.15543,-0.45559,1.704892 -441.64,366.76,1014,2.174436,0.9072616,1.814038 -427.816,303.4,1019,2.074986,0.601384,1.891364 -370.6,356.2,1073,2.054947,0.8556044,2.137639 -431.56,278.92,1111,2.098928,0.4924313,1.870088 -567.4,164.2,1113,3.306613,-0.05484866,0.9648242 -382.5424,361.8065,1128,2.063169,0.872366,2.082173 -442.6768,361.8065,1138,2.161498,0.8935078,1.809575 -391.528,363.88,1139,2.091222,0.8869906,2.041118 -449.8,283,1189,2.213783,0.5283295,1.774746 -381.4,362.2,1212,2.08615,0.881289,2.086691 -422.92,361,1231,2.083499,0.8639554,1.902222 -372.52,359.56,1232,2.03225,0.848821,2.125245 -452.0081,99.49601,1239,3.071045,-0.4539801,1.702203 -419.176,201.448,1243,2.547394,0.1524769,1.906106 -446.824,363.88,1244,2.120438,0.8861797,1.794062 -429.544,258.472,1250,2.057692,0.3959677,1.878503 -413.992,201.448,1253,2.745764,0.1528024,1.922885 -427.816,180.712,1257,3.19578,0.02062611,1.835805 -379,254,1281,2.020105,0.3757772,2.095131 -401.8,217,1283,2.447032,0.2194495,1.993968 -375,292,1285,1.943757,0.5305879,2.104659 -412.6,245.8,1287,2.635638,0.394938,1.937667 -573,142,1290,3.680972,-0.2355825,0.8230599 -569,160,1292,3.680433,-0.1127753,0.8501848 -429.4,297.4,1294,2.020558,0.5512002,1.865551 -561.16,170.92,1295,2.630131,0.01029808,1.184059 -559,147,1296,2.678924,-0.129518,1.180339 -403,202,1300,2.597627,0.1536877,1.98998 -376.84,253,1301,2.040255,0.3781328,2.100447 -377.8,289,1302,1.880004,0.5129943,2.087799 -433,325,1303,2.070301,0.6962403,1.854501 -391.24,362.44,1305,2.092222,0.8830547,2.038151 -431.8,259,1307,2.079016,0.4105128,1.86386 -431.8,292.6,1312,2.038313,0.5485209,1.862993 -578.44,130.6,1313,3.558646,-0.2724371,0.8299663 -560.2,169,1314,2.564778,-0.00774574,1.201701 -582.76,113.32,1315,3.919213,-0.4641979,0.6971989 -439,172.6,1319,3.207021,-0.02544327,1.767859 -402.76,201.16,1320,2.712682,0.1496601,1.992129 -381.16,362.44,1322,2.088543,0.8842695,2.082579 -560,162,1326,3.211267,-0.06321751,1.034672 -566,121,1330,2.496392,-0.2314516,1.199575 -447.4,163.72,558,3.189444,-0.06992247,1.710382 -432.3089,278.8624,574,2.165518,0.5036986,1.889062 -453.0449,100.5328,645,3.124038,-0.4448191,1.69752 -386.92,365.32,880,2.177823,0.9163286,2.062759 -370.1009,357.6592,923,2.095632,0.8583425,2.138365 -426.088,362.152,928,2.135373,0.8732054,1.88342 -428.1617,359.7328,941,2.091085,0.8531414,1.881926 -423.4,361,980,2.089272,0.8647274,1.904272 -442.6,367,987,2.181946,0.9130306,1.811041 -443.8,389.8,998,2.19045,1.023317,1.800534 -386.192,365.2902,1043,2.054298,0.8911039,2.06927 -370.0677,355.735,1053,2.10352,0.8548768,2.134211 -398.7332,362.9014,1055,1.980147,0.845258,2.016242 -381,259,1058,2.004534,0.4049039,2.09619 -388.6,365.8,1070,2.09698,0.8991739,2.056243 -452,283,1072,2.19918,0.528826,1.770566 -447,281,1074,2.213292,0.5251235,1.791625 -431.56,291.88,1102,2.044179,0.5432213,1.872352 -430.12,320.68,1107,2.084799,0.6795412,1.876987 -431.272,293.032,1124,2.072653,0.5540078,1.872784 -431.4795,277.2036,1150,2.097807,0.491697,1.865431 -441.4327,361.8065,1156,2.135102,0.8828608,1.815467 -433.9678,364.2948,1159,2.118028,0.8901798,1.849769 -377.2341,362.9014,1162,1.999184,0.8604826,2.097578 -545.32,163.72,1164,3.133246,-0.05516447,1.146339 -428,182,1165,3.096433,0.043745,1.833614 -451,112,1175,3.12937,-0.3913213,1.707023 -439,173,1176,3.147179,-0.02124557,1.770733 -452,100,1182,3.035584,-0.4479718,1.707115 -436.6,320.2,1186,2.030734,0.665624,1.846705 -432,280,1188,2.062036,0.4933732,1.86622 -389,365,1191,2.087114,0.8906854,2.052553 -432,292,1193,2.039777,0.5401582,1.869382 -600,174,1195,3.431267,0.00134663,0.7371051 -452.2,99.4,1203,3.053242,-0.4531083,1.705543 -435,320,1206,2.133411,0.686134,1.841912 -430,261,1215,2.00186,0.4029695,1.881141 -433,361,1216,2.049015,0.8528141,1.859453 -491,122,1223,3.097818,-0.3224802,1.470352 -369.64,358.12,1227,2.06465,0.8557267,2.140299 -427.24,181,1230,3.253822,0.03447665,1.841529 -435.4,364.6,1234,2.114871,0.8828397,1.842639 -431.272,279.208,1240,2.07431,0.4883193,1.867069 -386.344,369.064,1246,2.086173,0.9126982,2.064576 -369.2715,356.8298,1256,2.011552,0.830423,2.129354 -421.5262,356.8298,1263,2.01213,0.8313234,1.91126 -392.164,365.2902,1265,2.221708,0.9283454,2.040416 -434.565,273.3218,1270,2.161221,0.4870966,1.848788 -387.9836,366.4846,1271,2.032602,0.8844638,2.05911 -427.24,361,1272,2.096432,0.8672816,1.880895 -448,43,1273,2.936547,-0.7522951,1.737639 -374.2,292.6,1274,2.00851,0.546487,2.11029 -429,302,1275,2.016422,0.5847009,1.874996 -431,321,1276,2.077719,0.6793833,1.862405 -433,325,1277,2.035754,0.6904427,1.853663 -427,361,1278,2.104346,0.8701558,1.875949 -506,121,1279,3.053732,-0.3206031,1.385926 -409,243.4,1280,2.579791,0.3758718,1.95734 -423,362,1282,2.0002,0.8447291,1.893338 -447,165,1284,3.281284,-0.07109041,1.712636 -356.2,332.2,1286,2.598019,0.8745573,2.246599 -382,362,1288,2.07674,0.8775921,2.07904 -457,281.8,1289,2.183558,0.5199341,1.739512 -437,363,1291,2.135734,0.8922777,1.829733 -407.8,241,1293,2.509682,0.3590007,1.960905 -563.8,167.8,1297,2.481025,-0.006210243,1.207511 -430.6,321.4,1298,2.080655,0.6809847,1.862935 -446,364,1299,2.146567,0.8928377,1.785323 -427,361,1304,2.100009,0.8695992,1.874915 -451,112.6,1306,3.034016,-0.3748031,1.708705 -430.6,317.8,1308,2.047053,0.65843,1.863781 -425,202,1309,2.22302,0.1555281,1.885871 -571,162,1310,3.664832,-0.09559175,0.841235 -538.12,162.28,1311,3.251,-0.08744499,1.159595 -571,163,1316,3.090656,-0.06814871,1.002548 -572.2,152.2,1317,3.284031,-0.1265002,0.9445683 -563,145,1318,2.422372,-0.1101544,1.230061 -445.96,363.88,1321,2.182159,0.9042383,1.785562 -431.8,280.6,1323,2.029809,0.4875163,1.861297 -435.88,319.24,1324,2.073699,0.6686059,1.84522 -430.12,258.76,1325,2.043338,0.3949805,1.868471 -450.28,281.8,1327,2.182433,0.5306183,1.769678 -435.88,363.88,1328,2.155363,0.8970549,1.833308 -431.56,361,1329,2.107799,0.8679438,1.849744 -403.624,203.176,1331,2.587789,0.1558397,1.991255 -455.4641,282.664,1332,2.211414,0.5269142,1.74384 -446.824,163.432,1333,3.254658,-0.08799017,1.714484 -434.728,365.608,1334,2.156374,0.9069042,1.83856 -569.1665,162.7408,1335,3.421285,-0.08034378,0.9212254 -404.1079,202.554,1336,2.591412,0.155961,1.991728 -451.386,100.5328,1337,3.550038,-0.5339357,1.666702 -379.2247,364.2948,1338,2.191415,0.9179016,2.100741 -430.9818,320.5004,1339,2.002153,0.6601843,1.86405 -451.8837,102.5235,1340,3.507122,-0.5179735,1.666001 -404.1079,236.8928,1341,2.535956,0.3394,1.983402 -427.9958,257.7947,1342,2.008714,0.3929632,1.878561 -430.9818,275.7106,1343,2.280049,0.5153833,1.853729 -451.8837,278.6966,1344,2.265279,0.5194832,1.754747 -422.0239,201.061,1345,2.314585,0.1514624,1.898591 -430.9818,319.9032,1346,2.008485,0.6646507,1.863976 -448.8977,162.2432,1347,3.525629,-0.115006,1.680679 -427.9958,180.1591,1348,3.499542,0.00296483,1.823254 -423.8155,201.6582,1349,2.189823,0.1498606,1.892017 -427.3987,255.4059,1350,2.214825,0.4078711,1.873691 -413.0659,244.6564,1351,2.524748,0.374438,1.936091 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0014.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0014.csv deleted file mode 100644 index 1ec6dd6a5f81d3ac586d2096614cca2ba9a9ce86..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0014.csv +++ /dev/null @@ -1,80 +0,0 @@ -596.2,151,984,3.119354,-0.04944534,1.720822 -543.592,208.36,1020,2.508409,0.2413488,2.018708 -580.6,321.4,1107,2.084799,0.6795412,1.876987 -581.608,365.608,1132,2.089107,0.866298,1.858163 -602.2,93.4,1175,3.12937,-0.3913213,1.707023 -574,245,1194,2.160071,0.3726716,1.897717 -574.696,363.88,1272,2.096432,0.8672816,1.880895 -572,365,1282,2.0002,0.8447291,1.893338 -523,362.2,1288,2.07674,0.8775921,2.07904 -582,290,1294,2.020558,0.5512002,1.865551 -583,326,1303,2.070301,0.6962403,1.854501 -532.6,363.4,1305,2.092222,0.8830547,2.038151 -581.8,254.2,1307,2.079016,0.4105128,1.86386 -582.76,276.04,1323,2.029809,0.4875163,1.861297 -581.32,253,1325,2.043338,0.3949805,1.868471 -561.4,191.8,1356,2.547889,0.1483169,1.929729 -583,271,1364,2.195496,0.4852433,1.850405 -508.6,357.4,1366,2.140683,0.8813523,2.145923 -592.6,373,1367,2.120718,0.904665,1.80878 -529.48,365.32,1372,2.009388,0.8698195,2.05736 -600,279,1373,2.03261,0.4947476,1.800189 -510.76,356.68,1374,2.215479,0.9030981,2.141444 -585.64,159.4,1378,3.284023,-0.03745515,1.772314 -408.52,263.08,1379,1.448985,0.3795359,2.44341 -550,225,1386,2.065236,0.2867375,1.988053 -575.3873,363.8801,928,2.135373,0.8732054,1.88342 -578.152,301.672,1019,2.074986,0.601384,1.891364 -513.395,352.1518,1053,2.10352,0.8548768,2.134211 -524,253,1058,2.004534,0.4049039,2.09619 -530.2,365.8,1070,2.09698,0.8991739,2.056243 -606,282,1072,2.19918,0.528826,1.770566 -598.6,278.2,1074,2.213292,0.5251235,1.791625 -581.608,291.304,1124,2.072653,0.5540078,1.872784 -520.5613,362.9014,1162,1.999184,0.8604826,2.097578 -583,278,1188,2.062036,0.4933732,1.86622 -531,365,1191,2.087114,0.8906854,2.052553 -581.8,290.2,1193,2.039777,0.5401582,1.869382 -581,256,1215,2.00186,0.4029695,1.881141 -581.32,365.32,1216,2.049015,0.8528141,1.859453 -513.64,358.12,1232,2.03225,0.848821,2.125245 -567.0929,189.6976,1243,2.547394,0.1524769,1.906106 -578.2,301,1275,2.016422,0.5847009,1.874996 -580,322,1276,2.077719,0.6793833,1.862405 -583,326.2,1277,2.035754,0.6904427,1.853663 -521,247,1281,2.020105,0.3757772,2.095131 -585.4,368.2,1291,2.135734,0.8922777,1.829733 -553,235,1293,2.509682,0.3590007,1.960905 -579.88,320.68,1298,2.080655,0.6809847,1.862935 -597.4,368.2,1299,2.146567,0.8928377,1.785323 -581.32,290.44,1312,2.038313,0.5485209,1.862993 -522.28,362.44,1322,2.088543,0.8842695,2.082579 -584.2,319.24,1324,2.073699,0.6686059,1.84522 -546.3569,191.7712,1331,2.587789,0.1558397,1.991255 -545.9422,192.6007,1336,2.591412,0.155961,1.991728 -517.5754,362.3042,1338,2.191415,0.9179016,2.100741 -545,209,1352,2.696839,0.2359375,2.001049 -580,318,1353,2.105178,0.674329,1.863404 -583,254,1354,2.111822,0.4066238,1.858 -587,321,1355,2.102564,0.6864935,1.836891 -557,240,1357,2.622006,0.3804444,1.942814 -584,319,1358,2.096879,0.674116,1.849548 -580,250,1359,2.07031,0.3852943,1.872456 -584.2,273.4,1360,2.178883,0.4941672,1.84665 -579.4,296.2,1361,2.122999,0.5837076,1.866778 -530,368,1362,2.0545,0.8999685,2.056583 -595,277,1363,2.157146,0.5056128,1.806938 -511,356,1365,2.035744,0.8420822,2.132106 -545.32,212.68,1368,2.795146,0.2591633,1.997683 -520.6,247,1369,2.126548,0.3816608,2.102337 -545.8,193,1370,2.864567,0.1518965,1.997136 -561.16,191.08,1371,2.575467,0.1474369,1.929721 -507.88,356.68,1375,2.115123,0.8713344,2.14732 -572.68,361,1376,2.059814,0.8417885,1.890749 -555.4,238.6,1377,2.149322,0.342095,1.963041 -550.5041,233.2432,1380,2.614369,0.3603378,1.973455 -579.8801,320.68,1381,2.154983,0.6971621,1.860298 -511.1057,355.5857,1382,2.103961,0.8649762,2.136362 -533.9153,363.8801,1383,2.196001,0.9129248,2.040104 -548.4305,232.4138,1384,2.447145,0.3368264,1.986531 -490.7015,332.4443,1385,1.842361,0.6907329,2.201667 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0015.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0015.csv deleted file mode 100644 index e63ac71d6f0f75a52b495483fb9b1a9cfbd85590..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0015.csv +++ /dev/null @@ -1,99 +0,0 @@ -553.96,363.88,1212,2.08615,0.881289,2.086691 -591,238,1357,2.622006,0.3804444,1.942814 -541,359,1366,2.140683,0.8813523,2.145923 -561.16,371.08,1372,2.009388,0.8698195,2.05736 -540.136,358.696,1374,2.215479,0.9030981,2.141444 -585.64,235.72,1413,2.522024,0.3475006,1.971267 -224.2,297.64,1420,0.9293914,0.4382913,2.946333 -440.6033,262.2737,1427,1.446165,0.3753669,2.427538 -189.64,193.96,1430,1.240188,0.1213017,3.314746 -189.352,192.808,1441,1.414615,0.1089625,3.45732 -223.912,282.664,1442,1.056014,0.4107758,3.037743 -554.6513,363.8801,1444,2.322219,0.9458356,2.098019 -546.3569,359.7328,1445,1.966485,0.8242207,2.107821 -117.1216,349.3648,1448,0.1093975,0.3263451,2.508045 -440.6033,322.4081,1450,2.276102,0.7906497,2.632282 -226.7405,294.8209,1452,0.8108762,0.40393,2.861782 -436.9538,263.7667,1455,1.247877,0.3504955,2.384501 -189.117,192.103,1456,1.328324,0.1152045,3.397317 -227.9348,251.8227,1457,0.9896877,0.314251,2.978946 -578.152,206.632,1020,2.508409,0.2413488,2.018708 -558,252,1058,2.004534,0.4049039,2.09619 -562.6,367,1070,2.09698,0.8991739,2.056243 -564,367,1191,2.087114,0.8906854,2.052553 -554,246,1281,2.020105,0.3757772,2.095131 -607,367,1282,2.0002,0.8447291,1.893338 -555.4,363.4,1288,2.07674,0.8775921,2.07904 -587.8,233.8,1293,2.509682,0.3590007,1.960905 -579.4,208.6,1352,2.696839,0.2359375,2.001049 -543,357,1365,2.035744,0.8420822,2.132106 -579.88,211.24,1368,2.795146,0.2591633,1.997683 -554.2,247,1369,2.126548,0.3816608,2.102337 -579.88,189.64,1370,2.864567,0.1518965,1.997136 -541,358.12,1375,2.115123,0.8713344,2.14732 -591.4,238.6,1377,2.149322,0.342095,1.963041 -542.2097,357.6592,1382,2.103961,0.8649762,2.136362 -567.0929,365.9536,1383,2.196001,0.9129248,2.040104 -584,223,1386,2.065236,0.2867375,1.988053 -528,234,1387,2.59598,0.3625663,2.23998 -228,253,1388,0.9188393,0.3029275,2.919966 -225,299,1389,0.9229874,0.4395783,2.941455 -566,365,1390,2.193001,0.9079987,2.043774 -553,286,1391,1.895509,0.5116246,2.088094 -222,299,1392,0.9943647,0.4555872,3.00586 -86,125,1393,0.5474402,-0.03505922,3.04178 -604,189,1394,2.07696,0.1422931,1.913976 -114,393,1395,0.07351072,0.365127,2.477516 -105,398,1396,0.06289062,0.3673967,2.481164 -193,195,1397,1.409938,0.1262529,3.437287 -227,255,1398,0.9164565,0.3084694,2.922036 -608,169,1399,2.994117,0.03069175,1.86726 -588,234,1400,2.37802,0.3441731,1.965961 -597,190,1401,2.980703,0.1457586,1.922459 -556,364,1402,2.040819,0.8643308,2.076655 -581,212,1403,2.560402,0.2515323,1.993373 -559,366,1404,1.927197,0.8393153,2.064386 -604,368,1405,2.389769,0.9611136,1.888773 -85,124.6,1406,0.6452358,-0.05510662,3.156511 -227.8,253,1407,1.002379,0.3120631,2.982461 -118.6,386.2,1408,0.04936382,0.3436855,2.441721 -225.4,298.6,1409,0.9411599,0.4423,2.954339 -557.8,251.8,1410,1.882362,0.3786932,2.072906 -113.8,393.4,1411,0.1269165,0.3923921,2.539763 -591.4,238.6,1412,2.373889,0.3661993,1.950283 -580.6,212.2,1414,2.4362,0.248411,1.993272 -227.08,253,1415,0.9559491,0.3042019,2.947482 -438.76,322.12,1416,2.738588,0.898734,2.748881 -565.48,365.32,1417,1.930291,0.8332466,2.040392 -117.64,386.92,1418,0.1314228,0.3832441,2.533538 -224.2,281.8,1419,0.8989896,0.3842117,2.920762 -553.96,245.8,1421,1.980869,0.3655393,2.089734 -578.44,206.92,1422,2.674568,0.227624,2.008808 -559.72,373.96,1423,1.903907,0.8629113,2.061105 -439.912,324.136,1424,1.114657,0.50487,2.348693 -579.8801,191.08,1425,2.9826,0.1479367,2.00425 -227.368,253.288,1426,0.9378446,0.3045756,2.936422 -548.7761,287.848,1428,1.912065,0.5223935,2.104101 -116.776,388.072,1429,0.08264138,0.3607118,2.481264 -552.2321,246.376,1431,1.77292,0.3492094,2.085701 -566.056,365.608,1432,2.048691,0.8672596,2.039568 -223.912,298.216,1433,0.9446263,0.4394883,2.955322 -585.064,234.28,1434,2.578372,0.3633418,1.973502 -553.9601,363.88,1435,2.033004,0.8615149,2.08732 -94.31201,401.896,1436,0.009582861,0.3418777,2.425653 -560.8721,369.064,1437,1.931633,0.8495961,2.056687 -579.8801,211.816,1438,2.651005,0.2536725,2.001497 -560.8721,370.1009,1439,1.892567,0.8489908,2.056714 -227.0224,251.9056,1440,0.9624285,0.3055609,2.955573 -224.9488,295.4512,1443,0.921879,0.4307673,2.940881 -560.8721,369.2715,1446,1.967738,0.8581954,2.055923 -438.9444,262.2737,1447,1.749733,0.418575,2.500529 -190.1124,192.6007,1449,1.425548,0.113685,3.470995 -227.4372,252.3204,1451,1.078819,0.3238316,3.044497 -545.9422,359.3182,1453,1.875116,0.8048568,2.109326 -540.9656,356.8298,1454,2.368825,0.9405727,2.159342 -224.9489,284.6685,1458,1.108502,0.4296018,3.084349 -541.4633,356.3322,1459,2.348389,0.9321383,2.158068 -224.9489,296.6125,1460,0.8938459,0.4224171,2.925655 -439.9398,323.4864,1461,1.983789,0.7295178,2.542623 -226.7405,284.0714,1462,0.9772522,0.4037497,2.977252 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0016.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0016.csv deleted file mode 100644 index 5c416994ea4222f2f396a87f0982edeaf3a84541..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0016.csv +++ /dev/null @@ -1,83 +0,0 @@ -572.9681,358.696,1374,2.215479,0.9030981,2.141444 -467.5601,261.928,1427,1.446165,0.3753669,2.427538 -217,191.08,1441,1.414615,0.1089625,3.45732 -467.5601,258.1264,1447,1.749733,0.418575,2.500529 -150.2992,343.144,1448,0.1093975,0.3263451,2.508045 -214.9956,190.1124,1449,1.425548,0.113685,3.470995 -255.4059,248.2395,1457,0.9896877,0.314251,2.978946 -71.56001,67.24001,1477,0.4500667,-0.1441693,3.062383 -579.8801,287.848,1480,1.942639,0.5277216,2.106367 -115.048,121.2688,1487,0.6141219,-0.05207868,3.12824 -150.2992,381.713,1489,0.2605472,0.4474236,2.67679 -470.3968,323.4864,1492,1.597576,0.6292245,2.44879 -215.9909,187.3255,1494,1.276126,0.1093938,3.356115 -590,251,1058,2.004534,0.4049039,2.09619 -593.8,369.4,1070,2.09698,0.8991739,2.056243 -595,368,1191,2.087114,0.8906854,2.052553 -586,245,1281,2.020105,0.3757772,2.095131 -586.6,364.6,1288,2.07674,0.8775921,2.07904 -571,359.8,1366,2.140683,0.8813523,2.145923 -585.4,244.6,1369,2.126548,0.3816608,2.102337 -591.4,373.96,1372,2.009388,0.8698195,2.05736 -571.2401,357.6592,1382,2.103961,0.8649762,2.136362 -557,232,1387,2.59598,0.3625663,2.23998 -255,251,1388,0.9188393,0.3029275,2.919966 -252,296,1389,0.9229874,0.4395783,2.941455 -598,366,1390,2.193001,0.9079987,2.043774 -249,296,1392,0.9943647,0.4555872,3.00586 -118,124,1393,0.5474402,-0.03505922,3.04178 -148,387,1395,0.07351072,0.365127,2.477516 -139,392,1396,0.06289062,0.3673967,2.481164 -220,192,1397,1.409938,0.1262529,3.437287 -587,365,1402,2.040819,0.8643308,2.076655 -590,368,1404,1.927197,0.8393153,2.064386 -255.4,249.4,1407,1.002379,0.3120631,2.982461 -251.8,295,1409,0.9411599,0.4423,2.954339 -147.4,387.4,1411,0.1269165,0.3923921,2.539763 -254.44,250.12,1415,0.9559491,0.3042019,2.947482 -251.56,294.76,1420,0.9293914,0.4382913,2.946333 -585.64,244.36,1421,1.980869,0.3655393,2.089734 -467.5601,322.408,1424,1.114657,0.50487,2.348693 -253.288,251.56,1426,0.9378446,0.3045756,2.936422 -151.336,381.16,1429,0.08264138,0.3607118,2.481264 -585.064,244.648,1431,1.77292,0.3492094,2.085701 -251.56,294.76,1433,0.9446263,0.4394883,2.955322 -585.064,365.608,1435,2.033004,0.8615149,2.08732 -135.784,393.256,1436,0.009582861,0.3418777,2.425653 -253.9792,249.832,1440,0.9624285,0.3055609,2.955573 -251.56,279.208,1442,1.056014,0.4107758,3.037743 -251.9056,293.3777,1443,0.921879,0.4307673,2.940881 -469.6337,322.4081,1450,2.276102,0.7906497,2.632282 -254.8087,249.8321,1451,1.078819,0.3238316,3.044497 -251.8227,291.2377,1452,0.8108762,0.40393,2.861782 -466.8136,263.7667,1455,1.247877,0.3504955,2.384501 -215.9909,189.117,1456,1.328324,0.1152045,3.397317 -251.8227,281.6826,1458,1.108502,0.4296018,3.084349 -469.7996,323.4864,1461,1.983789,0.7295178,2.542623 -251.8227,280.4882,1462,0.9772522,0.4037497,2.977252 -71.8,68.2,1463,1.066388,-0.3663039,3.872396 -79,70.60001,1464,1.052488,-0.3512959,3.81543 -97,95,1465,0.4707728,-0.08507975,3.018826 -78,153,1466,0.1384855,0.07876948,2.662269 -87,158,1467,0.1905405,0.08228025,2.710131 -218,193,1468,1.221863,0.1281045,3.300094 -112,208,1469,0.1120426,0.1555349,2.569358 -76,427,1470,-0.03232353,0.3688325,2.470144 -200,442,1471,0.06324995,0.4101054,2.395286 -469,260,1472,1.254429,0.3495584,2.378773 -580,288,1473,1.787992,0.5033435,2.09627 -151,347,1474,0.1250809,0.3362704,2.527233 -217,191.8,1475,1.246416,0.1240393,3.323839 -582.76,284.68,1476,1.945292,0.5224143,2.094484 -580.6,287.8,1478,1.916342,0.5235919,2.101215 -78.76,70.12,1479,1.10889,-0.3737286,3.893557 -97,95.8,1481,0.4754471,-0.08789415,3.024595 -87.4,157.96,1482,0.09104481,0.09223696,2.583636 -592.84,369.64,1483,1.889777,0.8335618,2.051667 -94.31201,94.31201,1484,0.52775,-0.1040029,3.094477 -216.6544,189.6976,1485,1.222904,0.115839,3.30489 -150.2992,380.4688,1486,0.2499437,0.4413169,2.665429 -115.4627,120.4394,1488,0.6215082,-0.05647295,3.135963 -150.2992,341.4023,1490,0.2084625,0.3601456,2.616411 -150.2992,380.2201,1491,0.2333438,0.4343982,2.648402 -151.4936,337.8191,1493,0.2136235,0.3551399,2.618105 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0017.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0017.csv deleted file mode 100644 index a1663c2570bba6447429e450dbcdfefd8f2b57d0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0017.csv +++ /dev/null @@ -1,78 +0,0 @@ -603,286,1285,1.943757,0.5305879,2.104659 -272.296,277.48,1419,0.8989896,0.3842117,2.920762 -274.024,249.832,1426,0.9378446,0.3045756,2.936422 -270.568,293.032,1433,0.9446263,0.4394883,2.955322 -272.6416,291.304,1443,0.921879,0.4307673,2.940881 -486.2225,257.297,1447,1.749733,0.418575,2.500529 -269.7386,278.6966,1458,1.108502,0.4296018,3.084349 -98.2,69.4,1477,0.4500667,-0.1441693,3.062383 -97.76801,68.39201,1479,1.10889,-0.3737286,3.893557 -174.1871,380.2201,1491,0.2333438,0.4343982,2.648402 -233.9068,187.3255,1494,1.276126,0.1093938,3.356115 -173.8,342.28,1517,0.2559407,0.3834571,2.671282 -104.68,70.12001,1518,0.5078397,-0.1561362,3.11421 -88.09121,83.94402,1525,0.8523847,-0.24134,3.62357 -117.9511,93.06786,1526,0.5457117,-0.1120884,3.118981 -490.3697,322.4081,1527,1.357386,0.5658921,2.397002 -102.5235,153.2852,1528,0.2310926,0.06972409,2.784422 -135.3693,120.4394,1532,0.6291918,-0.05716656,3.149991 -580,232,1387,2.59598,0.3625663,2.23998 -275,250,1388,0.9188393,0.3029275,2.919966 -272,294,1389,0.9229874,0.4395783,2.941455 -274.6,249.4,1407,1.002379,0.3120631,2.982461 -172,385,1411,0.1269165,0.3923921,2.539763 -271.72,293.32,1420,0.9293914,0.4382913,2.946333 -274.7152,247.7584,1440,0.9624285,0.3055609,2.955573 -272.227,249.8321,1451,1.078819,0.3238316,3.044497 -487.7155,263.7667,1455,1.247877,0.3504955,2.384501 -234.9021,190.1124,1456,1.328324,0.1152045,3.397317 -273.3218,248.2395,1457,0.9896877,0.314251,2.978946 -490.7015,323.4864,1461,1.983789,0.7295178,2.542623 -273.3218,276.905,1462,0.9772522,0.4037497,2.977252 -92.2,68.2,1463,1.066388,-0.3663039,3.872396 -98.92001,68.68,1464,1.052488,-0.3512959,3.81543 -120,95,1465,0.4707728,-0.08507975,3.018826 -113,158,1467,0.1905405,0.08228025,2.710131 -490,260,1472,1.254429,0.3495584,2.378773 -604,288,1473,1.787992,0.5033435,2.09627 -236.2,190.6,1475,1.246416,0.1240393,3.323839 -119.8,94.60001,1481,0.4754471,-0.08789415,3.024595 -116.776,94.31201,1484,0.52775,-0.1040029,3.094477 -175.1824,378.3953,1486,0.2499437,0.4413169,2.665429 -137.8576,121.2688,1487,0.6141219,-0.05207868,3.12824 -137.8576,120.4394,1488,0.6215082,-0.05647295,3.135963 -175.1824,379.2247,1489,0.2605472,0.4474236,2.67679 -176.5759,334.2359,1493,0.2136235,0.3551399,2.618105 -90,34,1495,1.073635,-0.5016737,3.89032 -608,287,1496,1.798133,0.4995699,2.082899 -144,396,1497,0.1346658,0.4223678,2.609801 -216,438,1498,0.1523934,0.4667616,2.49485 -211,436,1499,0.1746611,0.4790123,2.524478 -99,41,1500,0.8582194,-0.3780102,3.558636 -98,428,1501,0.04573739,0.4297108,2.593655 -89.8,70.60001,1502,0.8008797,-0.2668748,3.54257 -105,72,1503,0.501354,-0.150368,3.105388 -592.6,361,1504,1.97192,0.8315487,2.130156 -90,88,1505,0.8826612,-0.2372034,3.655767 -176.2,379,1506,0.2967688,0.4643212,2.712663 -95,44,1507,0.7435566,-0.3235964,3.438864 -140.2,123.4,1508,0.6344677,-0.05018271,3.142667 -272.2,277,1509,0.9395928,0.3867597,2.950833 -106.12,421.48,1510,0.02473098,0.4053633,2.550362 -489.16,322.12,1511,2.541901,0.8504828,2.666989 -117.64,94.60001,1512,0.5171173,-0.09954518,3.082668 -271.72,277.48,1513,0.9197617,0.3862123,2.94074 -146.44,394.12,1514,0.1518207,0.426547,2.62374 -106.408,422.632,1515,0.0613817,0.4294746,2.597538 -139.24,121.96,1516,0.6164483,-0.05107876,3.129146 -92.58401,66.66401,1519,0.9953083,-0.3471921,3.781132 -89.12801,85.672,1520,0.9044991,-0.2518713,3.688511 -100.5328,69.42881,1521,0.4755751,-0.1490992,3.080743 -117.1216,94.31201,1522,0.4371375,-0.07855706,2.98795 -272.6416,276.7888,1523,0.8133766,0.3661008,2.862515 -104.68,152.3728,1524,0.1629962,0.07739901,2.69698 -272.227,277.2036,1529,1.126319,0.4269287,3.084654 -272.227,292.1335,1530,1.234839,0.4993209,3.165376 -484.7296,257.7947,1531,1.16721,0.3347869,2.373424 -269.7386,290.6405,1533,1.226916,0.4927673,3.164948 -137.1609,119.245,1534,0.5872963,-0.05127596,3.106694 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0018.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0018.csv deleted file mode 100644 index fd1b593043bf13d5ce84cf520b7b7c502e67e649..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0018.csv +++ /dev/null @@ -1,96 +0,0 @@ -280.36,247.24,1415,0.9559491,0.3042019,2.947482 -495.208,324.136,1424,1.114657,0.50487,2.348693 -239.8788,187.624,1449,1.425548,0.113685,3.470995 -276.905,280.4882,1462,0.9772522,0.4037497,2.977252 -241.5376,187.624,1485,1.222904,0.115839,3.30489 -180.1591,379.2247,1491,0.2333438,0.4343982,2.648402 -499.0623,323.4864,1492,1.597576,0.6292245,2.44879 -110.4861,152.7876,1528,0.2310926,0.06972409,2.784422 -165.2292,389.178,1564,0.2009132,0.4417281,2.650201 -180.1591,339.4116,1571,0.3402978,0.4093327,2.755268 -496.1758,324.4817,1572,2.789722,0.9219888,2.705428 -281,248,1388,0.9188393,0.3029275,2.919966 -277,294,1389,0.9229874,0.4395783,2.941455 -277.48,277.48,1419,0.8989896,0.3842117,2.920762 -276.04,293.32,1420,0.9293914,0.4382913,2.946333 -275.752,293.032,1433,0.9446263,0.4394883,2.955322 -276.7888,291.304,1443,0.921879,0.4307673,2.940881 -279.6919,247.3437,1451,1.078819,0.3238316,3.044497 -275.7106,278.6966,1458,1.108502,0.4296018,3.084349 -98.2,68.2,1463,1.066388,-0.3663039,3.872396 -104.68,68.68,1464,1.052488,-0.3512959,3.81543 -126,96,1465,0.4707728,-0.08507975,3.018826 -120,158,1467,0.1905405,0.08228025,2.710131 -104.2,69.4,1477,0.4500667,-0.1441693,3.062383 -102.952,68.39201,1479,1.10889,-0.3737286,3.893557 -123.688,94.31201,1484,0.52775,-0.1040029,3.094477 -181.4032,378.3953,1486,0.2499437,0.4413169,2.665429 -144.0784,121.2688,1487,0.6141219,-0.05207868,3.12824 -145.3226,120.4394,1488,0.6215082,-0.05647295,3.135963 -180.1591,377.2341,1489,0.2605472,0.4474236,2.67679 -183.7423,334.2359,1493,0.2136235,0.3551399,2.618105 -94,34,1495,1.073635,-0.5016737,3.89032 -223,438,1498,0.1523934,0.4667616,2.49485 -95.8,70.60001,1502,0.8008797,-0.2668748,3.54257 -111,72,1503,0.501354,-0.150368,3.105388 -600,362,1504,1.97192,0.8315487,2.130156 -182.2,377.8,1506,0.2967688,0.4643212,2.712663 -146.2,123.4,1508,0.6344677,-0.05018271,3.142667 -113.32,420.04,1510,0.02473098,0.4053633,2.550362 -494.92,322.12,1511,2.541901,0.8504828,2.666989 -152.2,394.12,1514,0.1518207,0.426547,2.62374 -113.32,420.9041,1515,0.0613817,0.4294746,2.597538 -144.424,121.96,1516,0.6164483,-0.05107876,3.129146 -109.864,70.12001,1518,0.5078397,-0.1561362,3.11421 -97.76801,66.66401,1519,0.9953083,-0.3471921,3.781132 -94.31201,85.672,1520,0.9044991,-0.2518713,3.688511 -106.7536,69.42881,1521,0.4755751,-0.1490992,3.080743 -123.3424,94.31201,1522,0.4371375,-0.07855706,2.98795 -276.7888,276.7888,1523,0.8133766,0.3661008,2.862515 -110.9008,152.3728,1524,0.1629962,0.07739901,2.69698 -94.31201,83.94402,1525,0.8523847,-0.24134,3.62357 -122.9277,93.06786,1526,0.5457117,-0.1120884,3.118981 -496.5905,322.4081,1527,1.357386,0.5658921,2.397002 -277.2036,277.2036,1529,1.126319,0.4269287,3.084654 -277.2036,292.1335,1530,1.234839,0.4993209,3.165376 -490.7015,257.7947,1531,1.16721,0.3347869,2.373424 -275.7106,290.6405,1533,1.226916,0.4927673,3.164948 -140.7441,119.245,1534,0.5872963,-0.05127596,3.106694 -102,37,1535,0.4779576,-0.2221967,3.095412 -96,70,1536,0.6734095,-0.222773,3.37728 -146,123,1537,0.6525313,-0.05287754,3.160388 -495,323,1538,2.703518,0.8923544,2.692171 -182,379,1539,0.2748016,0.4552705,2.690514 -62,35,1540,0.395144,-0.2106077,3.124305 -98,68,1541,0.8564389,-0.294983,3.603062 -64,47,1542,0.3504722,-0.1650172,3.054749 -105,47,1543,0.5145667,-0.2138355,3.132483 -68,51,1544,0.3322319,-0.1479577,3.01648 -66,44,1545,0.3357621,-0.163874,3.026217 -495,258,1546,1.316347,0.3551808,2.39604 -170,389,1547,0.08598251,0.3825491,2.52034 -104,70,1548,0.7009276,-0.2286189,3.37522 -152,395,1549,0.1581437,0.4332463,2.633368 -495.4,322.6,1550,2.815669,0.9178097,2.718426 -112.6,421,1551,0.07085686,0.4356665,2.611796 -179.8,343,1552,0.2716212,0.3921924,2.688056 -105.4,427,1553,0.05142712,0.4330558,2.60076 -494.2,257.8,1554,2.840407,0.5385673,2.732521 -104.2,63.4,1555,0.5111046,-0.175594,3.134678 -65.8,44.2,1556,0.3228263,-0.1570068,3.008539 -145,121.96,1557,0.6548814,-0.05633762,3.166103 -181,378.28,1558,0.2635748,0.4491509,2.68123 -67.24001,49.96,1559,0.2987705,-0.1361663,2.973273 -106.12,425.8,1560,0.05258517,0.4321369,2.600533 -94.60001,85.96001,1561,0.8330781,-0.2304745,3.595362 -62.2,50.2,1562,0.3351867,-0.1536571,3.039823 -110.44,71.56001,1563,0.5015163,-0.1498639,3.10417 -241.192,189.352,1565,1.22851,0.1201994,3.305811 -493.48,258.472,1566,1.013004,0.3198375,2.334069 -180.712,379.432,1567,0.2753528,0.4560793,2.692658 -102.952,64.936,1568,0.5297713,-0.179346,3.161485 -181.4032,338.9969,1569,0.2955256,0.3919252,2.70841 -146.152,206.2864,1570,0.274502,0.1614258,2.754252 -93.06786,83.11458,1573,1.14123,-0.3424225,4.000945 -239.8788,189.117,1574,1.158056,0.1157165,3.258358 -180.1591,338.4163,1575,0.4185034,0.4361215,2.836789 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0019.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0019.csv deleted file mode 100644 index 5b8b44630cb73d74f19a5a70526bcfea63d7a1a8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0019.csv +++ /dev/null @@ -1,99 +0,0 @@ -286.12,249.832,1426,0.9378446,0.3045756,2.936422 -287.1568,247.7584,1440,0.9624285,0.3055609,2.955573 -247.7584,189.6976,1449,1.425548,0.113685,3.470995 -284.6685,249.8321,1451,1.078819,0.3238316,3.044497 -284.0714,287.6545,1460,0.8938459,0.4224171,2.925655 -247.3437,187.624,1485,1.222904,0.115839,3.30489 -189.6976,378.3953,1486,0.2499437,0.4413169,2.665429 -189.117,380.2201,1489,0.2605472,0.4474236,2.67679 -502.6454,326.4724,1492,1.597576,0.6292245,2.44879 -102,88,1505,0.8826612,-0.2372034,3.655767 -107.8,43,1507,0.7435566,-0.3235964,3.438864 -150.2992,120.4394,1532,0.6291918,-0.05716656,3.149991 -248.104,189.352,1565,1.22851,0.1201994,3.305811 -191.08,379.432,1567,0.2753528,0.4560793,2.692658 -190.1124,336.9233,1569,0.2955256,0.3919252,2.70841 -154.792,206.632,1570,0.274502,0.1614258,2.754252 -189.6976,338.9969,1571,0.3402978,0.4093327,2.755268 -288,248,1388,0.9188393,0.3029275,2.919966 -284,294,1389,0.9229874,0.4395783,2.941455 -284.392,277.48,1419,0.8989896,0.3842117,2.920762 -283.24,293.32,1420,0.9293914,0.4382913,2.946333 -503.8481,324.136,1424,1.114657,0.50487,2.348693 -282.664,293.032,1433,0.9446263,0.4394883,2.955322 -283.0096,291.304,1443,0.921879,0.4307673,2.940881 -281.6826,278.6966,1458,1.108502,0.4296018,3.084349 -284.0714,280.4882,1462,0.9772522,0.4037497,2.977252 -129,158,1467,0.1905405,0.08228025,2.710131 -130.6,94.31201,1484,0.52775,-0.1040029,3.094477 -152.3728,121.2688,1487,0.6141219,-0.05207868,3.12824 -150.2992,120.4394,1488,0.6215082,-0.05647295,3.135963 -190.1124,379.2247,1491,0.2333438,0.4343982,2.648402 -192.103,335.4303,1493,0.2136235,0.3551399,2.618105 -101,35,1495,1.073635,-0.5016737,3.89032 -233,439,1498,0.1523934,0.4667616,2.49485 -119,73,1503,0.501354,-0.150368,3.105388 -608,363,1504,1.97192,0.8315487,2.130156 -190.6,379,1506,0.2967688,0.4643212,2.712663 -153.4,123.4,1508,0.6344677,-0.05018271,3.142667 -123.4,421.48,1510,0.02473098,0.4053633,2.550362 -162.28,394.12,1514,0.1518207,0.426547,2.62374 -151.336,121.96,1516,0.6164483,-0.05107876,3.129146 -118.504,71.84801,1518,0.5078397,-0.1561362,3.11421 -104.68,66.66401,1519,0.9953083,-0.3471921,3.781132 -101.224,85.672,1520,0.9044991,-0.2518713,3.688511 -117.1216,69.42881,1521,0.4755751,-0.1490992,3.080743 -131.6368,94.31201,1522,0.4371375,-0.07855706,2.98795 -285.0833,276.7888,1523,0.8133766,0.3661008,2.862515 -100.5328,83.94402,1525,0.8523847,-0.24134,3.62357 -130.3927,93.06786,1526,0.5457117,-0.1120884,3.118981 -504.8849,322.4081,1527,1.357386,0.5658921,2.397002 -120.4394,152.7876,1528,0.2310926,0.06972409,2.784422 -284.6685,277.2036,1529,1.126319,0.4269287,3.084654 -282.1802,292.1335,1530,1.234839,0.4993209,3.165376 -499.6595,257.7947,1531,1.16721,0.3347869,2.373424 -281.6826,290.6405,1533,1.226916,0.4927673,3.164948 -147.9105,119.245,1534,0.5872963,-0.05127596,3.106694 -110,38,1535,0.4779576,-0.2221967,3.095412 -101.8,70.60001,1536,0.6734095,-0.222773,3.37728 -503,323,1538,2.703518,0.8923544,2.692171 -191,379,1539,0.2748016,0.4552705,2.690514 -69,37,1540,0.395144,-0.2106077,3.124305 -104,68,1541,0.8564389,-0.294983,3.603062 -73,48,1542,0.3504722,-0.1650172,3.054749 -77,52,1544,0.3322319,-0.1479577,3.01648 -75,45,1545,0.3357621,-0.163874,3.026217 -180,389,1547,0.08598251,0.3825491,2.52034 -110.2,69.4,1548,0.7009276,-0.2286189,3.37522 -162,395,1549,0.1581437,0.4332463,2.633368 -116.2,427,1553,0.05142712,0.4330558,2.60076 -75.88,51.4,1559,0.2987705,-0.1361663,2.973273 -117.64,425.8,1560,0.05258517,0.4321369,2.600533 -100.36,85.96001,1561,0.8330781,-0.2304745,3.595362 -70.60001,51.4,1562,0.3351867,-0.1536571,3.039823 -117.64,71.56001,1563,0.5015163,-0.1498639,3.10417 -175.1824,389.178,1564,0.2009132,0.4417281,2.650201 -502.1201,258.472,1566,1.013004,0.3198375,2.334069 -100.5328,83.11458,1573,1.14123,-0.3424225,4.000945 -245.8508,189.117,1574,1.158056,0.1157165,3.258358 -191,343,1576,0.3422895,0.4169541,2.754195 -242,441,1577,0.1783199,0.4826865,2.502497 -47,37,1578,0.2916399,-0.1727754,3.048912 -43,34,1579,0.2475915,-0.1585008,2.993119 -71,51,1580,0.313176,-0.144234,3.00818 -121,153,1581,0.2317741,0.07169327,2.781123 -111,65,1582,0.5745146,-0.197107,3.216479 -129.4,158.2,1583,0.2568314,0.07864802,2.790577 -284.2,293.8,1584,0.9481645,0.4420076,2.961115 -133,95.8,1585,0.6168135,-0.1219269,3.190966 -119.8,73,1586,0.380035,-0.1070013,2.95224 -121,153.4,1587,0.2550209,0.06853122,2.809674 -284.2,277,1588,0.9624386,0.396012,2.969446 -161.8,394.6,1589,0.1776919,0.443108,2.655281 -104.68,67.24001,1590,0.536753,-0.180122,3.193879 -110.44,62.92,1591,0.551791,-0.1928773,3.190188 -189.352,341.416,1592,0.3798891,0.428213,2.795874 -251.9056,187.624,1593,1.194011,0.12158,3.265205 -104.68,65.28161,1594,0.7688794,-0.2705238,3.488943 -503.6407,324.4817,1595,1.383664,0.5763105,2.402962 -248.2395,183.7423,1596,1.31277,0.1034318,3.373076 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0020.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0020.csv deleted file mode 100644 index 3c37ca592a9f0426445c5df7d53ffdcb965f0267..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0020.csv +++ /dev/null @@ -1,90 +0,0 @@ -297.5248,251.9056,1440,0.9624285,0.3055609,2.955573 -258.472,192.808,1485,1.222904,0.115839,3.30489 -165.2292,125.416,1488,0.6215082,-0.05647295,3.135963 -145.3226,95.55618,1526,0.5457117,-0.1120884,3.118981 -294.6218,282.1802,1529,1.126319,0.4269287,3.084654 -90.28001,49.96,1556,0.3228263,-0.1570068,3.008539 -191.08,393.256,1564,0.2009132,0.4417281,2.650201 -204.904,343.144,1569,0.2955256,0.3919252,2.70841 -110.4861,85.6029,1573,1.14123,-0.3424225,4.000945 -518.5707,326.97,1595,1.383664,0.5763105,2.402962 -133.5777,155.0768,1624,0.213431,0.07387614,2.7669 -296,297,1389,0.9229874,0.4395783,2.941455 -296.2,296.2,1420,0.9293914,0.4382913,2.946333 -298.216,251.56,1426,0.9378446,0.3045756,2.936422 -294.76,296.488,1433,0.9446263,0.4394883,2.955322 -295.4512,293.3777,1443,0.921879,0.4307673,2.940881 -297.1101,252.3204,1451,1.078819,0.3238316,3.044497 -294.8209,291.2377,1460,0.8938459,0.4224171,2.925655 -294.8209,280.4882,1462,0.9772522,0.4037497,2.977252 -204.2128,382.5424,1486,0.2499437,0.4413169,2.665429 -166.888,123.3424,1487,0.6141219,-0.05207868,3.12824 -517.5754,329.4583,1492,1.597576,0.6292245,2.44879 -113,39,1495,1.073635,-0.5016737,3.89032 -133,76,1503,0.501354,-0.150368,3.105388 -166.6,125.8,1508,0.6344677,-0.05018271,3.142667 -179.56,397,1514,0.1518207,0.426547,2.62374 -165.16,125.416,1516,0.6164483,-0.05107876,3.129146 -132.328,73.576,1518,0.5078397,-0.1561362,3.11421 -116.776,70.12001,1519,0.9953083,-0.3471921,3.781132 -131.6368,73.57601,1521,0.4755751,-0.1490992,3.080743 -146.152,96.38561,1522,0.4371375,-0.07855706,2.98795 -519.4001,326.5552,1527,1.357386,0.5658921,2.397002 -135.3693,155.2759,1528,0.2310926,0.06972409,2.784422 -294.6218,294.6218,1530,1.234839,0.4993209,3.165376 -162.2432,123.4254,1532,0.6291918,-0.05716656,3.149991 -293.6265,293.6265,1533,1.226916,0.4927673,3.164948 -162.2432,122.8282,1534,0.5872963,-0.05127596,3.106694 -124,41,1535,0.4779576,-0.2221967,3.095412 -206,382,1539,0.2748016,0.4552705,2.690514 -85,41,1540,0.395144,-0.2106077,3.124305 -116,71,1541,0.8564389,-0.294983,3.603062 -88,52,1542,0.3504722,-0.1650172,3.054749 -92,56,1544,0.3322319,-0.1479577,3.01648 -90,49,1545,0.3357621,-0.163874,3.026217 -178,398,1549,0.1581437,0.4332463,2.633368 -133,430.6,1553,0.05142712,0.4330558,2.60076 -133.48,430.12,1560,0.05258517,0.4321369,2.600533 -113.32,90.28001,1561,0.8330781,-0.2304745,3.595362 -86.2,55,1562,0.3351867,-0.1536571,3.039823 -130.6,74.44,1563,0.5015163,-0.1498639,3.10417 -515.944,261.928,1566,1.013004,0.3198375,2.334069 -204.904,382.888,1567,0.2753528,0.4560793,2.692658 -170.344,210.088,1570,0.274502,0.1614258,2.754252 -257.7947,192.103,1574,1.158056,0.1157165,3.258358 -59,38,1579,0.2475915,-0.1585008,2.993119 -86,55,1580,0.313176,-0.144234,3.00818 -136,156,1581,0.2317741,0.07169327,2.781123 -145,161.8,1583,0.2568314,0.07864802,2.790577 -296.2,296.2,1584,0.9481645,0.4420076,2.961115 -135.4,155.8,1587,0.2550209,0.06853122,2.809674 -177.4,398.2,1589,0.1776919,0.443108,2.655281 -117.1216,69.42881,1594,0.7688794,-0.2705238,3.488943 -57,41,1597,0.22682,-0.1432432,2.966802 -608,234,1598,2.386986,0.3481947,2.220394 -299,252,1599,0.9809266,0.312078,2.968111 -517,261,1600,1.2856,0.3540046,2.390162 -196,437,1601,0.1432254,0.4744305,2.584531 -148,99,1602,0.6001261,-0.1165986,3.166596 -297,278,1603,0.9849601,0.3918396,2.981569 -202,388,1604,0.2572775,0.4576965,2.682438 -54,41,1605,0.2259062,-0.1443427,2.974302 -167,127,1606,0.6548605,-0.05060858,3.160387 -202,337,1607,0.2580725,0.3707061,2.677375 -176,399,1608,0.1508976,0.4309281,2.628675 -140.2,425.8,1609,0.07808445,0.4401869,2.618819 -91,55,1610,0.3139506,-0.1399975,2.991575 -259,193,1611,1.388436,0.1216348,3.432394 -298.6,251.8,1612,0.9759735,0.3113746,2.966323 -55,45,1613,0.2897647,-0.1671077,3.07059 -115,69,1614,0.6232355,-0.2175398,3.313878 -116.2,70.12,1615,0.9402838,-0.3338339,3.714664 -192,394,1616,0.281537,0.4844983,2.731868 -113.8,91,1617,0.6259859,-0.16166,3.328234 -258.76,192.52,1618,1.182562,0.1205526,3.274944 -205.48,381.16,1619,0.3229125,0.4752308,2.738437 -146.44,98.92001,1620,0.5768878,-0.1118574,3.143042 -140.968,426.088,1621,0.04449255,0.4189624,2.575074 -135.3693,156.2712,1622,0.2435109,0.07092262,2.795309 -296.6125,251.8227,1623,0.8835846,0.2981981,2.909442 -204.047,338.4163,1625,0.308075,0.3898284,2.720076 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0021.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0021.csv deleted file mode 100644 index 89093f55787d417d4132430fe06309db502fbb39..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0021.csv +++ /dev/null @@ -1,85 +0,0 @@ -309.4,301,1409,0.9411599,0.4423,2.954339 -531.0123,264.762,1455,1.247877,0.3504955,2.384501 -532.6,265,1472,1.254429,0.3495584,2.378773 -159.976,102.952,1484,0.52775,-0.1040029,3.094477 -309.16,284.68,1513,0.9197617,0.3862123,2.94074 -222.76,388.36,1558,0.2635748,0.4491509,2.68123 -146.44,78.76,1563,0.5015163,-0.1498639,3.10417 -309.4,284.2,1588,0.9624386,0.396012,2.969446 -127.144,73.576,1615,0.9402838,-0.3338339,3.714664 -270.28,195.4,1618,1.182562,0.1205526,3.274944 -151.4936,162.2432,1624,0.213431,0.07387614,2.7669 -126.28,73,1637,0.9111352,-0.3265118,3.681371 -77.32,166.6,1642,-0.06897206,0.1088245,2.534493 -132.328,73.576,1644,0.7243097,-0.2477729,3.423497 -309,301,1389,0.9229874,0.4395783,2.941455 -309.16,300.52,1420,0.9293914,0.4382913,2.946333 -312.04,255.016,1426,0.9378446,0.3045756,2.936422 -308.584,299.944,1433,0.9446263,0.4394883,2.955322 -312.04,253.9792,1440,0.9624285,0.3055609,2.955573 -309.9664,297.5248,1443,0.921879,0.4307673,2.940881 -309.1536,298.4041,1460,0.8938459,0.4224171,2.925655 -309.1536,284.0714,1462,0.9772522,0.4037497,2.977252 -270.568,193.8448,1485,1.222904,0.115839,3.30489 -222.8752,386.6897,1486,0.2499437,0.4413169,2.665429 -179.3296,127.4896,1487,0.6141219,-0.05207868,3.12824 -177.6708,127.9044,1488,0.6215082,-0.05647295,3.135963 -147,80,1503,0.501354,-0.150368,3.105388 -181,130.6,1508,0.6344677,-0.05018271,3.142667 -198.28,402.76,1514,0.1518207,0.426547,2.62374 -178.984,128.872,1516,0.6164483,-0.05107876,3.129146 -146.152,78.76001,1518,0.5078397,-0.1561362,3.11421 -146.152,77.72321,1521,0.4755751,-0.1490992,3.080743 -157.7642,100.5328,1526,0.5457117,-0.1120884,3.118981 -152.7876,160.2525,1528,0.2310926,0.06972409,2.784422 -177.1731,126.4114,1532,0.6291918,-0.05716656,3.149991 -176.5759,126.4114,1534,0.5872963,-0.05127596,3.106694 -224,388,1539,0.2748016,0.4552705,2.690514 -104,57,1542,0.3504722,-0.1650172,3.054749 -106,53,1545,0.3357621,-0.163874,3.026217 -106.12,54.28,1556,0.3228263,-0.1570068,3.008539 -101.8,59.8,1562,0.3351867,-0.1536571,3.039823 -122.9277,90.57954,1573,1.14123,-0.3424225,4.000945 -269.7386,194.4918,1574,1.158056,0.1157165,3.258358 -154,161,1581,0.2317741,0.07169327,2.781123 -162,166,1583,0.2568314,0.07864802,2.790577 -153.4,160.6,1587,0.2550209,0.06853122,2.809674 -196.6,404.2,1589,0.1776919,0.443108,2.655281 -535.989,331.9466,1595,1.383664,0.5763105,2.402962 -74,45,1597,0.22682,-0.1432432,2.966802 -216,444,1601,0.1432254,0.4744305,2.584531 -162,103,1602,0.6001261,-0.1165986,3.166596 -71,45,1605,0.2259062,-0.1443427,2.974302 -220,343,1607,0.2580725,0.3707061,2.677375 -160.6,433,1609,0.07808445,0.4401869,2.618819 -107.8,59.8,1610,0.3139506,-0.1399975,2.991575 -271,197,1611,1.388436,0.1216348,3.432394 -311.8,256.6,1612,0.9759735,0.3113746,2.966323 -72,50,1613,0.2897647,-0.1671077,3.07059 -160.84,101.8,1620,0.5768878,-0.1118574,3.143042 -153.2852,162.2432,1622,0.2435109,0.07092262,2.795309 -311.5424,254.8087,1623,0.8835846,0.2981981,2.909442 -222.4605,344.3882,1625,0.308075,0.3898284,2.720076 -56.2,45.4,1626,0.3449343,-0.2097499,3.207327 -305.8,301,1627,1.01994,0.4603122,3.024505 -77,36,1628,0.2203192,-0.1526778,2.945552 -81,37,1629,0.2986675,-0.1881235,3.047792 -154,438,1630,0.06316444,0.43996,2.614095 -310,284,1631,1.055211,0.4120341,3.031081 -212,399,1632,0.2611926,0.4709131,2.705633 -61,40,1633,0.2636978,-0.1782827,3.064145 -73,44.2,1634,0.2304354,-0.1456944,2.973871 -161.8,103,1635,0.5976115,-0.1201514,3.165106 -76.60001,44.2,1636,0.268074,-0.1608991,3.012392 -132.04,74.44,1638,0.7818472,-0.2669041,3.494553 -70.12,156.52,1639,-0.05675916,0.09690254,2.564299 -160.84,431.56,1640,0.09265872,0.4469087,2.63555 -312.04,255.88,1641,0.9449464,0.307654,2.947295 -179.56,129.16,1643,0.6592112,-0.05767516,3.167934 -153.64,160.84,1645,0.2415691,0.07216112,2.79141 -534.952,331.048,1646,2.524446,0.8545179,2.629316 -154.4464,160.6672,1647,0.2280062,0.07428208,2.77551 -269.7386,192.6007,1648,1.182824,0.1154831,3.278932 -156.2712,99.5375,1649,0.5644973,-0.1168027,3.140397 -535.4913,335.4303,1650,1.617325,0.6426855,2.441164 -312.7368,255.4059,1651,0.9710912,0.312479,2.963746 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0022.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0022.csv deleted file mode 100644 index f2717c42f2fa76c10771ca73e5c82c423429b0d8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0022.csv +++ /dev/null @@ -1,89 +0,0 @@ -319,304,1389,0.9229874,0.4395783,2.941455 -319.24,301.96,1420,0.9293914,0.4382913,2.946333 -190.1124,130.3927,1488,0.6215082,-0.05647295,3.135963 -191.08,130.6,1516,0.6164483,-0.05107876,3.129146 -170.2058,100.5328,1526,0.5457117,-0.1120884,3.118981 -227.08,401.32,1564,0.2009132,0.4417281,2.650201 -282.664,196.264,1593,1.194011,0.12158,3.265205 -278.6966,195.089,1596,1.31277,0.1034318,3.373076 -278.92,196.84,1618,1.182562,0.1205526,3.274944 -73,40.6,1633,0.2636978,-0.1782827,3.064145 -137.8,73,1637,0.9111352,-0.3265118,3.681371 -168.9616,162.7408,1647,0.2280062,0.07428208,2.77551 -157.96,80.2,1665,0.610559,-0.184799,3.227911 -84.52,49.96,1670,0.3065348,-0.1740513,3.092727 -114.76,60.04,1671,0.7582783,-0.3259696,3.589138 -237.16,348.04,1672,0.2858396,0.3848335,2.699844 -318.952,286.12,1673,0.9047993,0.3888807,2.936674 -117.64,55.72,1675,0.485856,-0.2225788,3.223156 -92.23841,158.5936,1676,-0.03395495,0.09457005,2.597722 -548.7761,334.504,1678,2.563991,0.8663046,2.612949 -239.464,345.2177,1679,0.2680783,0.3742009,2.680065 -129.5632,90.16481,1681,0.8618694,-0.2566351,3.655046 -239.8788,344.3882,1683,0.3010179,0.3822775,2.707304 -319,303.4,1409,0.9411599,0.4423,2.954339 -322.408,256.744,1426,0.9378446,0.3045756,2.936422 -318.952,301.672,1433,0.9446263,0.4394883,2.955322 -322.4081,256.0529,1440,0.9624285,0.3055609,2.955573 -320.3344,299.5984,1443,0.921879,0.4307673,2.940881 -319.9032,298.4041,1460,0.8938459,0.4224171,2.925655 -319.9032,287.6545,1462,0.9772522,0.4037497,2.977252 -172.072,102.952,1484,0.52775,-0.1040029,3.094477 -189.6976,129.5632,1487,0.6141219,-0.05207868,3.12824 -159,81,1503,0.501354,-0.150368,3.105388 -191.8,131.8,1508,0.6344677,-0.05018271,3.142667 -319.24,286.12,1513,0.9197617,0.3862123,2.94074 -214.12,407.08,1514,0.1518207,0.426547,2.62374 -158.248,80.48801,1518,0.5078397,-0.1561362,3.11421 -158.5936,77.72321,1521,0.4755751,-0.1490992,3.080743 -167.7175,162.7408,1528,0.2310926,0.06972409,2.784422 -189.117,129.3973,1532,0.6291918,-0.05716656,3.149991 -187.3255,126.4114,1534,0.5872963,-0.05127596,3.106694 -239,392,1539,0.2748016,0.4552705,2.690514 -116,58,1542,0.3504722,-0.1650172,3.054749 -238.6,391.24,1558,0.2635748,0.4491509,2.68123 -159.4,80.2,1563,0.5015163,-0.1498639,3.10417 -276.905,194.4918,1574,1.158056,0.1157165,3.258358 -169,162,1581,0.2317741,0.07169327,2.781123 -177,167,1583,0.2568314,0.07864802,2.790577 -234,449,1601,0.1432254,0.4744305,2.584531 -173,104,1602,0.6001261,-0.1165986,3.166596 -279.4,197.8,1611,1.388436,0.1216348,3.432394 -322.6,257.8,1612,0.9759735,0.3113746,2.966323 -85,51,1613,0.2897647,-0.1671077,3.07059 -137.512,71.84801,1615,0.9402838,-0.3338339,3.714664 -172.36,103.24,1620,0.5768878,-0.1118574,3.143042 -168.2151,162.2432,1622,0.2435109,0.07092262,2.795309 -320.5004,257.7947,1623,0.8835846,0.2981981,2.909442 -316.6,302.2,1627,1.01994,0.4603122,3.024505 -172,443,1630,0.06316444,0.43996,2.614095 -172.6,104.2,1635,0.5976115,-0.1201514,3.165106 -93.4,45.4,1636,0.268074,-0.1608991,3.012392 -91.72,157.96,1639,-0.05675916,0.09690254,2.564299 -322.12,257.32,1641,0.9449464,0.307654,2.947295 -191.08,130.6,1643,0.6592112,-0.05767516,3.167934 -169,161.8,1645,0.2415691,0.07216112,2.79141 -168.2151,102.5235,1649,0.5644973,-0.1168027,3.140397 -550.9188,334.435,1650,1.617325,0.6426855,2.441164 -100,35,1652,0.3491535,-0.2159355,3.098144 -51,48,1653,0.196083,-0.1432837,3.028789 -323,257,1654,0.9491498,0.307429,2.947197 -322,259,1655,0.9711485,0.3156987,2.965138 -58,48,1656,0.264281,-0.1735631,3.11565 -71,55,1657,0.2545666,-0.1475969,3.058715 -87,48,1658,0.3037336,-0.1755563,3.079441 -70,46,1659,0.2829204,-0.1788904,3.104003 -93,40,1660,0.323732,-0.1965753,3.086532 -53.8,45.4,1661,0.2366612,-0.1659457,3.084694 -237,350,1662,0.2943323,0.3932216,2.708941 -58.6,47.8,1663,0.1847879,-0.1339884,2.987755 -548.2,333.4,1664,1.004914,0.4861789,2.336278 -89.8,44.2,1666,0.4580077,-0.2540196,3.285833 -139,74,1667,0.8225557,-0.2881705,3.555174 -85,50.2,1668,0.3134929,-0.1766188,3.101755 -71.8,55,1669,0.2697184,-0.1552655,3.080154 -115.048,59.75201,1674,0.6616343,-0.2866011,3.462789 -171.0352,102.6064,1677,0.568828,-0.1126112,3.13874 -320.3344,285.0833,1680,0.9303613,0.3916969,2.949834 -319.505,287.1569,1682,0.9403629,0.3956455,2.959251 -317.5144,287.6545,1684,0.877328,0.3794151,2.919511 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0023.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0023.csv deleted file mode 100644 index f2cb2dd390815522073ca4d9a857a636ec3e99f7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0023.csv +++ /dev/null @@ -1,94 +0,0 @@ -554,269,1472,1.254429,0.3495584,2.378773 -285.0833,195.9184,1485,1.222904,0.115839,3.30489 -197.5773,127.9044,1488,0.6215082,-0.05647295,3.135963 -284.68,198.28,1565,1.22851,0.1201994,3.305811 -326.2,287.8,1588,0.9624386,0.396012,2.969446 -235.72,407.08,1616,0.281537,0.4844983,2.731868 -329.4583,257.297,1623,0.8835846,0.2981981,2.909442 -180.1591,162.2432,1624,0.213431,0.07387614,2.7669 -75.88,45.64,1626,0.3449343,-0.2097499,3.207327 -558.28,336.52,1664,1.004914,0.4861789,2.336278 -325.864,287.848,1673,0.9047993,0.3888807,2.936674 -251.9056,345.2177,1679,0.2680783,0.3742009,2.680065 -139.24,70.12001,1689,0.538713,-0.1950984,3.236085 -136.36,47.08,1703,0.7779841,-0.3588301,3.529494 -180.712,161.704,1708,0.2505077,0.07192566,2.799916 -135.784,69.42881,1710,0.8443778,-0.3144258,3.618067 -110.4861,157.7642,1712,-0.02951101,0.09431665,2.602034 -326.4724,302.5845,1715,0.838988,0.4139852,2.899868 -251.8227,341.4023,1716,0.2968338,0.3725359,2.701411 -326,305,1389,0.9229874,0.4395783,2.941455 -326.2,304.6,1409,0.9411599,0.4423,2.954339 -326.44,303.4,1420,0.9293914,0.4382913,2.946333 -329.32,258.472,1426,0.9378446,0.3045756,2.936422 -325.864,303.4,1433,0.9446263,0.4394883,2.955322 -328.6288,258.1264,1440,0.9624285,0.3055609,2.955573 -326.5552,301.672,1443,0.921879,0.4307673,2.940881 -327.0695,301.9873,1460,0.8938459,0.4224171,2.925655 -327.0695,287.6545,1462,0.9772522,0.4037497,2.977252 -178.984,102.952,1484,0.52775,-0.1040029,3.094477 -197.992,129.5632,1487,0.6141219,-0.05207868,3.12824 -167,81,1503,0.501354,-0.150368,3.105388 -197.8,130.6,1508,0.6344677,-0.05018271,3.142667 -326.44,286.12,1513,0.9197617,0.3862123,2.94074 -231.4,408.52,1514,0.1518207,0.426547,2.62374 -197.992,130.6,1516,0.6164483,-0.05107876,3.129146 -165.16,78.76001,1518,0.5078397,-0.1561362,3.11421 -164.8144,77.72321,1521,0.4755751,-0.1490992,3.080743 -180.1591,162.7408,1528,0.2310926,0.06972409,2.784422 -195.089,129.3973,1532,0.6291918,-0.05716656,3.149991 -251,395,1539,0.2748016,0.4552705,2.690514 -166.6,80.2,1563,0.5015163,-0.1498639,3.10417 -239.8,405.4,1564,0.2009132,0.4417281,2.650201 -284.0714,194.4918,1574,1.158056,0.1157165,3.258358 -189,167,1583,0.2568314,0.07864802,2.790577 -287.848,196.264,1593,1.194011,0.12158,3.265205 -284.6685,195.089,1596,1.31277,0.1034318,3.373076 -180,104,1602,0.6001261,-0.1165986,3.166596 -94,49,1613,0.2897647,-0.1671077,3.07059 -180.1591,162.2432,1622,0.2435109,0.07092262,2.795309 -179.8,103,1635,0.5976115,-0.1201514,3.165106 -140.68,71.56001,1637,0.9111352,-0.3265118,3.681371 -329.32,257.32,1641,0.9449464,0.307654,2.947295 -198.28,130.6,1643,0.6592112,-0.05767516,3.167934 -177.1731,99.5375,1649,0.5644973,-0.1168027,3.140397 -109,33,1652,0.3491535,-0.2159355,3.098144 -330,258,1654,0.9491498,0.307429,2.947197 -329,260,1655,0.9711485,0.3156987,2.965138 -81,54,1657,0.2545666,-0.1475969,3.058715 -79,45,1659,0.2829204,-0.1788904,3.104003 -98.2,43,1666,0.4580077,-0.2540196,3.285833 -93.4,49,1668,0.3134929,-0.1766188,3.101755 -93.16,48.52,1670,0.3065348,-0.1740513,3.092727 -250.12,348.04,1672,0.2858396,0.3848335,2.699844 -110.9008,156.52,1676,-0.03395495,0.09457005,2.597722 -179.3296,100.5328,1677,0.568828,-0.1126112,3.13874 -326.5552,287.1568,1680,0.9303613,0.3916969,2.949834 -326.97,287.1569,1682,0.9403629,0.3956455,2.959251 -252.3204,344.3882,1683,0.3010179,0.3822775,2.707304 -326.4724,287.6545,1684,0.877328,0.3794151,2.919511 -103,37,1685,0.3124267,-0.1928367,3.064274 -99,36,1686,0.2961514,-0.1829446,3.049536 -56,42,1687,0.2002122,-0.1549082,3.046184 -96,45,1688,0.3078218,-0.1793195,3.081964 -227,446,1690,0.1485014,0.4768158,2.631263 -240,406,1691,0.2271823,0.4546259,2.674203 -103,44,1692,0.3562799,-0.1960196,3.125434 -228,411,1693,0.1895213,0.4480048,2.66493 -93,45,1694,0.291924,-0.1738214,3.068843 -327,287,1695,0.9007701,0.3864177,2.932229 -142,52,1696,0.2319155,-0.1111181,2.856505 -50.2,41.8,1697,0.2471647,-0.182843,3.138822 -59.8,46.6,1698,0.2049202,-0.1469858,3.04233 -102,39,1699,0.2912765,-0.1802244,3.037982 -249.4,350.2,1700,0.2648347,0.3796729,2.683223 -250.6,394.6,1701,0.282681,0.4606798,2.700267 -94.60001,44.2,1702,0.3263895,-0.1906323,3.111688 -134.92,70.12,1704,0.7939838,-0.2951559,3.562185 -131.8,44.2,1705,0.8046709,-0.3820912,3.582029 -60.04,45.64,1706,0.1831902,-0.1373284,3.007389 -123.4,59.8,1707,0.5768436,-0.2486592,3.338632 -134.056,70.12001,1709,0.8704417,-0.3267926,3.657833 -130.3927,88.09122,1711,1.050762,-0.3310683,3.916766 -162.7408,78.13794,1713,0.4526665,-0.139762,3.054835 -284.6685,195.089,1714,1.257987,0.1143199,3.332394 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0024.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0024.csv deleted file mode 100644 index 7e1c4d87874a2051ff7dcfecd5292001df83eab5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0024.csv +++ /dev/null @@ -1,91 +0,0 @@ -325,291.4,1509,0.9395928,0.3867597,2.950833 -284.392,201.448,1593,1.194011,0.12158,3.265205 -280.36,201.16,1618,1.182562,0.1205526,3.274944 -178.12,104.68,1620,0.5768878,-0.1118574,3.143042 -279.6919,200.0656,1648,1.182824,0.1154831,3.278932 -326.4724,260.7807,1651,0.9710912,0.312479,2.963746 -121.2688,160.6672,1676,-0.03395495,0.09457005,2.597722 -254,405,1701,0.282681,0.4606798,2.700267 -130.6,70.12001,1709,0.8704417,-0.3267926,3.657833 -323.4864,305.5705,1715,0.838988,0.4139852,2.899868 -559,286.6,1729,1.116378,0.3741243,2.353307 -92.2,38.2,1731,0.2818949,-0.1812107,3.050245 -121.96,160.84,1737,-0.02176605,0.09481027,2.603943 -557.4161,286.12,1740,1.183847,0.3842852,2.366314 -123.4,61,1742,0.6025106,-0.264411,3.359812 -241.192,413.992,1743,0.1251629,0.405592,2.593303 -324,310,1389,0.9229874,0.4395783,2.941455 -323.8,309.4,1409,0.9411599,0.4423,2.954339 -323.56,307.72,1420,0.9293914,0.4382913,2.946333 -327.592,261.928,1426,0.9378446,0.3045756,2.936422 -324.136,308.584,1433,0.9446263,0.4394883,2.955322 -326.5552,262.2737,1440,0.9624285,0.3055609,2.955573 -324.4817,305.8192,1443,0.921879,0.4307673,2.940881 -177.256,104.68,1484,0.52775,-0.1040029,3.094477 -195.9184,131.6368,1487,0.6141219,-0.05207868,3.12824 -195.089,132.881,1488,0.6215082,-0.05647295,3.135963 -166,83,1503,0.501354,-0.150368,3.105388 -196.6,134.2,1508,0.6344677,-0.05018271,3.142667 -325,290.44,1513,0.9197617,0.3862123,2.94074 -237.16,415.72,1514,0.1518207,0.426547,2.62374 -196.264,134.056,1516,0.6164483,-0.05107876,3.129146 -165.16,80.48801,1518,0.5078397,-0.1561362,3.11421 -164.8144,79.79681,1521,0.4755751,-0.1490992,3.080743 -192.103,132.3833,1532,0.6291918,-0.05716656,3.149991 -255,402,1539,0.2748016,0.4552705,2.690514 -165.4,82.60001,1563,0.5015163,-0.1498639,3.10417 -280.4882,198.075,1574,1.158056,0.1157165,3.258358 -278.6966,198.075,1596,1.31277,0.1034318,3.373076 -93,50,1613,0.2897647,-0.1671077,3.07059 -183.1451,165.2292,1622,0.2435109,0.07092262,2.795309 -326.97,262.2737,1623,0.8835846,0.2981981,2.909442 -183.7423,165.8264,1624,0.213431,0.07387614,2.7669 -327.88,261.64,1641,0.9449464,0.307654,2.947295 -174.1871,102.5235,1649,0.5644973,-0.1168027,3.140397 -108,34,1652,0.3491535,-0.2159355,3.098144 -328,263,1654,0.9491498,0.307429,2.947197 -80,55,1657,0.2545666,-0.1475969,3.058715 -556.84,340.84,1664,1.004914,0.4861789,2.336278 -92.2,50.2,1668,0.3134929,-0.1766188,3.101755 -91.72,49.96,1670,0.3065348,-0.1740513,3.092727 -324.136,293.032,1673,0.9047993,0.3888807,2.936674 -177.256,104.68,1677,0.568828,-0.1126112,3.13874 -324.4817,291.304,1680,0.9303613,0.3916969,2.949834 -324.4817,292.1335,1682,0.9403629,0.3956455,2.959251 -323.4864,293.6265,1684,0.877328,0.3794151,2.919511 -98,37,1686,0.2961514,-0.1829446,3.049536 -55,42,1687,0.2002122,-0.1549082,3.046184 -95,46,1688,0.3078218,-0.1793195,3.081964 -245,413,1691,0.2271823,0.4546259,2.674203 -102,45,1692,0.3562799,-0.1960196,3.125434 -325,292,1695,0.9007701,0.3864177,2.932229 -102,38,1699,0.2912765,-0.1802244,3.037982 -122,61,1707,0.5768436,-0.2486592,3.338632 -122.9277,88.09122,1711,1.050762,-0.3310683,3.916766 -120.4394,160.2525,1712,-0.02951101,0.09431665,2.602034 -257.7947,344.3882,1716,0.2968338,0.3725359,2.701411 -98.2,44.2,1717,0.2522353,-0.1544893,2.995526 -280,203,1718,1.367416,0.1272652,3.415085 -82,40,1719,0.2851961,-0.1867001,3.086958 -197,135,1720,0.6573977,-0.05004045,3.160039 -284,203,1721,1.23306,0.126313,3.301244 -319,313,1722,0.9265155,0.454519,2.974056 -93,38,1723,0.3023082,-0.1914882,3.076413 -49,42,1724,0.19953,-0.1581332,3.059456 -124,61,1725,0.6614326,-0.2808854,3.428628 -68,44,1726,0.2545087,-0.171508,3.086844 -130.6,173.8,1727,-0.03744127,0.1095267,2.57462 -328.6,261.4,1728,0.9011424,0.3016124,2.920641 -41.8,41.8,1730,0.2477966,-0.1871548,3.157795 -101.8,45.4,1732,0.3521649,-0.1969752,3.117445 -127,56.2,1733,0.3311192,-0.1547516,3.016671 -558.28,286.12,1734,1.144979,0.3775612,2.358882 -284.2,202.6,1735,1.183212,0.1245681,3.267377 -165.16,81.64,1736,0.5148619,-0.1530555,3.1143 -183.88,165.16,1738,0.2561669,0.07232326,2.80372 -142.12,51.4,1739,0.4365431,-0.2003468,3.095062 -555.688,341.416,1741,1.00923,0.4956685,2.347016 -555.8955,341.8999,1744,1.171886,0.529352,2.371252 -132.3833,171.2011,1745,-0.00861916,0.1042811,2.606777 -119.245,162.2432,1746,0.01243848,0.08885055,2.653713 -190.9086,129.9946,1747,0.6272357,-0.05590403,3.145753 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0025.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0025.csv deleted file mode 100644 index 7c8225bf566b213e166b63078e00fc7cf19ebc3a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0025.csv +++ /dev/null @@ -1,71 +0,0 @@ -251.56,213.544,1618,1.182562,0.1205526,3.274944 -301.96,276.04,1641,0.9449464,0.307654,2.947295 -166.6,145,1643,0.6592112,-0.05767516,3.167934 -146.152,115.048,1677,0.568828,-0.1126112,3.13874 -132.881,88.09122,1713,0.4526665,-0.139762,3.054835 -117.64,185.32,1727,-0.03744127,0.1095267,2.57462 -107.56,172.36,1737,-0.02176605,0.09481027,2.603943 -111.88,60.04,1739,0.4365431,-0.2003468,3.095062 -67,49,1751,0.3519794,-0.2008675,3.122422 -94.60001,56.2,1755,0.3326763,-0.1699673,3.024427 -90.28001,68.68,1761,0.7444606,-0.3154096,3.520527 -86.01761,160.6672,1765,-0.06796694,0.09018347,2.577281 -299,324,1389,0.9229874,0.4395783,2.941455 -299.08,322.12,1420,0.9293914,0.4382913,2.946333 -298.216,322.408,1433,0.9446263,0.4394883,2.955322 -299.5984,320.3344,1443,0.921879,0.4307673,2.940881 -147.88,115.048,1484,0.52775,-0.1040029,3.094477 -166.888,144.0784,1487,0.6141219,-0.05207868,3.12824 -165.2292,142.8343,1488,0.6215082,-0.05647295,3.135963 -136,93,1503,0.501354,-0.150368,3.105388 -299.8,304.6,1509,0.9395928,0.3867597,2.950833 -166.888,144.424,1516,0.6164483,-0.05107876,3.129146 -134.056,90.85601,1518,0.5078397,-0.1561362,3.11421 -133.7104,90.16481,1521,0.4755751,-0.1490992,3.080743 -135.4,92.2,1563,0.5015163,-0.1498639,3.10417 -60,58,1613,0.2897647,-0.1671077,3.07059 -147.88,116.2,1620,0.5768878,-0.1118574,3.143042 -159.2572,177.1731,1622,0.2435109,0.07092262,2.795309 -249.8321,212.5072,1648,1.182824,0.1154831,3.278932 -144.3273,114.4674,1649,0.5644973,-0.1168027,3.140397 -299.5985,275.7106,1651,0.9710912,0.312479,2.963746 -75.4,40.6,1652,0.3491535,-0.2159355,3.098144 -59.8,57.4,1668,0.3134929,-0.1766188,3.101755 -60.04,57.16,1670,0.3065348,-0.1740513,3.092727 -299.5984,303.7456,1680,0.9303613,0.3916969,2.949834 -299.5985,304.5751,1682,0.9403629,0.3956455,2.959251 -299.5985,305.5704,1684,0.877328,0.3794151,2.919511 -66,44,1686,0.2961514,-0.1829446,3.049536 -63,54,1688,0.3078218,-0.1793195,3.081964 -69,53,1692,0.3562799,-0.1960196,3.125434 -300,305,1695,0.9007701,0.3864177,2.932229 -71,46,1699,0.2912765,-0.1802244,3.037982 -49,47,1719,0.2851961,-0.1867001,3.086958 -254.2,214.6,1721,1.23306,0.126313,3.301244 -34,51,1726,0.2545087,-0.171508,3.086844 -61,46,1731,0.2818949,-0.1812107,3.050245 -69.4,53.8,1732,0.3521649,-0.1969752,3.117445 -254.44,214.12,1735,1.183212,0.1245681,3.267377 -134.92,91.72,1736,0.5148619,-0.1530555,3.1143 -117.4534,183.1451,1745,-0.00861916,0.1042811,2.606777 -162.2432,140.7441,1747,0.6272357,-0.05590403,3.145753 -128,56,1748,0.4822676,-0.2190203,3.096467 -108,172,1749,-0.04290286,0.09808175,2.580538 -69,47,1750,0.3137332,-0.1891866,3.068658 -149,117,1752,0.6012231,-0.1139178,3.162122 -251.8,215.8,1753,1.219165,0.1243573,3.305048 -296.2,322.6,1754,0.9415776,0.4436623,2.974892 -148.6,116.2,1756,0.5777671,-0.1081257,3.14039 -224.2,437.8,1757,0.2254294,0.4578921,2.682449 -67.24001,48.52,1758,0.3101408,-0.1853328,3.069164 -107.8,172.6,1759,-0.03737787,0.09739289,2.587152 -61.48,52.84,1760,0.268586,-0.1613478,3.032485 -108.136,172.072,1762,-0.04541423,0.0987841,2.577506 -90.16481,73.57601,1763,0.7240236,-0.2919135,3.498351 -77.72321,131.6368,1764,0.4290533,-0.06239307,3.204182 -251.9056,212.5072,1766,1.321603,0.1154318,3.377538 -239.8788,359.3182,1767,0.3045747,0.3698781,2.707216 -160.2525,177.6708,1768,0.2346469,0.07546511,2.785537 -85.6029,160.2525,1769,-0.07518303,0.09122872,2.568924 -299.5985,320.5004,1770,0.8379214,0.4201199,2.905482 -241.0732,355.735,1771,0.3136272,0.365006,2.710842 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0026.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0026.csv deleted file mode 100644 index 48ca7484e09b8732ba2a1b364e2e5e8dea74ae60..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0026.csv +++ /dev/null @@ -1,86 +0,0 @@ -592.84,306.28,1274,2.00851,0.546487,2.11029 -607,391,1372,2.009388,0.8698195,2.05736 -223.912,218.728,1430,1.240188,0.1213017,3.314746 -276.7888,326.5552,1443,0.921879,0.4307673,2.940881 -135.3693,144.3273,1534,0.5872963,-0.05127596,3.106694 -229.096,218.728,1593,1.194011,0.12158,3.265205 -133.5777,180.1591,1624,0.213431,0.07387614,2.7669 -277.48,280.936,1641,0.9449464,0.307654,2.947295 -274.7153,312.0401,1682,0.9403629,0.3956455,2.959251 -84.52,172.36,1737,-0.02176605,0.09481027,2.603943 -504.8849,349.3648,1744,1.171886,0.529352,2.371252 -78.76001,58.02401,1781,0.4411637,-0.1993498,3.102045 -505.576,298.216,1796,1.326111,0.4115114,2.384903 -275.8,310.6,1797,0.9311329,0.3955468,2.959284 -54.28,47.08,1799,0.6428857,-0.3267923,3.400112 -135.784,179.3296,1800,0.2639223,0.07229955,2.814856 -58.02401,66.66401,1802,0.5125737,-0.2219129,3.243088 -220.8016,365.9536,1809,0.3982282,0.3916229,2.779373 -221.9629,215.9909,1810,1.177773,0.1198405,3.277456 -502.6454,298.4041,1812,1.13036,0.3862867,2.372904 -276.905,323.4864,1814,0.9290628,0.4353532,2.962606 -276,329,1389,0.9229874,0.4395783,2.941455 -276.04,327.88,1420,0.9293914,0.4382913,2.946333 -275.752,327.592,1433,0.9446263,0.4394883,2.955322 -118.504,116.776,1484,0.52775,-0.1040029,3.094477 -137.8576,146.152,1487,0.6141219,-0.05207868,3.12824 -135.3693,145.3226,1488,0.6215082,-0.05647295,3.135963 -106,93,1503,0.501354,-0.150368,3.105388 -276.04,309.16,1509,0.9395928,0.3867597,2.950833 -137.512,147.88,1516,0.6164483,-0.05107876,3.129146 -105.4,92.2,1563,0.5015163,-0.1498639,3.10417 -117.64,117.64,1620,0.5768878,-0.1118574,3.143042 -135.3693,180.1591,1622,0.2435109,0.07092262,2.795309 -137.8,147.88,1643,0.6592112,-0.05767516,3.167934 -222.4605,217.4839,1648,1.182824,0.1154831,3.278932 -114.4674,114.4674,1649,0.5644973,-0.1168027,3.140397 -275.7106,281.6826,1651,0.9710912,0.312479,2.963746 -276.7888,309.9664,1680,0.9303613,0.3916969,2.949834 -275.7106,311.5424,1684,0.877328,0.3794151,2.919511 -34,44,1686,0.2961514,-0.1829446,3.049536 -34,53,1692,0.3562799,-0.1960196,3.125434 -103.0211,88.09122,1713,0.4526665,-0.139762,3.054835 -227.8,219.4,1721,1.23306,0.126313,3.301244 -228.52,218.44,1735,1.183212,0.1245681,3.267377 -104.68,91.72,1736,0.5148619,-0.1530555,3.1143 -80.2,58.6,1739,0.4365431,-0.2003468,3.095062 -133.5777,144.3273,1747,0.6272357,-0.05590403,3.145753 -97,55,1748,0.4822676,-0.2190203,3.096467 -32,49,1751,0.3519794,-0.2008675,3.122422 -224.2,218.44,1753,1.219165,0.1243573,3.305048 -118.6,117.4,1756,0.5777671,-0.1081257,3.14039 -275.7106,326.4724,1770,0.8379214,0.4201199,2.905482 -295,39,1772,2.355572,-0.8390416,3.533057 -225,220,1773,1.33335,0.1317573,3.382951 -279,280,1774,1.007299,0.3182351,2.986188 -139,148,1775,0.6613973,-0.04877435,3.163087 -41.8,38.2,1776,0.3306633,-0.2014282,3.069069 -553,352,1777,3.028147,1.001804,2.283854 -278,282,1778,1.00397,0.3236601,2.988086 -46,74,1779,0.4692859,-0.1944657,3.230871 -61,61,1780,0.3670766,-0.1699411,3.067583 -56,49,1782,0.2900271,-0.1579222,2.989462 -55,45.4,1783,0.5767425,-0.2992707,3.320988 -47.8,71.8,1784,0.4767217,-0.2012155,3.233742 -278.2,280.6,1785,0.9564363,0.3126503,2.959449 -505,297.4,1786,1.109465,0.3832878,2.36468 -218.2,371.8,1787,0.4605877,0.4232599,2.829328 -44.2,95.8,1788,0.4770572,-0.1526871,3.251011 -136.6,179.8,1789,0.229126,0.07717115,2.78142 -57.16,67.24001,1790,0.5463442,-0.2351993,3.284696 -45.4,55,1791,0.5473155,-0.2693956,3.320685 -55,74.2,1792,0.5454676,-0.2204044,3.292404 -80.2,58.6,1793,0.4227392,-0.1903423,3.081488 -61.48,61.48,1794,0.3774938,-0.173347,3.078255 -549.64,349.48,1795,2.893925,0.9557873,2.299746 -54.28,73,1798,0.5453919,-0.2234265,3.294323 -275.752,310.312,1801,1.031687,0.4123164,3.016788 -83.94402,173.1088,1803,-0.03255926,0.09746333,2.598097 -504.8849,297.5248,1804,1.249956,0.4024515,2.380729 -115.4627,115.4627,1805,0.5808252,-0.1119213,3.155941 -274.7153,326.97,1806,1.033754,0.4593762,3.018713 -503.6407,297.1101,1807,1.131211,0.3835275,2.374671 -508.6174,351.8532,1808,2.480994,0.8668385,2.475047 -83.11458,172.6941,1811,-0.04723097,0.09920472,2.583041 -115.6618,112.0786,1813,0.4557886,-0.08566757,3.030151 -223.1573,215.9909,1815,1.329255,0.117246,3.376199 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0027.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0027.csv deleted file mode 100644 index ddd022a6eed3583351d84e17f6923a73370914c8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0027.csv +++ /dev/null @@ -1,88 +0,0 @@ -560.8721,376.7364,1256,2.011552,0.830423,2.129354 -591.4,257.32,1357,2.622006,0.3804444,1.942814 -581.32,231.4,1403,2.560402,0.2515323,1.993373 -587.08,254.44,1413,2.522024,0.3475006,1.971267 -581.608,386.344,1432,2.048691,0.8672596,2.039568 -569.512,384.616,1435,2.033004,0.8615149,2.08732 -111.592,144.424,1516,0.6164483,-0.05107876,3.129146 -77.03201,87.40001,1518,0.5078397,-0.1561362,3.11421 -90.85601,113.32,1635,0.5976115,-0.1201514,3.165106 -90.16481,112.9744,1677,0.568828,-0.1126112,3.13874 -254.8087,312.0401,1680,0.9303613,0.3916969,2.949834 -200.0656,216.6544,1766,1.321603,0.1154318,3.377538 -257.32,280.36,1785,0.9564363,0.3126503,2.959449 -483.4,296.2,1796,1.326111,0.4115114,2.384903 -481.2459,297.1101,1807,1.131211,0.3835275,2.374671 -560.8721,381.16,1833,2.444492,0.9947636,2.124853 -199.72,370.792,1835,0.5232675,0.4360584,2.866585 -256.0529,280.936,1839,1.0657,0.3267024,3.021877 -523.5473,347.2913,1841,2.886214,0.9429952,2.29514 -481.7436,296.6125,1845,1.074141,0.3714346,2.368882 -579,387,1372,2.009388,0.8698195,2.05736 -255,331,1389,0.9229874,0.4395783,2.941455 -254.44,329.32,1420,0.9293914,0.4382913,2.946333 -253.9792,328.6288,1443,0.921879,0.4307673,2.940881 -110.9008,144.0784,1487,0.6141219,-0.05207868,3.12824 -110.4861,142.8343,1488,0.6215082,-0.05647295,3.135963 -78,89,1503,0.501354,-0.150368,3.105388 -254.44,310.6,1509,0.9395928,0.3867597,2.950833 -77.8,88.60001,1563,0.5015163,-0.1498639,3.10417 -204.904,218.728,1593,1.194011,0.12158,3.265205 -91.72,114.76,1620,0.5768878,-0.1118574,3.143042 -111.4814,177.1731,1622,0.2435109,0.07092262,2.795309 -112.0786,176.5759,1624,0.213431,0.07387614,2.7669 -111.88,145,1643,0.6592112,-0.05767516,3.167934 -200.0656,217.4839,1648,1.182824,0.1154831,3.278932 -254.8087,281.6826,1651,0.9710912,0.312479,2.963746 -254.8087,311.5424,1684,0.877328,0.3794151,2.919511 -204.04,218.44,1735,1.183212,0.1245681,3.267377 -77.32,87.4,1736,0.5148619,-0.1530555,3.1143 -60.04,169.48,1737,-0.02176605,0.09481027,2.603943 -51.4,52.84,1739,0.4365431,-0.2003468,3.095062 -69,49,1748,0.4822676,-0.2190203,3.096467 -201.16,218.44,1753,1.219165,0.1243573,3.305048 -92.2,115,1756,0.5777671,-0.1081257,3.14039 -254.8087,329.4583,1770,0.8379214,0.4201199,2.905482 -272,39,1772,2.355572,-0.8390416,3.533057 -201,220,1773,1.33335,0.1317573,3.382951 -527,350,1777,3.028147,1.001804,2.283854 -483.4,296.2,1786,1.109465,0.3832878,2.36468 -51.4,52.6,1793,0.4227392,-0.1903423,3.081488 -254.2,313,1797,0.9311329,0.3955468,2.959284 -88.09122,112.9744,1805,0.5808252,-0.1119213,3.155941 -254.8087,326.97,1806,1.033754,0.4593762,3.018713 -486.2225,349.3649,1808,2.480994,0.8668385,2.475047 -200.0656,368.0273,1809,0.3982282,0.3916229,2.779373 -201.061,215.9909,1810,1.177773,0.1198405,3.277456 -481.1464,298.4041,1812,1.13036,0.3862867,2.372904 -255.4059,327.0695,1814,0.9290628,0.4353532,2.962606 -201.6582,215.9909,1815,1.329255,0.117246,3.376199 -92,115,1816,0.6566606,-0.1242564,3.218585 -71,185,1817,0.4874701,0.0545349,3.126429 -580,211,1818,2.364979,0.1778208,2.028638 -567,267,1819,2.003627,0.3954575,2.10998 -568,306,1820,1.960887,0.5455174,2.11269 -482,349,1821,2.823965,0.9493358,2.520691 -196,445,1822,0.2503572,0.4520201,2.690797 -572,273,1823,2.020952,0.4222433,2.091536 -572,384,1824,2.046743,0.8844735,2.10047 -574,387,1825,2.023022,0.8898059,2.094035 -570,384,1826,2.407668,0.9962869,2.085754 -32,54,1827,0.4378193,-0.1996579,3.149733 -113,178,1828,0.2816089,0.07219966,2.831017 -579,393,1829,2.046357,0.92391,2.07696 -524,346,1830,2.860687,0.9329641,2.289659 -571,385,1831,2.043325,0.8884934,2.103827 -567.4,267.4,1832,1.990768,0.3952996,2.109609 -34,63,1834,0.4633085,-0.1923591,3.174862 -481.96,349.48,1836,2.821146,0.951287,2.511005 -522.8561,348.328,1837,2.853114,0.9409632,2.296872 -59.75201,168.616,1838,-0.002218393,0.09265564,2.633434 -75.64961,86.01761,1840,0.5755854,-0.1707503,3.182004 -71.50241,183.4768,1842,0.4542494,0.05526946,3.090614 -254.8087,282.1802,1843,1.036359,0.3267282,3.010531 -523.5473,349.3649,1844,2.840099,0.9459563,2.295337 -487.7155,350.3602,1846,2.872176,0.9681671,2.492775 -481.7436,350.3602,1847,2.796419,0.9493273,2.511376 -255.4059,280.4882,1848,0.9482503,0.3113155,2.958117 -255.4059,312.7368,1849,1.007944,0.4120673,2.998884 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0028.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0028.csv deleted file mode 100644 index fd130150ba61bab720f0b35218ad097b4076f831..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0028.csv +++ /dev/null @@ -1,99 +0,0 @@ -577,377.8,987,2.181946,0.9130306,1.811041 -569.512,327.592,1005,2.065233,0.6732079,1.87374 -577,376.84,1014,2.174436,0.9072616,1.814038 -581.8,290.2,1074,2.213292,0.5251235,1.791625 -565.48,299.08,1083,2.099053,0.551725,1.875723 -564.04,264.52,1131,2.107317,0.4117325,1.881484 -569.1665,283.0096,1150,2.097807,0.491697,1.865431 -560,448,1179,1.595775,0.9908897,1.973256 -565,265,1190,2.039305,0.40578,1.885345 -514.6,375.4,1214,2.095237,0.8954914,2.073579 -564,267,1236,2.045226,0.4075142,1.888087 -565.48,329.32,1298,2.080655,0.6809847,1.862935 -581.32,373.96,1299,2.146567,0.8928377,1.785323 -569,334,1303,2.070301,0.6962403,1.854501 -561.4,371.8,1304,2.100009,0.8695992,1.874915 -567.7841,375.976,1334,2.156374,0.9069042,1.83856 -572,330,1355,2.102564,0.6864935,1.836891 -569,327,1358,2.096879,0.674116,1.849548 -566.2,283,1360,2.178883,0.4941672,1.84665 -560.2,369.4,1376,2.059814,0.8417885,1.890749 -472,248,1387,2.59598,0.3625663,2.23998 -202.6,327.88,1409,0.9411599,0.4423,2.954339 -203.176,327.592,1420,0.9293914,0.4382913,2.946333 -524.584,246.376,1434,2.578372,0.3633418,1.973502 -509,298,1476,1.945292,0.5224143,2.094484 -148.6,213.4,1721,1.23306,0.126313,3.301244 -145,212.68,1753,1.219165,0.1243573,3.305048 -199.72,326.44,1754,0.9415776,0.4436623,2.974892 -535,185.8,1864,3.063212,0.06418467,1.883411 -530.2,250.6,1865,2.325107,0.3756497,1.989777 -521.8,226.6,1867,2.718666,0.283755,1.989469 -519.4,375.4,1868,2.125803,0.9201225,2.068203 -518.2,377.8,1870,2.03364,0.9074919,2.077631 -519.4,206.92,1872,2.36983,0.1742695,2.027303 -145,373.96,1874,0.5464005,0.4485545,2.886829 -507.88,260.2,1875,1.99473,0.3895265,2.110501 -510.76,372.52,1877,2.390283,0.9875143,2.080407 -431.56,289,1881,1.129878,0.3770993,2.370317 -507.88,296.2,1882,1.935371,0.537765,2.118633 -505,299.08,1883,1.96583,0.5514098,2.130742 -431.272,341.416,1885,2.879143,0.9621683,2.505865 -510.76,372.5201,1886,2.038229,0.8854694,2.105289 -503.6407,364.2948,1256,2.011552,0.830423,2.129354 -530.92,250.12,1357,2.622006,0.3804444,1.942814 -520,375,1372,2.009388,0.8698195,2.05736 -526.6,247.24,1413,2.522024,0.3475006,1.971267 -522.8561,372.5201,1432,2.048691,0.8672596,2.039568 -204.2128,324.4817,1443,0.921879,0.4307673,2.940881 -47.08,133.48,1643,0.6592112,-0.05767516,3.167934 -144.3273,210.0189,1648,1.182824,0.1154831,3.278932 -204.047,278.6966,1651,0.9710912,0.312479,2.963746 -202.554,309.5518,1680,0.9303613,0.3916969,2.949834 -144.0784,210.4336,1766,1.321603,0.1154318,3.377538 -204.047,326.4724,1770,0.8379214,0.4201199,2.905482 -471,340,1777,3.028147,1.001804,2.283854 -205.48,277.48,1785,0.9564363,0.3126503,2.959449 -431.8,289,1786,1.109465,0.3832878,2.36468 -203.8,308.2,1797,0.9311329,0.3955468,2.959284 -146.152,370.1009,1809,0.3982282,0.3916229,2.779373 -430.9818,291.2377,1812,1.13036,0.3862867,2.372904 -201.6582,323.4864,1814,0.9290628,0.4353532,2.962606 -520,206,1818,2.364979,0.1778208,2.028638 -509,260,1819,2.003627,0.3954575,2.10998 -513,265,1823,2.020952,0.4222433,2.091536 -513,372,1824,2.046743,0.8844735,2.10047 -469,337,1830,2.860687,0.9329641,2.289659 -502.1201,369.064,1833,2.444492,0.9947636,2.124853 -431.56,340.84,1836,2.821146,0.951287,2.511005 -467.5601,337.96,1837,2.853114,0.9409632,2.296872 -204.2128,276.7888,1839,1.0657,0.3267024,3.021877 -467.5601,336.9232,1841,2.886214,0.9429952,2.29514 -430.9818,341.4023,1847,2.796419,0.9493273,2.511376 -205.2414,276.905,1848,0.9482503,0.3113155,2.958117 -48,135,1850,0.716576,-0.05694487,3.219526 -535,186,1851,3.063709,0.06149697,1.886079 -216,231,1852,2.386153,0.2404,3.636028 -145,375,1853,0.5766364,0.4612519,2.907104 -522,372,1854,2.426138,0.9961912,2.029855 -149,214,1855,1.345352,0.132559,3.375214 -505,300,1856,2.058229,0.571305,2.123905 -528,249,1857,2.484721,0.3814616,1.98132 -522,226,1858,2.724906,0.2852277,1.990204 -518,378,1859,2.11837,0.9363803,2.070974 -215.56,228.52,1860,2.372892,0.2306218,3.632029 -206.2,277,1861,0.9500969,0.3119115,2.954356 -508.6,297.4,1862,1.95911,0.5410005,2.115072 -145,374.2,1863,0.5705545,0.4573315,2.902763 -526.6,248.2,1866,2.485785,0.3784632,1.984518 -535,206.2,1869,3.074657,0.1819653,1.878419 -505,299.8,1871,2.013323,0.5635672,2.129455 -522.28,372.52,1873,2.415132,0.9953427,2.031797 -517.96,375.4,1876,1.976895,0.8735861,2.080695 -516.52,379.72,1878,1.99954,0.8995325,2.088695 -519.4,206.632,1879,2.379679,0.1781956,2.025081 -204.904,277.48,1880,1.010933,0.3207532,2.990427 -517.6721,375.976,1884,2.003906,0.8848512,2.083834 -503.6407,369.2715,1887,1.977977,0.8455799,2.14438 -147.9105,362.9014,1888,0.6387463,0.4586379,2.941862 -466.8136,341.4023,1889,2.871547,0.9446042,2.290429 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0029.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0029.csv deleted file mode 100644 index d297966e90f53a542f6de1150237a3e4878b20c6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0029.csv +++ /dev/null @@ -1,106 +0,0 @@ -401.8,178.6,702,3.192211,-0.0356586,1.273268 -370.6,136.6,968,3.31191,-0.3246609,1.456652 -405.4,172.6,1012,3.513307,-0.09705693,1.141692 -349.48,323.56,1107,2.084799,0.6795412,1.876987 -351.4,435.4,1179,1.595775,0.9908897,1.973256 -354,323,1206,2.133411,0.686134,1.841912 -316.6,191.8,1230,3.253822,0.03447665,1.841529 -353.512,365.608,1254,2.170522,0.9018298,1.840536 -297.4,301,1274,2.00851,0.546487,2.11029 -350,324,1276,2.077719,0.6793833,1.862405 -334,176,1284,3.281284,-0.07109041,1.712636 -438,155,1290,3.680972,-0.2355825,0.8230599 -443.8,181,1295,2.630131,0.01029808,1.184059 -413.8,171.4,1311,3.251,-0.08744499,1.159595 -327.88,182.44,1319,3.207021,-0.02544327,1.767859 -352.6,362.2,1329,2.107799,0.8679438,1.849744 -311.8,375.4,1362,2.0545,0.8999685,2.056583 -346.6,359.8,1376,2.059814,0.8417885,1.890749 -312.04,250.12,1434,2.578372,0.3633418,1.973502 -297.64,300.52,1480,1.942639,0.5277216,2.106367 -231,298,1786,1.109465,0.3832878,2.36468 -312,377,1829,2.046357,0.92391,2.07696 -304.6,369.4,1877,2.390283,0.9875143,2.080407 -310.6,372.52,1884,2.003906,0.8848512,2.083834 -305.128,370.792,1886,2.038229,0.8854694,2.105289 -352.6,321.4,1909,2.004332,0.6632072,1.875539 -349,286.6,1910,2.09051,0.5151978,1.868491 -265,341.8,1911,2.851371,0.9353679,2.264999 -346.6,363.4,1912,2.520974,1.00841,1.827458 -335.8,115,1913,3.110009,-0.4309674,1.730981 -296.2,366.76,1919,1.959528,0.8346013,2.142788 -336.52,114.76,1920,3.099457,-0.430595,1.727964 -349.48,281.8,1921,2.247808,0.5195737,1.839435 -363.88,363.88,1922,2.353011,0.979677,1.771724 -336.52,126.28,1923,3.105419,-0.3592478,1.730274 -348.04,362.44,1924,2.493696,0.9955176,1.823687 -346.6,264.52,1925,2.005981,0.4063423,1.891359 -355.24,284.68,1927,2.180948,0.5280873,1.823275 -359.56,286.12,1928,2.214883,0.5391172,1.796149 -310.312,249.832,1930,2.728386,0.390219,1.976718 -343.144,261.928,1931,2.034374,0.3969171,1.901798 -336.232,127.144,1933,3.128357,-0.3571679,1.728669 -296.488,367.336,1934,1.96262,0.8381948,2.141453 -327.592,182.44,1935,3.103104,-0.005774366,1.805067 -350.056,286.12,1936,2.160771,0.5238972,1.852043 -346.6,265.384,1937,2.158103,0.4275715,1.865579 -317.224,191.08,1938,3.079592,0.04699494,1.8779 -306.856,211.816,1939,2.499471,0.1695462,2.008829 -350.056,324.136,1940,2.033369,0.6813218,1.882677 -353.8,365.32,1941,2.482061,1.010543,1.794514 -346.6,265,1131,2.107317,0.4117325,1.881484 -352,328,1303,2.070301,0.6962403,1.854501 -316.36,251.56,1357,2.622006,0.3804444,1.942814 -313,250.6,1413,2.522024,0.3475006,1.971267 -265,343,1777,3.028147,1.001804,2.283854 -306,211,1818,2.364979,0.1778208,2.028638 -303,268,1823,2.020952,0.4222433,2.091536 -317,192,1851,3.063709,0.06149697,1.886079 -297,301,1856,2.058229,0.571305,2.123905 -314,251,1857,2.484721,0.3814616,1.98132 -312,375,1859,2.11837,0.9363803,2.070974 -316.6,251.8,1865,2.325107,0.3756497,1.989777 -308.2,230.2,1867,2.718666,0.283755,1.989469 -312,371,1868,2.125803,0.9201225,2.068203 -319,211,1869,3.074657,0.1819653,1.878419 -306.28,211.24,1872,2.36983,0.1742695,2.027303 -298.6,262.6,1875,1.99473,0.3895265,2.110501 -311.8,371.8,1876,1.976895,0.8735861,2.080695 -299.8,298.6,1882,1.935371,0.537765,2.118633 -297.1101,366.7831,1887,1.977977,0.8455799,2.14438 -262.2737,341.8999,1889,2.871547,0.9446042,2.290429 -370,137,1890,3.169078,-0.2927523,1.499408 -366,178,1891,3.192204,-0.0280782,1.532385 -358,324,1892,2.167867,0.7156595,1.822446 -363,364,1893,2.494955,1.011499,1.740745 -348,281,1894,2.247128,0.5150498,1.846784 -349,321,1895,2.032579,0.6664273,1.887058 -344,261,1896,2.253548,0.4164434,1.862065 -347,363,1897,2.506659,1.002044,1.827462 -307,226,1898,2.441635,0.2422991,2.01746 -357,364,1899,2.14163,0.8992613,1.836776 -360,368,1900,2.176731,0.9268303,1.816932 -356,285,1901,2.227773,0.5344542,1.811175 -331,62,1902,3.088712,-0.7562762,1.750246 -336,126,1903,3.1049,-0.3610302,1.733657 -305.8,211,1904,2.519759,0.1651448,2.012268 -327.4,183.4,1905,2.773046,0.01519058,1.84173 -331,210,1906,2.116406,0.1629276,1.934495 -349,286,1907,2.076517,0.5148115,1.871928 -336,115,1908,3.099971,-0.429267,1.731317 -333.4,176.2,1914,3.109939,-0.04430583,1.764329 -347.8,280.6,1915,1.975662,0.4796354,1.893945 -335.8,125.8,1916,3.101632,-0.3618466,1.735427 -331,211,1917,2.017286,0.1688997,1.948832 -359.8,286.6,1918,2.128152,0.5266706,1.811177 -329.32,210.088,1926,3.098161,0.1713283,1.802715 -346.6,306.856,1929,2.003097,0.5953686,1.900198 -318.2608,251.9056,1932,2.413671,0.3778598,1.968068 -329.4583,180.1591,1942,3.083975,-0.01888949,1.795011 -309.5518,374.2481,1943,1.987699,0.8818364,2.083194 -317.0167,252.3204,1944,2.424154,0.3805348,1.973468 -308.5564,374.2481,1945,1.984443,0.8804183,2.087927 -317.0167,369.2715,1946,2.380765,0.9838237,2.007647 -305.5704,245.8508,1947,2.726328,0.3656479,2.003265 -305.5704,213.0049,1948,2.507597,0.1755677,2.01521 -296.6125,362.3042,1949,1.999983,0.8268579,2.137306 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0030.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0030.csv deleted file mode 100644 index 3ff6dd16d26a442d6832d96b0b29a41cb586c801..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0030.csv +++ /dev/null @@ -1,235 +0,0 @@ -239.464,110.9008,807,3.230861,-0.7126424,0.7066414 -220.6,209.8,827,3.548795,-0.04952559,0.7276996 -224.9488,160.6672,852,3.466592,-0.4034216,0.7067599 -94.60001,206.2,984,3.119354,-0.04944534,1.720822 -368.2,352.6,1112,2.383404,0.90025,0.3464879 -139.24,329.32,1122,2.241561,0.5401163,1.766924 -210,213,1154,4.052209,-0.0401605,0.5878645 -74,225,1165,3.096433,0.043745,1.833614 -228,215,1195,3.431267,0.00134663,0.7371051 -83.08,433,1305,2.092222,0.8830547,2.038151 -121,307,1307,2.079016,0.4105128,1.86386 -130.6,369.64,1324,2.073699,0.6686059,1.84522 -139,329.8,1327,2.182433,0.5306183,1.769678 -71.50241,289.2304,1413,2.522024,0.3475006,1.971267 -67.24001,268.84,1414,2.4362,0.248411,1.993272 -74.44,291.88,1857,2.484721,0.3814616,1.98132 -73.576,291.304,1866,2.485785,0.3784632,1.984518 -58.6,355.24,1871,2.013323,0.5635672,2.129455 -62.92,247.24,1872,2.36983,0.1742695,2.027303 -63.20801,248.104,1879,2.379679,0.1781956,2.025081 -113.32,301.672,1896,2.253548,0.4164434,1.862065 -86.2,214.6,1905,2.773046,0.01519058,1.84173 -123.4,325,1915,1.975662,0.4796354,1.893945 -98.92001,245.8,1917,2.017286,0.1688997,1.948832 -135.4,328.6,1918,2.128152,0.5266706,1.811177 -139.24,418.6,1922,2.353011,0.979677,1.771724 -207.4,185.8,1951,3.249361,-0.1655306,0.9615237 -67,268.6,1954,2.434804,0.2587568,2.000124 -139.24,299.08,1955,2.105911,0.3993283,1.786462 -176.2,217,1962,3.367581,0.02837032,1.15358 -149.8,196.6,1965,3.305706,-0.1094183,1.33866 -239.8,230.2,1966,3.08703,0.1443542,0.8247853 -176.2,202.6,1971,3.268921,-0.03730846,1.18592 -78.76001,294.76,1972,2.357609,0.3734544,1.974897 -224.2,196.6,1975,3.160167,-0.08338521,0.8855984 -172.6,207.4,1976,3.182708,-0.02780848,1.237153 -143.8,173.8,1978,3.321964,-0.2574471,1.359754 -152.2,208.6,1984,3.321943,-0.0327627,1.324762 -170.2,163,1986,3.31715,-0.3264193,1.181611 -219.4,202.6,1989,3.198848,-0.04693129,0.9064683 -149.8,164.2,2003,3.286919,-0.3142875,1.326728 -170.2,203.8,2007,3.255138,-0.05526898,1.225901 -143.8,197.8,2012,3.2677,-0.1003588,1.388905 -204.04,211.24,2014,3.305466,0.004226196,0.9880733 -139,419.8,2019,2.110814,0.9003518,1.829021 -149.32,170.92,2021,3.244525,-0.2665041,1.34659 -147.88,205.48,2022,3.328015,-0.05433803,1.349136 -163,185.8,2031,3.331357,-0.1791006,1.237957 -177.4,193,2032,3.288032,-0.1260279,1.160033 -123.4,207.4,2033,3.238356,-0.04378878,1.527088 -160.6,207.4,2034,3.310966,-0.0375873,1.272638 -177.4,176.2,2036,3.31698,-0.2392956,1.14009 -176.2,184.6,2037,3.329805,-0.1851058,1.14848 -177.4,170.2,2038,3.302876,-0.2772763,1.141802 -143.56,178.12,2039,3.206563,-0.2177039,1.398 -179.56,209.8,2044,3.283121,-0.01503024,1.156581 -131.8,418.6,2045,2.224404,0.9248949,1.830337 -135.4,417.4,2049,2.069372,0.8729713,1.852864 -164.2,173.8,2056,3.312314,-0.2553256,1.229612 -149.32,163.72,2059,3.430445,-0.3362409,1.284985 -149.8,181,2063,3.244349,-0.2031017,1.349038 -139.24,419.176,2067,2.08269,0.8886752,1.834921 -209.8,157.96,2069,3.271262,-0.3553487,0.9187034 -239.464,229.096,2071,3.020275,0.138079,0.8558812 -123.688,329.32,2072,2.109082,0.5143746,1.85879 -147.88,210.088,2073,3.314571,-0.02410358,1.355715 -147.88,170.344,2078,3.312428,-0.2782799,1.334554 -147.88,215.272,2080,3.328949,0.008542106,1.354251 -142.696,208.36,2085,3.323563,-0.03706356,1.38525 -173.8,217,2091,3.321378,0.0289446,1.186233 -159.976,215.272,2092,3.36917,0.01112015,1.262365 -271.72,340.84,2093,2.169067,0.7022793,1.14253 -225.64,213.544,2097,3.094477,0.0319047,0.9147941 -154.792,210.088,2100,3.330238,-0.02278845,1.306114 -173.8,191.08,2102,3.380379,-0.1466497,1.150753 -149.608,197.992,2108,3.263597,-0.0976598,1.353529 -169.48,172.36,2109,3.150126,-0.2457295,1.24975 -142.0048,324.4817,2111,2.158362,0.51486,1.769915 -130.6,419.176,2112,2.023156,0.8599434,1.883268 -167.8,202.6,1012,3.513307,-0.09705693,1.141692 -130,371,1206,2.133411,0.686134,1.841912 -129,377,1303,2.070301,0.6962403,1.854501 -130.6,416.2,1329,2.107799,0.8679438,1.849744 -63,247,1818,2.364979,0.1778208,2.028638 -65.8,314.2,1823,2.020952,0.4222433,2.091536 -58.6,355,1856,2.058229,0.571305,2.123905 -80.2,441.4,1859,2.11837,0.9363803,2.070974 -78.76,293.32,1865,2.325107,0.3756497,1.989777 -80.2,436.6,1868,2.125803,0.9201225,2.068203 -134,372,1892,2.167867,0.7156595,1.822446 -136,417,1899,2.14163,0.8992613,1.836776 -139,420,1900,2.176731,0.9268303,1.816932 -123.4,329.8,1907,2.076517,0.5148115,1.871928 -123.4,329.32,1910,2.09051,0.5151978,1.868491 -129.16,327.88,1927,2.180948,0.5280873,1.823275 -123.3424,328.6288,1936,2.160771,0.5238972,1.852043 -150,177,1950,3.244713,-0.2282716,1.345502 -149.8,200.2,1952,3.254272,-0.08306163,1.356355 -148,206,1953,3.361048,-0.05275229,1.338693 -360,306,1956,2.545225,0.6942592,0.2735317 -187,361,1957,1.975695,0.6656636,1.65005 -347,356,1958,2.639798,1.016797,0.3395095 -176.2,161.8,1959,3.289608,-0.3307542,1.150054 -176,173,1960,3.41434,-0.2670242,1.119289 -177,194,1961,3.314687,-0.1273044,1.157242 -59.8,308.2,1963,1.966977,0.3769659,2.108517 -123.4,415,1964,2.118144,0.8664078,1.8878 -123.4,341.8,1967,2.079884,0.5596272,1.871189 -359,324,1968,2.594183,0.8139515,0.2572307 -171,173,1969,3.333485,-0.2619094,1.180814 -171,191,1970,3.297611,-0.14167,1.201723 -177,203,1973,3.353937,-0.06954242,1.15472 -173,218,1974,3.39896,0.04265916,1.171802 -177.4,167.8,1977,3.357604,-0.2998742,1.120553 -350,359,1979,2.577062,1.021161,0.3632514 -165,186,1980,3.305403,-0.17518,1.233425 -177,190,1981,3.330313,-0.148891,1.150288 -146.2,188.2,1982,3.291183,-0.1624266,1.361525 -207,194,1983,3.441529,-0.1238155,0.8916446 -77.8,442.6,1985,2.152472,0.9409946,2.063355 -176,210,1987,3.521604,-0.02539309,1.096437 -107.8,298.6,1988,2.059964,0.3752005,1.920642 -166.6,213.4,1990,3.339394,0.002138044,1.226689 -167.8,175,1991,3.355106,-0.2520339,1.191505 -146.2,197.8,1992,3.319245,-0.1034341,1.358349 -143.8,189.4,1993,3.254335,-0.1520512,1.388336 -142.6,200.2,1994,3.27331,-0.08589718,1.396091 -203.8,212.2,1995,3.301964,0.006132822,0.9846219 -133,418,1996,2.074084,0.8744272,1.861375 -161,179,1997,3.319638,-0.2225119,1.251337 -177,199,1998,3.335955,-0.08991014,1.148989 -174,199,1999,3.32284,-0.08975277,1.174168 -164,171,2000,3.317365,-0.2741567,1.227677 -167.8,169,2001,3.236001,-0.2926657,1.21043 -164,204,2002,3.340775,-0.06042602,1.238373 -171,200,2004,3.310837,-0.08310594,1.19924 -164,174,2005,3.311137,-0.2539018,1.231451 -171,196,2006,3.301614,-0.1086607,1.200184 -164,210,2008,3.358054,-0.02185538,1.236037 -167,213,2009,3.380237,-0.001975421,1.210052 -164,200,2010,3.391333,-0.08990348,1.219319 -150,182,2011,3.26129,-0.1984569,1.343078 -203.8,158.2,2013,3.286303,-0.355506,0.9559525 -219.4,353.8,2015,2.197396,0.7184978,1.412359 -357,327,2016,2.566626,0.8327408,0.2913727 -271,341.8,2017,2.244241,0.7244843,1.106643 -142.6,415,2018,2.256208,0.931784,1.775058 -82.60001,433,2020,2.216118,0.9289199,2.032664 -360,350,2023,2.591665,0.9878883,0.2612978 -168,148,2024,3.302603,-0.4222181,1.193094 -143.56,173.8,2025,3.262344,-0.2507054,1.379074 -143.56,206.92,2026,3.342229,-0.04700672,1.373484 -175,207.4,2027,3.379714,-0.03686145,1.152079 -123.4,342.28,2028,2.079095,0.5614117,1.871541 -352.6,355,2029,2.510009,0.9807103,0.382915 -151,211,2030,3.25418,-0.01463381,1.354612 -169,172.6,2035,3.338408,-0.2659339,1.187758 -172.6,179.8,2040,3.364149,-0.2207437,1.158277 -61.48,434.44,2041,2.158491,0.8939226,2.118303 -152.2,208.36,2042,3.325248,-0.03447239,1.323609 -173.8,199,2043,3.354302,-0.09185324,1.164475 -170.2,190.6,2046,3.249691,-0.1398665,1.220482 -167.8,188.2,2047,3.300597,-0.1600395,1.217615 -176.2,199,2048,3.364085,-0.0919291,1.144471 -149.32,196.84,2050,3.292883,-0.1070723,1.345795 -169.48,163.72,2051,3.358539,-0.3271381,1.172452 -148.6,215.8,2052,3.321429,0.01244566,1.352163 -151,187,2053,3.264199,-0.1669869,1.338516 -164.2,176.2,2054,3.316808,-0.2401899,1.22944 -169,209.8,2055,3.360749,-0.02176595,1.201207 -161.8,182.2,2057,3.249479,-0.1947906,1.271038 -160.84,181,2058,3.310734,-0.2086392,1.256445 -161.8,201.4,2060,3.304304,-0.07576994,1.263565 -165.4,199,2061,3.314662,-0.09118523,1.234918 -148.6,177.4,2062,3.297325,-0.231466,1.338426 -160.84,215.56,2064,3.312707,0.0153078,1.275031 -350.2,358.6,2065,2.591753,1.017979,0.3525963 -345.16,356.68,2066,2.596995,1.004837,0.386007 -183.88,155.08,2068,3.240346,-0.3749554,1.114621 -123.4,206.92,2070,3.194988,-0.0443647,1.537986 -225.64,214.12,2074,3.055653,0.03729999,0.9269876 -156.52,209.8,2075,3.28878,-0.02221655,1.307754 -176.68,160.84,2076,3.186951,-0.3229656,1.183531 -160.84,206.92,2077,3.307139,-0.04043421,1.272034 -163.72,185.32,2079,3.267003,-0.1762557,1.254381 -147.88,189.64,2081,3.345822,-0.1576237,1.334999 -172.36,206.92,2082,3.361057,-0.03991121,1.17652 -163.72,192.52,2083,3.207479,-0.1253801,1.278169 -176.68,168.04,2084,3.286642,-0.2895001,1.151377 -173.8,162.28,2086,3.008854,-0.2897591,1.26691 -163.72,173.8,2087,3.321882,-0.2564314,1.229593 -168.04,209.8,2088,3.353227,-0.02171949,1.210275 -150.76,186.76,2089,3.27539,-0.169538,1.336453 -168.04,168.04,2090,3.090659,-0.2653542,1.277203 -231.1696,218.728,2094,3.089169,0.06801466,0.8805748 -142.696,415.72,2095,2.281589,0.9434011,1.768344 -123.3424,206.2864,2096,3.191364,-0.04799675,1.53893 -123.3424,341.0704,2098,2.047989,0.5507298,1.878703 -135.784,326.5552,2099,2.151674,0.5182075,1.798326 -173.8,161.704,2101,3.312102,-0.3343559,1.158237 -173.8,201.448,2103,3.315969,-0.07323775,1.179327 -148.2256,214.5808,2104,3.274943,0.006282724,1.367869 -204.904,211.816,2105,3.298235,0.004561256,0.9909666 -161.704,180.712,2106,3.298467,-0.2091925,1.254632 -142.0048,206.2864,2107,3.266903,-0.04741957,1.404967 -222.8752,212.5072,2110,3.227431,0.01954358,0.8740333 -270.568,341.0704,2113,2.206273,0.7175679,1.112028 -75.64961,222.8752,2114,2.781243,0.04858074,1.886701 -160.6672,214.5808,2115,3.3759,0.006551932,1.255172 -210.4336,210.4336,2116,2.959015,0.01217624,1.076925 -150.2992,189.6976,2117,3.247257,-0.1485972,1.34967 -166.888,208.36,2118,3.394659,-0.03357774,1.20331 -96.55151,141.3413,2119,2.734788,-0.3572794,1.760907 -123.4254,323.4864,2120,2.086918,0.4869821,1.863093 -269.7386,341.8999,2121,2.261555,0.7341442,1.093364 -200.0656,214.9956,2122,3.281781,0.02632501,1.017427 -180.1591,205.0423,2123,3.328234,-0.04848545,1.13345 -171.2011,165.2292,2124,3.415529,-0.3244919,1.141484 -147.3133,213.0049,2125,3.192623,-0.0005727824,1.397415 -120.4394,204.047,2126,3.243896,-0.06528077,1.541568 -129.3973,213.0049,2127,3.341079,-0.01222813,1.466609 -236.8928,227.9348,2128,3.056652,0.1214212,0.8582609 -115.6618,305.5705,2129,2.128044,0.4151258,1.877682 -227.9348,218.9769,2130,3.12069,0.06769627,0.8894194 -180.1591,204.047,2131,3.28871,-0.05291921,1.147228 -172.9927,165.8264,2132,3.228731,-0.2965782,1.195663 -122.8282,201.6582,2133,3.146484,-0.07311164,1.551101 -237.49,226.7405,2134,3.095716,0.1234018,0.8361782 -198.075,215.9909,2135,3.425383,0.02785357,0.9751096 -208.8246,205.2414,2136,3.215843,-0.03319574,0.9766248 -96.55151,153.2852,2137,3.047668,-0.3435696,1.697459 -226.7405,215.9909,2138,3.276303,0.04326025,0.8251103 -137.1609,162.2432,2139,2.942326,-0.2801068,1.505177 -269.7386,341.4023,2140,2.38076,0.7540163,1.040904 -155.0768,205.2414,2141,3.415513,-0.05878798,1.274727 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0031.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0031.csv deleted file mode 100644 index f54184dafa8ab5bb9667f5e51b0919fe5dc3f544..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0031.csv +++ /dev/null @@ -1,171 +0,0 @@ -158.2,351.4,997,2.257189,0.7103081,1.093686 -248,359,1001,2.630584,0.9689243,0.2586251 -103,202.6,1195,3.431267,0.00134663,0.7371051 -77,160,1313,3.558646,-0.2724371,0.8299663 -39.4,190.6,1971,3.268921,-0.03730846,1.18592 -73.576,197.992,2014,3.305466,0.004226196,0.9880733 -102.952,201.448,2074,3.055653,0.03729999,0.9269876 -73.57601,197.992,2105,3.298235,0.004561256,0.9909666 -409,371.8,2148,1.042788,0.6761357,0.8843126 -398.2,329.8,2160,2.197889,0.9666214,-0.6664618 -157.96,350.92,2164,2.195393,0.7236213,1.121275 -398.2,347.8,2165,2.454063,1.212062,-0.9947753 -503.56,384.04,2173,0.7954477,0.7073281,0.7416264 -401.8,320.2,2181,2.108176,0.8880403,-0.5732984 -110.44,209.8,2186,3.433691,0.07819698,0.7125754 -280.936,172.072,2187,3.260491,-0.1847863,-0.6264006 -253,304.84,2188,2.562342,0.6866142,0.2898784 -256.6,196.6,2192,3.561249,-0.003985309,-0.6100966 -278.2,280.6,2196,2.628817,0.5800385,0.02215009 -103.24,202.6,2199,3.42556,0.03153834,0.7597362 -263.8,196.6,2204,3.52459,0.01000106,-0.6565594 -104.68,142.696,2207,3.430809,-0.3461799,0.7182524 -106.408,99.49601,2209,3.4662,-0.6274708,0.668772 -407.08,348.04,2216,2.00069,1.033484,-0.4677773 -111.592,90.85601,2221,3.413414,-0.6736963,0.6551658 -263.656,358.696,2225,2.824887,1.095841,0.0172426 -118.504,220.456,2226,3.451686,0.1485932,0.6555226 -121.96,87.40001,2227,3.481368,-0.7219214,0.549181 -320.68,337.96,2234,3.143313,1.1979,-0.8624231 -336.232,312.04,2238,2.873339,0.9435292,-0.7843627 -256.744,306.856,2241,2.573641,0.7056425,0.2533169 -403.2784,324.4817,2244,2.082675,0.9094416,-0.5521181 -276.7888,280.936,2250,2.546279,0.5642689,0.1019225 -280.936,193.8448,2255,3.21174,0.00444772,-0.568509 -410.536,372.5201,2277,1.073293,0.6969806,0.8323812 -263.8,355,1112,2.383404,0.90025,0.3464879 -256.6,307,1956,2.545225,0.6942592,0.2735317 -39.4,152.2,1960,3.41434,-0.2670242,1.119289 -40.6,175,1961,3.314687,-0.1273044,1.157242 -119.08,219.88,1966,3.08703,0.1443542,0.8247853 -33,151,1969,3.333485,-0.2619094,1.180814 -33,172,1970,3.297611,-0.14167,1.201723 -39.4,185.8,1973,3.353937,-0.06954242,1.15472 -35,206,1974,3.39896,0.04265916,1.171802 -40.6,171.4,1981,3.330313,-0.148891,1.150288 -79,178,1983,3.441529,-0.1238155,0.8916446 -74.44,198.28,1995,3.301964,0.006132822,0.9846219 -33,143,2001,3.236001,-0.2926657,1.21043 -254,329,2016,2.566626,0.8327408,0.2913727 -256,354,2023,2.591665,0.9878883,0.2612978 -248.68,359.56,2029,2.510009,0.9807103,0.382915 -244.36,362.44,2065,2.591753,1.017979,0.3525963 -49.96,129.16,2068,3.240346,-0.3749554,1.114621 -119.1952,218.728,2071,3.020275,0.138079,0.8558812 -158.5936,349.3648,2113,2.206273,0.7175679,1.112028 -156.2712,350.3602,2121,2.261555,0.7341442,1.093364 -115.6618,215.9909,2128,3.056652,0.1214212,0.8582609 -105.4,153.4,2142,3.424859,-0.2781751,0.721613 -83.8,163,2143,3.376984,-0.2084694,0.883296 -104,182,2144,3.440442,-0.0991464,0.7378256 -338,294,2145,2.719361,0.766409,-0.6470964 -334,313,2146,3.032786,0.9888944,-0.9207813 -324,339,2147,3.002564,1.172374,-0.77698 -81.4,135.4,2149,3.351729,-0.3698363,0.8952433 -105.4,142.6,2150,3.437485,-0.3480455,0.7104043 -40.6,165.4,2151,3.272378,-0.1767166,1.168217 -86.2,172.6,2152,3.386399,-0.1516769,0.8693144 -399,253,2153,2.3746,0.4872256,-0.9507804 -39.4,139,2154,3.286692,-0.3242249,1.157908 -41,145,2155,3.191965,-0.2783037,1.185068 -40.6,154.6,2156,3.25106,-0.2337541,1.170817 -39.4,206.2,2157,3.266927,0.04882188,1.194371 -111.4,211,2158,3.448481,0.08575524,0.6999534 -403,321,2159,2.056174,0.876832,-0.5134729 -40.6,135.4,2161,3.285367,-0.3443571,1.150437 -281,169,2162,3.262999,-0.1941682,-0.6300482 -119.8,220.6,2163,3.45646,0.1499347,0.6444967 -34,141,2166,3.336079,-0.31868,1.170425 -259,354,2167,2.57812,0.9922813,0.2605278 -40.6,159.4,2168,3.27041,-0.2096309,1.166245 -242.2,170.2,2169,3.464534,-0.1980286,-0.3980702 -39,142,2170,3.197877,-0.2947237,1.191983 -242.2,167.8,2171,3.454358,-0.2157308,-0.3914881 -264,197,2172,3.521093,0.01349612,-0.655531 -106.6,97,2174,3.4165,-0.6318296,0.6897197 -94.60001,188.2,2175,3.398977,-0.05755547,0.8194409 -122.2,86.2,2176,3.423151,-0.7148767,0.5763041 -122.2,83.8,2177,3.41866,-0.7291068,0.5773651 -44.2,152.2,2178,3.267514,-0.2498203,1.14508 -32,193,2179,3.260782,-0.02400438,1.22879 -44,188,2180,3.277616,-0.0520988,1.158495 -74.2,199,2182,3.341745,0.009294226,0.9718191 -43,196.6,2183,3.304899,-0.00570725,1.15822 -46.6,193,2184,3.240502,-0.02206761,1.159917 -260.2,196.6,2185,3.416005,0.001459322,-0.5281665 -406,308,2189,2.088053,0.8100213,-0.5973088 -253,329.8,2190,2.520558,0.820584,0.3379066 -402.76,372.52,2191,1.130945,0.7163405,0.7957672 -399.4,325,2193,2.062273,0.8993307,-0.4900838 -81.64,136.36,2194,3.35877,-0.3653219,0.8913042 -104.68,142.12,2195,3.425924,-0.3490737,0.7202235 -260.2,352.6,2197,2.528811,0.9754047,0.300143 -112.6,91,2198,3.425341,-0.6765696,0.6427374 -48.52,193.96,2200,3.292939,-0.01949911,1.131668 -399,330,2201,2.11261,0.9474636,-0.5441442 -106.12,97.48,2202,3.411307,-0.6272396,0.6955534 -280.6,169,2203,3.25692,-0.1934119,-0.6202409 -121.96,84.52,2205,3.425989,-0.7261959,0.575673 -399,319,2206,2.034933,0.8488569,-0.4419177 -405.64,307.72,2208,2.183026,0.8367682,-0.7377558 -335.08,312.04,2210,3.005569,0.9756967,-0.9049792 -280.36,336.52,2211,3.420893,1.188369,-0.687079 -113.32,93.16,2212,3.387901,-0.6543145,0.6571987 -260.2,195.4,2213,3.533229,-0.002901376,-0.6231489 -337.96,293.32,2214,2.709125,0.7523327,-0.6347671 -255.88,325,2215,2.507825,0.7960162,0.3288943 -277.48,280.36,2217,2.630496,0.5780194,0.02664759 -257.32,306.28,2218,2.504601,0.686644,0.306917 -280.36,169.48,2219,3.244469,-0.1954482,-0.600807 -398.44,329.32,2220,2.075725,0.9276836,-0.4876258 -280.36,195.4,2222,3.475306,-0.009283819,-0.7946238 -401.32,314.92,2223,2.091327,0.8470266,-0.5468672 -398.44,325,2224,2.062118,0.8951967,-0.47081 -330.76,306.28,2228,2.421455,0.7685579,-0.2348908 -81.64,199.72,2229,3.38286,0.01262178,0.9114677 -104.68,96.38561,2230,3.376192,-0.62472,0.7208796 -331.048,306.856,2231,2.652213,0.8370476,-0.4851824 -276.7888,341.0704,2232,2.631398,0.967874,0.06570158 -253.288,305.128,2233,2.493823,0.6740255,0.3423255 -277.48,280.936,2235,2.645955,0.5805745,0.01654539 -337.96,293.032,2236,2.697431,0.7598906,-0.6114796 -405.3521,308.584,2237,2.067754,0.8060092,-0.5610432 -255.016,325.864,2239,2.541676,0.8082404,0.3004705 -109.864,210.088,2240,3.448443,0.07957356,0.7097043 -280.936,168.9616,2242,3.208222,-0.1996229,-0.5776704 -279.208,194.536,2243,3.219596,0.008992768,-0.5646347 -260.2,195.9184,2245,3.533544,-0.01625918,-0.6311351 -280.936,336.9232,2246,3.490181,1.206126,-0.7299109 -112.9744,92.23841,2247,3.346811,-0.6497332,0.6789926 -243.6112,168.9616,2248,3.42565,-0.2038767,-0.3821907 -405.3521,307.8929,2249,2.121348,0.8188774,-0.6372554 -251.9056,305.8192,2251,2.530688,0.6775798,0.3159337 -320.3344,336.9232,2252,3.146489,1.189569,-0.8621834 -338.9969,291.304,2253,2.685137,0.742695,-0.6115967 -256.0529,324.4817,2254,2.522753,0.8004508,0.3165766 -399.1313,253.9792,2256,2.396747,0.4980915,-0.9755861 -336.9232,309.9664,2257,2.999082,0.9608496,-0.9213425 -330.7025,305.8192,2258,2.425432,0.7617204,-0.2475581 -275.7106,281.6826,2259,2.575751,0.5752962,0.08977982 -108.4955,207.033,2260,3.420269,0.06057673,0.73017 -102.5235,144.3273,2261,3.444031,-0.3370808,0.7270558 -277.2036,192.6007,2262,3.257299,-0.007950221,-0.5707016 -117.4534,218.9769,2263,3.450562,0.1386941,0.6624215 -396.643,254.8087,2264,2.507304,0.5226216,-1.104144 -376.7364,374.2481,2265,1.053077,0.646924,1.036001 -336.9233,292.1335,2266,2.719603,0.7532588,-0.6263531 -329.4583,304.5751,2267,2.464728,0.7666448,-0.2692682 -404.1079,377.2341,2268,1.027871,0.6783559,0.9327442 -99.5375,198.075,2269,3.423228,0.002768911,0.782345 -278.6966,171.2011,2270,3.204676,-0.1702898,-0.5516257 -242.8648,192.103,2271,3.457628,-0.03831071,-0.3851708 -263.7667,281.6826,2272,2.543479,0.5576208,0.212602 -248.8367,308.5564,2273,2.431798,0.6747292,0.4246185 -242.8648,171.2011,2274,3.466617,-0.1905121,-0.4057596 -242.8648,183.1451,2275,3.455436,-0.07708503,-0.3752664 -338.4163,290.6405,2276,2.691671,0.7384297,-0.6128145 -244.6564,190.9086,2278,3.430597,-0.03346947,-0.3835965 -273.3218,280.4882,2279,2.601144,0.5575355,0.08507722 -276.905,190.9086,2280,3.210676,-0.02862749,-0.5403299 -337.8191,291.2377,2281,2.719234,0.7441714,-0.6419132 -330.6527,305.5705,2282,2.408241,0.7604145,-0.2201388 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0032.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0032.csv deleted file mode 100644 index a8cec42c95968cf4f900d47f628c3920bb38823b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0032.csv +++ /dev/null @@ -1,195 +0,0 @@ -170.92,199.72,2185,3.416005,0.001459322,-0.5281665 -193.96,173.8,2187,3.260491,-0.1847863,-0.6264006 -327.592,320.68,2208,2.183026,0.8367682,-0.7377558 -193.96,350.92,2211,3.420893,1.188369,-0.687079 -170.344,199.72,2213,3.533229,-0.002901376,-0.6231489 -255.88,303.4,2214,2.709125,0.7523327,-0.6347671 -166.888,343.144,2215,2.507825,0.7960162,0.3288943 -192.808,172.072,2219,3.244469,-0.1954482,-0.600807 -175,374.2,2225,2.824887,1.095841,0.0172426 -249.832,320.68,2231,2.652213,0.8370476,-0.4851824 -512.2,346.6,2291,1.374102,1.258757,-2.345632 -341.8,398.2,2293,1.085987,0.6917099,0.8419468 -510.76,348.328,2303,1.485325,1.379585,-2.626358 -450.28,412.84,2309,0.7595606,0.6924762,0.7949794 -339.688,401.896,2319,1.238739,0.8008534,0.6154401 -503.8,335.8,2326,1.529083,1.259571,-2.568208 -503.56,263.08,2346,1.551952,0.628005,-2.669551 -327.88,319.24,2347,2.171571,0.8373975,-0.7078398 -503.8,321.4,2348,1.545461,1.145141,-2.633207 -482.2,326.2,2349,1.620015,1.120584,-2.249657 -189.64,362.44,2350,2.708797,1.005391,-0.002203502 -154.6,383.8,2351,2.590778,1.016828,0.3556169 -501.4,279.4,2356,1.556574,0.7672232,-2.611745 -479.8,91,2360,1.38318,-0.669161,-1.519562 -166.6,375.4,2366,2.976872,1.134846,-0.04225544 -482.2,334.6,2373,1.622203,1.192916,-2.253595 -239.464,353.512,2377,2.812121,1.082208,-0.5577621 -458.92,372.52,2378,1.541,1.29453,-1.448102 -480.52,85.96001,2379,1.394528,-0.7142729,-1.562104 -481,283,2381,1.618032,0.7532006,-2.226702 -319.24,301.96,2382,2.353898,0.7533254,-0.9022339 -477.64,379.72,2383,1.422354,1.333363,-1.499286 -149.608,196.264,2384,3.540716,-0.03666412,-0.4304674 -481,81.4,2385,1.393849,-0.7446769,-1.549495 -484.8401,341.416,2387,1.698227,1.328269,-2.570092 -156.52,165.16,2388,3.995495,-0.3257342,-0.8811911 -175.24,199.72,2390,3.56745,-0.01251359,-0.6976422 -497.8,265,2392,1.574048,0.6356196,-2.567029 -488.2,293.8,2394,1.633594,0.879934,-2.473873 -491.8,290.2,2395,1.614926,0.853475,-2.518245 -480.52,312.04,2402,1.317978,0.8322485,-1.277708 -322.408,336.232,2405,2.174153,0.915436,-0.6504946 -480.52,263.08,2406,1.654274,0.598621,-2.336285 -481.96,336.52,2407,1.621526,1.207209,-2.244246 -481.96,326.44,2408,1.622845,1.123358,-2.252116 -187.624,365.608,2409,2.666891,1.005438,0.05172924 -480.52,330.76,2410,1.420485,0.9962266,-1.60011 -462.376,374.248,2412,1.511978,1.295628,-1.439052 -485.8,341.8,2413,1.649595,1.297914,-2.439604 -486.5681,287.848,2414,1.658198,0.8393089,-2.575205 -490.6,273.16,2415,1.580444,0.6860138,-2.372427 -486.28,268.84,2416,1.637478,0.658144,-2.440582 -315.496,401.896,2420,1.096345,0.6655125,0.9673184 -434.728,78.76001,2422,1.639227,-0.7550142,-1.34746 -481.384,280.936,2423,1.66024,0.755823,-2.372391 -483.1121,272.296,2425,1.430144,0.5965364,-1.721025 -467.5601,372.5201,2427,1.473444,1.286002,-1.427235 -169,322.6,1956,2.545225,0.6942592,0.2735317 -165,348,2016,2.566626,0.8327408,0.2913727 -256,305,2145,2.719361,0.766409,-0.6470964 -241,352.6,2147,3.002564,1.172374,-0.77698 -319,262.6,2153,2.3746,0.4872256,-0.9507804 -170,374,2167,2.57812,0.9922813,0.2605278 -164.2,347.8,2190,2.520558,0.820584,0.3379066 -166.6,199.72,2192,3.561249,-0.003985309,-0.6100966 -321.4,338.2,2193,2.062273,0.8993307,-0.4900838 -170.2,374.2,2197,2.528811,0.9754047,0.300143 -169.48,322.12,2218,2.504601,0.686644,0.306917 -192.52,199.72,2222,3.475306,-0.009283819,-0.7946238 -189.6976,359.7328,2232,2.631398,0.967874,0.06570158 -191.08,293.032,2235,2.645955,0.5805745,0.01654539 -255.016,305.128,2236,2.697431,0.7598906,-0.6114796 -253.288,324.136,2238,2.873339,0.9435292,-0.7843627 -193.8448,171.0352,2242,3.208222,-0.1996229,-0.5776704 -192.808,199.72,2243,3.219596,0.008992768,-0.5646347 -171.0352,197.992,2245,3.533544,-0.01625918,-0.6311351 -191.7712,293.3777,2250,2.546279,0.5642689,0.1019225 -164.8144,320.3344,2251,2.530688,0.6775798,0.3159337 -166.888,343.144,2254,2.522753,0.8004508,0.3165766 -249.832,318.2608,2258,2.425432,0.7617204,-0.2475581 -317.5144,263.7667,2264,2.507304,0.5226216,-1.104144 -151.4936,194.4918,2271,3.457628,-0.03831071,-0.3851708 -150.2992,189.117,2275,3.455436,-0.07708503,-0.3752664 -187.3255,291.2377,2279,2.601144,0.5575355,0.08507722 -190.9086,194.4918,2280,3.210676,-0.02862749,-0.5403299 -255.4059,301.9873,2281,2.719234,0.7441714,-0.6419132 -411,77,2283,1.84613,-0.8126675,-1.415839 -421,79,2284,1.762522,-0.7820642,-1.396301 -481,262,2285,1.628629,0.5823759,-2.268042 -75,310,2286,3.279135,0.6638925,0.3726686 -250,340,2287,2.582687,0.9444845,-0.3958528 -166,345,2288,2.610526,0.8309075,0.2495664 -503.8,339.4,2289,1.511465,1.275622,-2.502454 -193,351.4,2290,3.295392,1.141487,-0.5568825 -514,346,2292,1.256242,1.160125,-1.893069 -167,343,2294,2.603388,0.8192718,0.247792 -54,378,2295,2.290864,0.7434769,1.069735 -514,354,2296,1.398225,1.351219,-2.431665 -50.2,381.4,2297,2.315185,0.7599731,1.072709 -176,374,2298,2.689732,1.040102,0.1229171 -464,77,2299,1.54143,-0.8068771,-1.655419 -166.6,200.2,2300,3.619143,-0.01078158,-0.654664 -481,274,2301,1.64022,0.6872538,-2.300612 -169,323,2302,2.594064,0.7089052,0.2344958 -154,385,2304,2.608314,1.028802,0.3463097 -453,77,2305,1.52569,-0.7541559,-1.386301 -482,280,2306,1.614048,0.7298305,-2.241854 -514.6,301,2307,1.422354,0.9372036,-2.523864 -515,341,2308,1.357992,1.239457,-2.259929 -460,375,2310,1.559909,1.327916,-1.516439 -149.8,170.2,2311,3.511598,-0.2270399,-0.4215441 -56.2,379,2312,2.298341,0.7521456,1.056998 -155.8,165.4,2313,4.004429,-0.3243409,-0.8806637 -490,275,2314,1.552816,0.6855748,-2.240028 -435,78,2315,1.688177,-0.7807021,-1.466182 -490,326,2316,1.560005,1.116975,-2.268073 -193,200.2,2317,3.318231,0.001324195,-0.6541665 -482,284,2318,1.607259,0.7600178,-2.21868 -481,265,2320,1.622857,0.6054608,-2.248555 -149,197,2321,3.544065,-0.03132806,-0.4272215 -482,339,2322,1.600787,1.211945,-2.178318 -190.6,363.4,2323,2.713633,1.014851,-0.01372214 -482,289,2324,1.611343,0.8034491,-2.229961 -482,328,2325,1.626198,1.139124,-2.263325 -503,266,2327,1.468007,0.6185507,-2.348332 -482,310,2328,1.625536,0.9869673,-2.267763 -482,307,2329,1.620238,0.9585561,-2.251922 -482,293,2330,1.604195,0.8330525,-2.205656 -481,271,2331,1.621027,0.654707,-2.240561 -504,281,2332,1.468966,0.7528577,-2.371108 -490,271,2333,1.533291,0.6470968,-2.197293 -516,285,2334,1.383394,0.7837248,-2.41988 -516,270,2335,1.372035,0.6530551,-2.378967 -490,311,2336,1.579243,1.003912,-2.337884 -483,344,2337,1.597088,1.256334,-2.191411 -482,298,2338,1.608501,0.8767729,-2.21764 -502,297,2339,1.530885,0.9103433,-2.531394 -515,322,2340,1.389989,1.093626,-2.402425 -514,312,2341,1.427394,1.035202,-2.513639 -514,309,2342,1.406009,0.99075,-2.437269 -165.16,320.68,2343,2.598645,0.6922374,0.2564118 -49,349,2344,2.328962,0.633671,1.061483 -481,81,2345,1.41571,-0.7511514,-1.650282 -479.8,375.4,2352,1.422987,1.318987,-1.547618 -340.84,399.88,2353,1.083139,0.6932428,0.8521897 -435.4,81.4,2354,1.673072,-0.766057,-1.436342 -437.8,91,2355,1.686465,-0.7071903,-1.516038 -249.4,319,2357,2.651338,0.8273408,-0.4814348 -481,332,2358,1.408306,1.005453,-1.544166 -481,86.2,2359,1.388487,-0.7005162,-1.546075 -503.56,337.96,2361,1.53194,1.27955,-2.570291 -434.2,79,2362,1.682883,-0.7874752,-1.441945 -155.08,201.16,2363,4.019781,-0.01883311,-0.8656016 -505,262.6,2364,1.51088,0.6126785,-2.564121 -448,78,2365,1.588749,-0.7817624,-1.447139 -421,79,2367,1.766005,-0.7808436,-1.396333 -499,265,2368,1.563702,0.6353672,-2.567313 -451,87.4,2369,1.584042,-0.7144208,-1.504016 -476,375,2370,1.376555,1.250051,-1.323152 -482.2,308.2,2371,1.610176,0.9634354,-2.2247 -482.2,316.6,2372,1.615034,1.036644,-2.23721 -446.2,371.8,2374,1.659231,1.317928,-1.510973 -420.04,78.76,2375,1.762663,-0.7847692,-1.376272 -435.88,81.64,2376,1.665101,-0.7648046,-1.434054 -450.28,87.4,2380,1.581804,-0.71771,-1.490659 -175.24,375.4,2386,2.6596,1.035518,0.1543829 -490.6,274.6,2389,1.636628,0.7510104,-2.512239 -166.6,375.4,2391,2.542429,0.9757436,0.3117953 -497.8,281.8,2393,1.576591,0.7842334,-2.570096 -501.4,315.4,2396,1.507161,1.050449,-2.420771 -491.8,307,2397,1.660614,1.005322,-2.606273 -464.104,77.03201,2398,1.486951,-0.770555,-1.486227 -459.2657,77.72321,2399,1.52233,-0.7638435,-1.477715 -448.552,78.76001,2400,1.577649,-0.7739859,-1.456519 -479.656,85.672,2401,1.388085,-0.6944749,-1.538023 -458.92,372.5201,2403,1.563284,1.309828,-1.5165 -150.2992,168.9616,2404,3.530475,-0.2384628,-0.4417565 -325.864,339.688,2411,2.216777,0.969605,-0.7561675 -442.6768,81.87041,2417,1.606488,-0.7513014,-1.41261 -482.0753,86.01761,2418,1.41002,-0.7271897,-1.624091 -154.4464,382.5424,2419,2.542021,0.9915763,0.3941874 -322.4081,334.8496,2421,1.973084,0.8381945,-0.3685182 -484.1489,262.2737,2424,1.455536,0.536633,-1.785086 -322.4081,326.5552,2426,2.177941,0.844817,-0.7025209 -150.2992,171.2011,2428,3.513917,-0.2201256,-0.4274521 -150.2992,195.089,2429,3.509329,-0.04379985,-0.4123815 -156.2712,162.2432,2430,4.010768,-0.3524423,-0.8926268 -165.2292,344.3882,2431,2.555836,0.8103031,0.2992704 -326.4724,320.5004,2432,2.190327,0.8372642,-0.7294335 -320.5004,335.4303,2433,2.168753,0.9195215,-0.6188073 -187.3255,362.9014,2434,2.622074,0.9729939,0.09241387 -190.9086,172.9927,2435,3.215636,-0.1918733,-0.5517644 -319.9032,334.2359,2436,2.015137,0.8461322,-0.4039949 -316.32,266.1555,2437,2.556111,0.5333487,-1.173503 -327.0695,319.9032,2438,2.102344,0.8033555,-0.6215789 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0033.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0033.csv deleted file mode 100644 index c322d46f8736f73aab5d53aec0246cee53769da5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0033.csv +++ /dev/null @@ -1,231 +0,0 @@ -210.088,358.696,2208,2.183026,0.8367682,-0.7377558 -121.96,365.608,2231,2.652213,0.8370476,-0.4851824 -391,370.6,2292,1.256242,1.160125,-1.893069 -121.96,365.32,2357,2.651338,0.8273408,-0.4814348 -355,128.2,2360,1.38318,-0.669161,-1.519562 -327.4,123.4,2380,1.581804,-0.71771,-1.490659 -359.56,407.08,2383,1.422354,1.333363,-1.499286 -355,119.8,2385,1.393849,-0.7446769,-1.549495 -339.4,114.76,2398,1.486951,-0.770555,-1.486227 -334.504,116.776,2399,1.52233,-0.7638435,-1.477715 -326.44,114.76,2400,1.577649,-0.7739859,-1.456519 -355.24,124.84,2401,1.388085,-0.6944749,-1.538023 -363.88,344.872,2402,1.317978,0.8322485,-1.277708 -361,314.92,2414,1.658198,0.8393089,-2.575205 -355.5857,123.3424,2418,1.41002,-0.7271897,-1.624091 -360.424,293.032,2424,1.455536,0.536633,-1.785086 -374,313,2442,1.511399,0.8107615,-2.479627 -457,364.6,2449,0.8117354,1.295389,-2.672375 -341.8,401.8,2451,1.516539,1.274762,-1.385183 -392,289,2452,1.229026,0.5271421,-1.89124 -464,373,2457,0.7426367,1.380623,-2.704 -465,302,2459,0.7207395,0.7231483,-2.588113 -202.6,411.4,2462,2.29592,1.200267,-0.8044055 -202.6,369.4,2471,2.427505,0.9993057,-1.032138 -391,306,2476,1.312874,0.7159508,-2.266252 -428,312,2477,1.03284,0.8007483,-2.504724 -448,290,2482,0.8912174,0.6680389,-2.958665 -428.2,290.2,2484,1.047783,0.6311013,-2.689157 -390,291,2491,1.269681,0.5651967,-2.049534 -204.04,401.32,2501,2.315966,1.153108,-0.8606403 -440,303,2502,0.9509969,0.751773,-2.729471 -127,347.8,2503,2.797579,0.7825173,-0.721436 -363.4,337,2504,1.604813,1.0257,-2.432622 -211.24,358.12,2505,2.20121,0.8432029,-0.7816225 -206.92,373.96,2508,2.129056,0.893468,-0.5993282 -415,368,2509,1.168843,1.30849,-2.542807 -403,308,2513,1.244681,0.7612423,-2.462963 -450,345,2519,0.8699676,1.12674,-2.698264 -416.2,353.8,2520,1.154043,1.180956,-2.5436 -455,361,2526,0.8345997,1.291624,-2.794585 -448,310,2527,0.8756263,0.8085113,-2.682734 -422,312,2528,1.133023,0.855728,-2.855915 -373,290,2533,1.504938,0.6011386,-2.444809 -377,295,2534,1.457863,0.6314726,-2.281201 -451,295,2535,0.870213,0.6993302,-2.97698 -428.2,311.8,2540,1.044608,0.8157406,-2.613185 -363.4,391,2543,1.429194,1.271369,-1.665877 -203.176,401.896,2552,2.28033,1.132842,-0.791068 -424.6,307,2554,1.08769,0.7774913,-2.701769 -214.12,401.32,2559,2.116916,1.074329,-0.6489266 -448.6,346.6,2560,0.8876464,1.15335,-2.752162 -206.632,375.976,2561,2.120645,0.9003568,-0.580907 -443.08,369.64,2562,0.9254647,1.309,-2.538838 -313.48,401.32,2563,1.719876,1.269096,-1.350654 -404,343,2564,1.252047,1.069578,-2.516573 -439,350.2,2566,0.9780807,1.189602,-2.752891 -454.6,290.2,2569,0.8496407,0.6649618,-2.872949 -363.88,353.8,2572,1.31885,0.8900847,-1.257864 -439,339,2574,0.9581412,1.05986,-2.624238 -375.4,291.4,2578,1.438515,0.5889442,-2.242395 -371.8,363.4,2580,1.506611,1.222016,-2.30265 -373,295,2582,1.491892,0.6452996,-2.378582 -362.44,362.44,2587,1.480815,1.109633,-1.884678 -430.12,343.72,2589,1.057727,1.114889,-2.7327 -373.96,365.32,2590,1.512767,1.275044,-2.414222 -428.68,291.88,2592,1.048331,0.6397353,-2.671238 -435.88,297.64,2593,0.9802423,0.6991296,-2.73684 -437.8,321.4,2596,0.9801794,0.9285904,-2.776228 -373.96,313.48,2597,1.523685,0.8099101,-2.461427 -415,319,2598,1.144546,0.8592141,-2.477659 -422.92,343.72,2599,1.09865,1.100265,-2.595994 -360.424,310.312,2600,1.339085,0.6087267,-1.309617 -400.6,347.8,2601,1.282907,1.119745,-2.490293 -413.8,350.2,2602,1.197173,1.178997,-2.642525 -214.5808,399.1313,2606,2.273434,1.157981,-0.9045907 -314.1136,399.1313,2607,1.720053,1.258279,-1.366494 -401,315,2612,1.247207,0.8073041,-2.364476 -400,306,2613,1.267879,0.7415094,-2.447084 -320.3344,117.1216,2614,1.582284,-0.7270621,-1.335427 -326.5552,115.048,2616,1.560773,-0.7543799,-1.41221 -48.52,231.4,2222,3.475306,-0.009283819,-0.7946238 -299,114,2284,1.762522,-0.7820642,-1.396301 -123,389,2287,2.582687,0.9444845,-0.3958528 -51.4,405.64,2290,3.295392,1.141487,-0.5568825 -387.4,375.4,2296,1.398225,1.351219,-2.431665 -388,368,2308,1.357992,1.239457,-2.259929 -342,403,2310,1.559909,1.327916,-1.516439 -363,303,2314,1.552816,0.6855748,-2.240028 -312,115,2315,1.688177,-0.7807021,-1.466182 -375,294,2327,1.468007,0.6185507,-2.348332 -376,309,2332,1.468966,0.7528577,-2.371108 -385,338,2341,1.427394,1.035202,-2.513639 -355,120,2345,1.41571,-0.7511514,-1.650282 -361,403,2352,1.422987,1.318987,-1.547618 -313,117.4,2354,1.673072,-0.766057,-1.436342 -355,124.6,2359,1.388487,-0.7005162,-1.546075 -311.8,115,2362,1.682883,-0.7874752,-1.441945 -325,115,2365,1.588749,-0.7817624,-1.447139 -298.6,115,2367,1.766005,-0.7808436,-1.396333 -299.08,114.76,2375,1.762663,-0.7847692,-1.376272 -110.9008,401.2049,2377,2.812121,1.082208,-0.5577621 -342.28,401.32,2378,1.541,1.29453,-1.448102 -362.2,332.2,2397,1.660614,1.005322,-2.606273 -341.416,401.896,2403,1.563284,1.309828,-1.5165 -206.2864,374.248,2405,2.174153,0.915436,-0.6504946 -312.04,115.048,2422,1.639227,-0.7550142,-1.34746 -362.152,301.672,2425,1.430144,0.5965364,-1.721025 -350.056,401.896,2427,1.473444,1.286002,-1.427235 -210.0189,359.3182,2432,2.190327,0.8372642,-0.7294335 -204.047,377.2341,2433,2.168753,0.9195215,-0.6188073 -212.4077,359.3182,2438,2.102344,0.8033555,-0.6215789 -376,291,2439,1.508999,0.6222438,-2.522881 -463,297.4,2440,0.7657518,0.7421188,-3.036483 -425,307,2441,1.090105,0.7862125,-2.746736 -453,312,2443,0.8214092,0.8093026,-2.570923 -199,340,2444,2.427743,0.7804931,-1.01491 -123,366,2445,2.622299,0.8304043,-0.457205 -467,338,2446,0.734062,1.078717,-2.811244 -455,347,2447,0.8325937,1.158698,-2.777317 -378,365,2448,1.47427,1.259397,-2.402414 -461.8,369.4,2450,0.7960533,1.439082,-3.06514 -461.8,304.6,2453,0.7546797,0.7569688,-2.758354 -436,320,2454,0.9913746,0.9153986,-2.752126 -201,345,2455,2.427855,0.8218042,-1.021916 -388,350,2456,1.343032,1.102273,-2.250964 -451,295,2458,0.8589551,0.6930537,-2.838231 -206,373,2460,2.150307,0.8952913,-0.6247276 -466,374,2461,0.7461153,1.420813,-2.838972 -432,392,2463,0.9642845,1.364893,-2.045736 -303,114,2464,1.670633,-0.7276514,-1.268902 -454,290,2465,0.8335212,0.6550421,-2.880173 -373,296,2466,1.510403,0.6553491,-2.459265 -427,294,2467,1.068091,0.6794175,-2.791488 -460,299,2468,0.7864863,0.7483765,-2.965509 -439,322,2469,0.9626409,0.9228082,-2.711853 -365,334,2470,1.597101,0.9983516,-2.460925 -207.4,374.2,2472,2.22489,0.9433882,-0.7656175 -454,294,2473,0.8318927,0.6864983,-2.847313 -429,347,2474,1.065753,1.164819,-2.751824 -417,370,2475,1.156881,1.33948,-2.592768 -424,347,2478,1.108244,1.167326,-2.748583 -429,361,2479,1.053413,1.26142,-2.62648 -314,118,2480,1.675594,-0.7599429,-1.480479 -425,290,2481,1.110905,0.6561984,-2.906628 -316,126,2483,1.646287,-0.6918488,-1.427615 -439,300,2485,0.96095,0.7261516,-2.784035 -364,397,2486,1.379525,1.265963,-1.475668 -345,403,2487,1.511341,1.304717,-1.434837 -343,114,2488,1.458639,-0.769758,-1.486378 -355,129,2489,1.386958,-0.6616114,-1.538147 -437,352,2490,0.9924725,1.206489,-2.752903 -206,381,2492,2.153003,0.944499,-0.6250788 -416,352,2493,1.170699,1.188511,-2.646297 -415,374,2494,1.170288,1.361775,-2.540579 -377,362,2495,1.477259,1.234511,-2.38389 -425,313,2496,1.102445,0.8664629,-2.85044 -387,315,2497,1.327526,0.7958924,-2.187994 -401,348,2498,1.26081,1.098119,-2.38595 -49.96,201.16,2499,3.412899,-0.2206697,-0.7549924 -439,350,2500,0.972818,1.191104,-2.763934 -429.4,343,2506,1.061673,1.12124,-2.741513 -404,347,2507,1.21867,1.068552,-2.295403 -455,364,2510,0.8401328,1.325426,-2.811524 -443,370,2511,0.9461756,1.368795,-2.764357 -392.68,394.12,2512,1.248096,1.342644,-1.85237 -416,320,2514,1.154599,0.8839897,-2.56947 -128.2,343,2515,2.859844,0.7717132,-0.8141922 -451,325,2516,0.8369341,0.9311458,-2.611562 -438,370,2517,0.9993761,1.386734,-2.813605 -436,317,2518,0.9890862,0.8791002,-2.720664 -425,296,2521,1.069497,0.6789295,-2.654382 -415,334.6,2522,1.170863,1.025003,-2.621977 -453,341,2523,0.8478575,1.103635,-2.764837 -428,291,2524,1.059142,0.6416683,-2.748162 -449,292,2525,0.8708587,0.6580221,-2.776387 -416,355,2529,1.167406,1.212267,-2.586101 -205.48,378.28,2530,2.1649,0.9325505,-0.6402675 -440.2,373,2531,0.9246532,1.303196,-2.457267 -398.2,131.8,2532,1.139907,-0.6753175,-1.905123 -424,343,2536,1.095653,1.110501,-2.628569 -455,343,2537,0.8636653,1.17193,-3.087498 -202.6,368.2,2538,2.408392,0.9757525,-1.013534 -434,300,2539,0.9979085,0.7163987,-2.729758 -376.6,309.4,2541,1.495499,0.7783147,-2.460562 -423,309,2542,1.088944,0.8009121,-2.59933 -400,290,2544,1.132756,0.5113858,-1.735491 -413.8,301,2545,1.171881,0.7355893,-2.643986 -441,317,2546,0.9720826,0.9070149,-2.896105 -448,312,2547,0.8840279,0.8376962,-2.75367 -387.4,368.2,2548,1.368469,1.2559,-2.294519 -389.8,305.8,2549,1.322254,0.7136649,-2.261709 -314.92,126.28,2550,1.676994,-0.6985116,-1.493303 -428.2,292.6,2551,1.040207,0.644935,-2.622346 -436.6,302.2,2553,0.9748164,0.7610034,-2.758778 -430.12,402.76,2555,0.9413843,1.34871,-1.727026 -359.8,308.2,2556,1.567405,0.7253242,-2.189 -417.4,370.6,2557,1.110556,1.263796,-2.289372 -442.6,370.6,2558,0.9400489,1.359036,-2.748213 -436.6,297.4,2565,0.9844655,0.7108158,-2.812779 -435.4,319,2567,0.992402,0.8934638,-2.696955 -355.24,119.08,2568,1.37572,-0.7257274,-1.488008 -447.4,293.8,2570,0.887475,0.6767845,-2.798797 -440.2,301,2571,0.9488875,0.7255023,-2.737074 -345.4,403,2573,1.520881,1.310283,-1.482913 -428.2,308.2,2575,1.052629,0.7942088,-2.685774 -434.2,301,2576,0.9949472,0.7328716,-2.662349 -363.4,370.6,2577,1.487957,1.185708,-1.915432 -373,290.2,2579,1.438777,0.5684908,-2.153382 -421,310.6,2581,1.106795,0.7970811,-2.614017 -424.6,323.8,2583,1.084784,0.9301805,-2.648303 -213.544,401.896,2584,2.252304,1.159521,-0.8583355 -320.68,118.504,2585,1.597024,-0.7346603,-1.377055 -200.0656,338.9969,2586,2.441572,0.7828525,-1.023045 -313.768,401.896,2588,1.701573,1.25775,-1.305035 -439.912,374.248,2591,0.9831174,1.434264,-2.839233 -388.072,369.064,2594,1.400979,1.312471,-2.481281 -413.992,374.248,2595,1.185131,1.379446,-2.532399 -369.064,310.312,2603,1.62838,0.8151554,-2.655568 -351.4384,119.1952,2604,1.420408,-0.7409402,-1.553764 -440.6033,403.2784,2605,0.8872447,1.423508,-1.951578 -210.4336,357.6592,2608,2.21519,0.8440734,-0.7957149 -119.1952,384.6161,2609,2.695999,0.9612303,-0.5044521 -363.8801,363.8801,2610,1.456015,1.105111,-1.821969 -388.7632,368.0273,2611,1.41671,1.310338,-2.366344 -314.5284,399.1313,2615,1.666927,1.211519,-1.225805 -341.8999,399.1313,2617,1.508481,1.245566,-1.355563 -210.0189,359.3182,2618,2.210398,0.8523699,-0.7709571 -366.7831,399.1313,2619,1.326092,1.23014,-1.33981 -366.7831,317.0167,2620,1.375977,0.707913,-1.623422 -359.3182,401.6196,2621,1.378997,1.24726,-1.342596 -361.8065,292.1335,2622,1.4926,0.5641136,-1.98058 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0034.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0034.csv deleted file mode 100644 index 6d4a8bc38a173306f9aeb608188af752886dc6a8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0034.csv +++ /dev/null @@ -1,422 +0,0 @@ -117.64,389.8,2160,2.197889,0.9666214,-0.6664618 -105.5095,302.0868,2264,2.507304,0.5226216,-1.104144 -312.04,363.88,2291,1.374102,1.258757,-2.345632 -124.84,366.76,2347,2.171571,0.8373975,-0.7078398 -234.28,106.12,2376,1.665101,-0.7648046,-1.434054 -248.68,113.32,2380,1.581804,-0.71771,-1.490659 -261.64,104.68,2398,1.486951,-0.770555,-1.486227 -256.744,106.408,2399,1.52233,-0.7638435,-1.477715 -247.24,104.68,2400,1.577649,-0.7739859,-1.456519 -286.12,355.24,2410,1.420485,0.9962266,-1.60011 -123.3424,386.6897,2411,2.216777,0.969605,-0.7561675 -123.4254,368.2761,2426,2.177941,0.844817,-0.7025209 -122.8282,366.4846,2432,2.190327,0.8372642,-0.7294335 -117.4534,386.192,2433,2.168753,0.9195215,-0.6188073 -111.88,350.92,2455,2.427855,0.8218042,-1.021916 -227.4372,107.9978,2464,1.670633,-0.7276514,-1.268902 -114.76,378.28,2471,2.427505,0.9993057,-1.032138 -359.56,297.64,2553,0.9748164,0.7610034,-2.758778 -346.6,300.52,2554,1.08769,0.7774913,-2.701769 -287.848,306.856,2603,1.62838,0.8151554,-2.655568 -123.3424,365.9536,2618,2.210398,0.8523699,-0.7709571 -291.304,314.1136,2620,1.375977,0.707913,-1.623422 -520.84,365.32,2641,-0.1431553,0.9782283,-1.30524 -107.56,300.52,2722,2.382864,0.4823324,-0.8993716 -402.76,353.8,2726,0.6416956,1.259929,-2.606052 -382.6,363.88,2728,0.8242126,1.420226,-2.894811 -111.592,350.056,2740,2.352868,0.7842458,-0.8662485 -395.56,127.72,2772,0.5758639,-0.6465085,-2.078716 -481.96,417.16,2777,0.09825372,1.338521,-1.355837 -454.6,114.76,2778,0.169939,-0.6834718,-1.90587 -438.1841,407.08,2788,0.4080304,0.8088371,-0.01705165 -438.1841,284.392,2800,0.282403,0.6803443,-2.99142 -476.2,362.44,2804,0.1527165,0.9034829,-1.05574 -394.9841,127.4896,2810,0.5952302,-0.6736395,-2.236829 -433,306.28,2813,0.3432215,0.8901902,-3.043315 -232.84,103.24,2814,1.687413,-0.7788061,-1.417492 -375.4,303.4,2815,0.8654929,0.8075405,-2.761051 -415.72,284.68,2818,0.5012181,0.6777368,-2.918959 -407.08,384.616,2820,0.5787846,1.301637,-1.893295 -471.88,386.92,2821,0.1035853,1.324948,-1.917414 -491.752,331.048,2825,0.005889921,0.8122163,-1.474816 -264.3472,407.4257,2826,1.486869,1.237922,-1.157018 -277.48,116.776,2827,1.439233,-0.7167553,-1.675343 -287.848,351.784,2828,1.570984,1.145329,-2.288577 -323.56,124.84,2835,1.1038,-0.6369571,-1.60473 -343.72,304.84,2842,1.15107,0.796738,-2.57456 -462.376,386.344,2846,0.1930459,1.177567,-1.521826 -261.928,104.68,2848,1.521311,-0.7833878,-1.560703 -420.04,299.08,2849,0.4452977,0.8048863,-2.857093 -277.48,109.864,2850,1.441286,-0.7702255,-1.69154 -445.9117,386.192,2852,0.2945992,1.256242,-1.713753 -268.4944,401.2049,2853,1.544642,1.315767,-1.49815 -439.912,301.672,2854,0.2920238,0.8333353,-2.951809 -291.88,287.56,2855,1.568521,0.6244023,-2.520602 -473.7809,117.1216,2856,0.004306814,-0.6667564,-2.081217 -289.2304,349.3648,2857,1.621681,1.176782,-2.477433 -467.5601,372.1744,2859,0.1896406,1.028624,-1.26528 -289.2304,332.7761,2862,1.582572,1.016192,-2.389933 -438.5297,121.2688,2868,0.2822007,-0.6337218,-1.884449 -284.6685,401.6196,2869,1.390038,1.248426,-1.333559 -436.4561,391.6663,2870,0.3472688,1.377651,-1.958771 -272.6416,102.6064,2871,1.437903,-0.7924971,-1.536535 -291.304,397.0576,2877,1.369892,1.250262,-1.436524 -436.4561,386.6897,2885,0.3498509,1.348724,-2.008625 -475.7716,126.4114,2888,-0.009622077,-0.634196,-2.189297 -281.6826,111.4814,2895,1.401173,-0.7423894,-1.585191 -289.6452,366.7831,2901,1.60238,1.274913,-2.364235 -455.1185,115.048,2903,0.1671513,-0.6764743,-1.931814 -436.4561,299.5984,2906,0.3173092,0.8161871,-2.881466 -272.7246,105.5095,2908,1.425819,-0.7542061,-1.463077 -236.8928,114.4674,2909,1.70232,-0.745554,-1.561264 -466.8136,353.3462,2912,0.1990404,0.8842389,-1.181615 -438.1482,119.245,2919,0.2717018,-0.7088875,-2.210377 -315.4,367,2292,1.256242,1.160125,-1.893069 -311.8,371.8,2296,1.398225,1.351219,-2.431665 -267,404,2310,1.559909,1.327916,-1.516439 -286,300,2314,1.552816,0.6855748,-2.240028 -233.8,106.6,2354,1.673072,-0.766057,-1.436342 -278.2,116.2,2359,1.388487,-0.7005162,-1.546075 -278.2,119.8,2360,1.38318,-0.669161,-1.519562 -232.6,103,2362,1.682883,-0.7874752,-1.441945 -246,104,2365,1.588749,-0.7817624,-1.447139 -218.2,103,2367,1.766005,-0.7808436,-1.396333 -218.44,103.24,2375,1.762663,-0.7847692,-1.376272 -278.2,111.4,2385,1.393849,-0.7446769,-1.549495 -277.48,116.2,2401,1.388085,-0.6944749,-1.538023 -119.1952,384.6161,2405,2.174153,0.915436,-0.6504946 -278.8624,115.048,2418,1.41002,-0.7271897,-1.624091 -235.3168,104.68,2422,1.639227,-0.7550142,-1.34746 -284.392,287.848,2424,1.455536,0.536633,-1.785086 -286.12,298.216,2425,1.430144,0.5965364,-1.721025 -299,287,2439,1.508999,0.6222438,-2.522881 -383.8,291.4,2440,0.7657518,0.7421188,-3.036483 -348,302,2441,1.090105,0.7862125,-2.746736 -375,306,2443,0.8214092,0.8093026,-2.570923 -388,331,2446,0.734062,1.078717,-2.811244 -377,340,2447,0.8325937,1.158698,-2.777317 -383.8,362.2,2450,0.7960533,1.439082,-3.06514 -267.4,403,2451,1.516539,1.274762,-1.385183 -383.8,298.6,2453,0.7546797,0.7569688,-2.758354 -359,315,2454,0.9913746,0.9153986,-2.752126 -312,346,2456,1.343032,1.102273,-2.250964 -385,366,2457,0.7426367,1.380623,-2.704 -376,284,2465,0.8335212,0.6550421,-2.880173 -350,289,2467,1.068091,0.6794175,-2.791488 -382,293,2468,0.7864863,0.7483765,-2.965509 -376,288,2473,0.8318927,0.6864983,-2.847313 -352,341,2474,1.065753,1.164819,-2.751824 -341,365,2475,1.156881,1.33948,-2.592768 -347,342,2478,1.108244,1.167326,-2.748583 -235,107,2480,1.675594,-0.7599429,-1.480479 -348,285,2481,1.110905,0.6561984,-2.906628 -370,285,2482,0.8912174,0.6680389,-2.958665 -237,115,2483,1.646287,-0.6918488,-1.427615 -362,295,2485,0.96095,0.7261516,-2.784035 -289,397,2486,1.379525,1.265963,-1.475668 -270,404,2487,1.511341,1.304717,-1.434837 -266,104,2488,1.458639,-0.769758,-1.486378 -278,120,2489,1.386958,-0.6616114,-1.538147 -360,346,2490,0.9924725,1.206489,-2.752903 -315,287,2491,1.269681,0.5651967,-2.049534 -301,360,2495,1.477259,1.234511,-2.38389 -348,308,2496,1.102445,0.8664629,-2.85044 -310.6,310.6,2497,1.327526,0.7958924,-2.187994 -361,344,2500,0.972818,1.191104,-2.763934 -286.6,334.6,2504,1.604813,1.0257,-2.432622 -352.6,337,2506,1.061673,1.12124,-2.741513 -366,363,2511,0.9461756,1.368795,-2.764357 -338,315,2514,1.154599,0.8839897,-2.56947 -376,319,2516,0.8369341,0.9311458,-2.611562 -360,364,2517,0.9993761,1.386734,-2.813605 -348,291,2521,1.069497,0.6789295,-2.654382 -351,285,2524,1.059142,0.6416683,-2.748162 -378,354,2526,0.8345997,1.291624,-2.794585 -370,304,2527,0.8756263,0.8085113,-2.682734 -340,351,2529,1.167406,1.212267,-2.586101 -365.8,365.8,2531,0.9246532,1.303196,-2.457267 -296,286,2533,1.504938,0.6011386,-2.444809 -300,291,2534,1.457863,0.6314726,-2.281201 -373,289,2535,0.870213,0.6993302,-2.97698 -347,338,2536,1.095653,1.110501,-2.628569 -377,336,2537,0.8636653,1.17193,-3.087498 -357,294,2539,0.9979085,0.7163987,-2.729758 -299.8,305.8,2541,1.495499,0.7783147,-2.460562 -345,303,2542,1.088944,0.8009121,-2.59933 -337,297.4,2545,1.171881,0.7355893,-2.643986 -361,311,2546,0.9720826,0.9070149,-2.896105 -370,306,2547,0.8840279,0.8376962,-2.75367 -365.8,363.4,2558,0.9400489,1.359036,-2.748213 -327,336,2564,1.252047,1.069578,-2.516573 -359.8,291.4,2565,0.9844655,0.7108158,-2.812779 -361,344.2,2566,0.9780807,1.189602,-2.752891 -277.48,110.44,2568,1.37572,-0.7257274,-1.488008 -369.4,287.8,2570,0.887475,0.6767845,-2.798797 -362.2,295,2571,0.9488875,0.7255023,-2.737074 -287.56,350.92,2572,1.31885,0.8900847,-1.257864 -356.2,296.2,2576,0.9949472,0.7328716,-2.662349 -287.8,368.2,2577,1.487957,1.185708,-1.915432 -344.2,303.4,2581,1.106795,0.7970811,-2.614017 -296,292,2582,1.491892,0.6452996,-2.378582 -127.144,412.264,2584,2.252304,1.159521,-0.8583355 -241.192,108.136,2585,1.597024,-0.7346603,-1.377055 -108.8272,345.2177,2586,2.441572,0.7828525,-1.023045 -287.56,359.56,2587,1.480815,1.109633,-1.884678 -352.36,337.96,2589,1.057727,1.114889,-2.7327 -297.64,363.88,2590,1.512767,1.275044,-2.414222 -359.56,291.88,2593,0.9802423,0.6991296,-2.73684 -296.2,309.16,2597,1.523685,0.8099101,-2.461427 -337,345,2602,1.197173,1.178997,-2.642525 -272.6416,108.8272,2604,1.420408,-0.7409402,-1.553764 -365.9536,397.0576,2605,0.8872447,1.423508,-1.951578 -127.4896,409.4993,2606,2.273434,1.157981,-0.9045907 -241.5376,106.7536,2614,1.582284,-0.7270621,-1.335427 -247.7584,104.68,2616,1.560773,-0.7543799,-1.41221 -267.2503,399.1313,2617,1.508481,1.245566,-1.355563 -292.1335,399.1313,2619,1.326092,1.23014,-1.33981 -284,288,2623,1.645359,0.6140298,-2.432483 -400,284,2624,0.6429309,0.6578777,-2.870609 -435,295,2625,0.3195895,0.784649,-3.006443 -384,299,2626,0.7885982,0.7829907,-2.814599 -397,300,2627,0.6732728,0.7967001,-2.842562 -309,331,2628,1.431914,0.9921225,-2.445104 -437,325,2629,0.3087142,1.063601,-2.956187 -499,323.8,2630,-0.1808231,1.001287,-2.614491 -399,333,2631,0.6659657,1.102474,-2.85378 -501.4,332.2,2632,-0.1729637,0.9941748,-2.299935 -352,337,2633,1.101319,1.12654,-2.75968 -399,340,2634,0.6398998,1.099218,-2.557228 -439,341.8,2635,0.2750892,1.153922,-2.720774 -503,350,2636,-0.1492024,1.07444,-2.075214 -404,352,2637,0.6320297,1.272041,-2.767788 -299,363,2638,1.537733,1.280975,-2.43021 -468,357,2639,0.1733829,0.9358302,-1.302052 -384,362,2640,0.8233884,1.411584,-2.925274 -469,373,2642,0.1772916,1.035839,-1.296103 -486,381,2643,-0.01427394,1.303824,-2.010051 -319,392.2,2644,1.195299,1.259414,-1.565399 -505,385,2645,-0.1626105,1.339035,-2.098926 -446,388,2646,0.2915708,1.347719,-1.974653 -518,388,2647,-0.2581194,1.36938,-2.08508 -290,402,2648,1.368618,1.273609,-1.334166 -518,401,2649,-0.2156356,1.401743,-1.869489 -495,415,2650,0.004652334,1.353711,-1.44193 -440,124,2651,0.2698509,-0.6284955,-1.976436 -497,256,2652,-0.1375826,0.3707583,-2.169357 -371,300,2653,0.9065568,0.7835016,-2.758017 -285,305,2654,1.645064,0.7642035,-2.431944 -375,302,2655,0.873256,0.8047249,-2.774862 -394.6,303.4,2656,0.6677545,0.7708361,-2.66992 -317,310,2657,1.211797,0.6920298,-1.689224 -289,313,2658,1.601013,0.8219822,-2.351891 -361,309,2659,1.003385,0.8607857,-2.740865 -383,310,2660,0.800595,0.8878262,-2.807449 -388,327,2661,0.7669675,1.053728,-2.861042 -508,330,2662,-0.1608616,0.8873728,-1.908793 -372,337,2663,0.9081718,1.114629,-2.78289 -443,359,2664,0.2741674,1.338466,-2.812036 -417,383,2665,0.5013182,1.275885,-1.855984 -484,413,2666,0.06597369,1.370773,-1.52315 -414,282,2667,0.4894502,0.5789086,-2.46803 -442,284,2668,0.2606733,0.6581296,-2.830321 -285,308,2669,1.64141,0.795868,-2.423435 -338,312,2670,1.206041,0.8699401,-2.658242 -397,316,2671,0.6813639,0.9497729,-2.818178 -433,342,2672,0.3511601,1.217825,-2.953678 -471,342,2673,0.1421394,0.8682907,-1.404989 -404,350,2674,0.6310948,1.247426,-2.760419 -476,362,2675,0.1457914,0.9222997,-1.122643 -505,387,2676,-0.157537,1.369382,-2.083327 -409,124,2677,0.4910068,-0.6366903,-2.067569 -339,329,2678,1.206952,1.035452,-2.66537 -442,325,2679,0.2783242,0.965017,-2.53505 -366,367,2680,0.9663958,1.37349,-2.651457 -466,372,2681,0.199523,1.019032,-1.242673 -410,386,2682,0.5611176,1.293826,-1.834617 -248.2,113.8,2683,1.596768,-0.7242953,-1.442747 -435,292,2684,0.3187308,0.7517517,-3.00487 -512,298,2685,-0.1642603,0.6197044,-1.685999 -294,305,2686,1.596028,0.7892013,-2.588329 -295,308,2687,1.563984,0.8038904,-2.470475 -372,340,2688,0.8857103,1.10071,-2.536383 -405,382,2689,0.6054962,1.342226,-2.069701 -466,115,2690,0.0543651,-0.7245461,-2.235365 -395,285,2691,0.6904562,0.6540698,-2.922261 -236,100,2692,1.636525,-0.7802248,-1.336488 -297,303,2693,1.608853,0.7944976,-2.711638 -390,362,2694,0.7538781,1.36529,-2.811234 -470,114,2695,0.03320238,-0.7298147,-2.191776 -442,300,2696,0.2585104,0.813923,-2.73929 -442,328,2697,0.2617739,0.971537,-2.485421 -288,363,2698,1.617924,1.252978,-2.327292 -442,302,2699,0.2678089,0.8355656,-2.891735 -388,310,2700,0.7595372,0.8863267,-2.845778 -317,388,2701,1.274916,1.336013,-1.844754 -480,115,2702,-0.06227485,-0.7270134,-2.309444 -395,288,2703,0.6894639,0.6836003,-2.858253 -288,371,2704,1.589456,1.324816,-2.262027 -296,362,2705,1.558394,1.270167,-2.406441 -403,335,2706,0.6280374,1.109962,-2.764353 -441,381,2707,0.3163882,1.299248,-2.046612 -454,115,2708,0.144771,-0.6873445,-2.082413 -447,113,2709,0.2190466,-0.6720769,-1.870059 -402,127,2710,0.5456803,-0.6112669,-1.935488 -344.2,287.8,2711,1.138907,0.665396,-2.716993 -443,351,2712,0.2719695,1.268918,-2.824771 -346,320,2713,1.116303,0.9245853,-2.529258 -494,235,2714,-0.1413427,0.2305655,-2.303573 -314.2,284.2,2715,1.410275,0.6098866,-2.606136 -326.2,284.2,2716,1.212095,0.5625029,-2.200174 -284.2,287.8,2717,1.643871,0.6181203,-2.428747 -424.6,302.2,2718,0.4225458,0.8369573,-2.934472 -465.4,350.2,2719,0.156666,1.02467,-1.840292 -487,411.4,2720,0.05080745,1.335072,-1.447594 -477,127,2721,-0.01410128,-0.6235847,-2.175075 -335.8,310.6,2723,1.185436,0.8505508,-2.504121 -400.6,319,2724,0.6644188,1.000667,-2.876331 -422.2,338.2,2725,0.4627195,1.147667,-2.813642 -467.8,356.2,2727,0.1804224,0.9343729,-1.291876 -466.6,371.8,2729,0.2012731,1.002989,-1.19879 -319.24,391.24,2730,1.208778,1.285855,-1.578591 -253,405.4,2731,1.602911,1.263488,-1.278907 -393.4,395.8,2732,0.6758437,1.31265,-1.669525 -456,396,2733,0.229999,1.338698,-1.767484 -439,123.4,2734,0.2743939,-0.6209522,-1.922936 -400.6,284.2,2735,0.6391379,0.6578335,-2.83119 -395,305,2736,0.6955349,0.8199281,-2.778466 -433,305.8,2737,0.3420745,0.8790659,-2.972865 -385,308.2,2738,0.7920893,0.8960464,-2.94749 -423,332,2739,0.4480279,1.107106,-2.879116 -352.6,340.6,2741,1.074812,1.131564,-2.626321 -286.6,364.6,2742,1.594997,1.2648,-2.266188 -397,305.8,2743,0.6733682,0.8484868,-2.83749 -430.6,308.2,2744,0.3632121,0.8976305,-2.980404 -464.2,388.6,2745,0.1751048,1.278092,-1.756315 -477,116,2746,-0.03227396,-0.7022207,-2.224884 -371.8,307,2747,0.8977464,0.8457729,-2.735722 -395.8,335.8,2748,0.6957921,1.132375,-2.839525 -508.6,333.4,2749,-0.1494881,0.8941931,-1.795776 -500,354,2750,-0.09889578,1.051749,-1.864274 -298.6,363.4,2751,1.573035,1.313202,-2.49841 -421,283,2752,0.4432631,0.6517958,-2.86786 -293.8,305.8,2753,1.577568,0.7785419,-2.494398 -506.44,329.32,2754,-0.1408781,0.8759422,-1.84366 -416,338,2755,0.5094178,1.148554,-2.827848 -403,339,2756,0.642801,1.15459,-2.750545 -359.8,309.4,2757,1.008,0.8604282,-2.727012 -346.6,338.2,2758,1.13231,1.104705,-2.633806 -287.8,359.8,2759,1.570333,1.198636,-2.215457 -336,366,2760,1.224173,1.331093,-2.524127 -476.2,362.2,2761,0.1514767,0.9185978,-1.079168 -397,353,2762,0.6883512,1.273729,-2.764915 -435.4,357.4,2763,0.3362375,1.358021,-2.930974 -347.8,290.2,2764,1.108303,0.6791872,-2.668377 -375.4,302.2,2765,0.8658454,0.8091039,-2.75492 -381.4,293.8,2766,0.8074933,0.7477573,-2.774847 -471.4,351.4,2767,0.1646754,0.8818322,-1.216372 -470.2,113.8,2768,0.02256366,-0.7509164,-2.302131 -430.6,310.6,2769,0.3583599,0.9179149,-3.061948 -292.6,289,2770,1.575781,0.6284101,-2.482097 -435.4,291.4,2771,0.318824,0.7543316,-3.040238 -261.4,105.4,2773,1.479824,-0.7494395,-1.358321 -287.8,351.4,2774,1.58122,1.15115,-2.277862 -286.6,296.2,2775,1.632174,0.6930536,-2.465661 -286.12,306.28,2776,1.58929,0.7538743,-2.301926 -284.68,287.56,2779,1.63153,0.6122193,-2.399122 -489.16,408.52,2780,0.04517389,1.345986,-1.520711 -314.92,283.24,2781,1.385769,0.5959311,-2.540175 -467.56,355.24,2782,0.1855879,0.9130517,-1.240011 -495.4,415,2783,-0.01775346,1.394548,-1.593975 -438.76,123.4,2784,0.2895447,-0.6435433,-1.899275 -494.2,235,2785,-0.1120945,0.2079545,-2.109626 -326.44,283.24,2786,1.245437,0.591669,-2.43415 -420.04,304.84,2787,0.4564711,0.8667069,-2.968809 -421.48,332.2,2789,0.4648487,1.166694,-3.102616 -463.24,386.92,2790,0.1778406,1.301044,-1.851297 -505,385.48,2791,-0.192281,1.451742,-2.336727 -472.6,387.4,2792,0.1143973,1.280013,-1.772586 -109,302.2,2793,2.370748,0.4927712,-0.8904555 -397,299.08,2794,0.6696897,0.7867751,-2.844494 -424.36,301.96,2795,0.449961,0.8988688,-3.204935 -507.88,333.64,2796,-0.1279019,0.866083,-1.664368 -307.72,368.2,2797,1.433621,1.316987,-2.35159 -499.24,386.92,2798,-0.1149965,1.362421,-2.052459 -448.84,114.76,2799,0.2285699,-0.6757069,-1.843282 -293.32,306.28,2801,1.575835,0.7803047,-2.464763 -503.56,327.88,2802,-0.1178307,0.8487791,-1.74545 -469,349.48,2803,0.1680063,0.8856916,-1.29353 -444.52,386.92,2805,0.2994972,1.323714,-1.926547 -438.76,119.08,2806,0.2759155,-0.7025303,-2.150456 -419.8,335.8,2807,0.478723,1.138286,-2.866196 -299.08,287.56,2808,1.516675,0.6234987,-2.427613 -425.8,351.4,2809,0.4374062,1.259081,-2.797746 -362.44,294.76,2811,0.9811536,0.7306019,-2.733593 -255.88,107.56,2812,1.514743,-0.7375496,-1.40631 -392.68,301.96,2816,0.7120221,0.820334,-2.843335 -472.744,118.504,2817,-0.01079715,-0.6968489,-2.324377 -287.848,332.776,2819,1.566626,0.9950833,-2.306188 -438.5297,405.3521,2822,0.4068815,0.8213202,-0.067297 -272.296,99.49601,2823,1.390339,-0.765909,-1.333412 -493.48,237.736,2824,-0.1122749,0.2241928,-2.133243 -439.912,351.784,2829,0.2995999,1.261948,-2.755758 -287.848,360.424,2830,1.56293,1.208126,-2.234782 -465.832,374.248,2831,0.1985725,1.039442,-1.268017 -445.096,384.616,2832,0.2974962,1.310112,-1.953407 -285.0833,401.2049,2833,1.386058,1.241944,-1.311326 -248.104,104.68,2834,1.575935,-0.7605,-1.39574 -467.5601,355.24,2836,0.1835508,0.9180549,-1.256612 -289.576,369.064,2837,1.587638,1.310433,-2.325015 -476.2,362.152,2838,0.1539583,0.902116,-1.021649 -488.2961,410.536,2839,0.05382296,1.335192,-1.457032 -453.7361,115.048,2840,0.1627014,-0.6760753,-1.928584 -438.1841,121.96,2841,0.2672416,-0.6474986,-2.073333 -479.656,412.264,2843,0.08870835,1.346978,-1.46812 -438.1841,118.504,2844,0.2765139,-0.7055579,-2.16045 -439.912,360.424,2845,0.2945355,1.226721,-2.445527 -115.048,376.3217,2847,2.46553,1.006391,-1.061241 -289.576,315.496,2851,1.611146,0.8644357,-2.446614 -291.304,359.7328,2858,1.594688,1.261283,-2.384779 -409.4993,382.5424,2860,0.5625919,1.26662,-1.834677 -287.1568,287.1568,2861,1.625107,0.6105431,-2.432957 -293.3777,368.0273,2863,1.598339,1.336792,-2.382807 -440.6033,351.4384,2864,0.3028899,1.291921,-2.874688 -467.5601,353.5121,2865,0.1633245,0.9511689,-1.437486 -318.2608,390.8369,2866,1.23345,1.305506,-1.739791 -262.2737,104.68,2867,1.507457,-0.778397,-1.522466 -115.048,411.5728,2872,2.412457,1.19278,-0.949227 -278.8624,108.8272,2873,1.414083,-0.754631,-1.601458 -106.7536,299.5984,2874,2.393001,0.4775672,-0.9121209 -289.2304,305.8192,2875,1.613433,0.773618,-2.392587 -438.5297,384.6161,2876,0.3515897,1.341943,-2.022709 -446.8241,386.6897,2878,0.2921769,1.301926,-1.8587 -272.227,107.9978,2879,1.43851,-0.7469724,-1.525718 -446.4094,117.9511,2880,0.2112989,-0.6736529,-2.052624 -438.9444,122.9277,2881,0.2927352,-0.6442573,-1.891127 -478.7576,365.2902,2882,0.1537462,0.8991222,-0.9711707 -478.7576,371.7598,2883,0.1482417,0.9273629,-0.9355437 -406.5963,384.2014,2884,0.5924733,1.357923,-2.103764 -461.3393,386.6897,2886,0.1897836,1.291392,-1.84265 -476.2692,339.4116,2887,0.1255598,0.8717831,-1.381983 -323.4864,123.4254,2889,1.109899,-0.6562327,-1.671563 -410.0799,129.3973,2890,0.4887072,-0.5751106,-1.744274 -309.5518,122.9277,2891,1.192769,-0.65356,-1.701989 -317.0167,391.6663,2892,1.208796,1.25438,-1.554476 -446.4094,386.6897,2893,0.2914595,1.30589,-1.876732 -473.7809,384.2014,2894,0.0942911,1.283791,-1.879037 -466.3159,374.2481,2896,0.1942458,1.030994,-1.24506 -466.3159,354.3415,2897,0.1891839,0.914992,-1.271206 -292.1335,379.2247,2898,1.54792,1.324256,-2.149634 -260.7807,105.5095,2899,1.490697,-0.7342695,-1.348427 -247.3437,105.5095,2900,1.628164,-0.7913136,-1.57307 -122.9277,389.178,2902,2.007284,0.8737474,-0.3943512 -110.4861,349.3649,2904,2.329212,0.763045,-0.8156319 -233.9068,102.5235,2905,1.692975,-0.7834839,-1.448792 -224.9489,111.4814,2907,1.754414,-0.7303458,-1.451005 -445.9117,117.4534,2910,0.2327491,-0.6399055,-1.809494 -105.5095,302.5845,2911,2.379399,0.487619,-0.8659603 -466.8136,377.2341,2913,0.2061716,1.013683,-1.12974 -436.9538,120.4394,2914,0.2891002,-0.6269291,-1.847057 -245.8508,105.5095,2915,1.6441,-0.8015537,-1.599672 -237.49,115.6618,2916,1.682331,-0.7060609,-1.491929 -309.1536,122.8282,2917,1.232792,-0.6768419,-1.773381 -226.7405,112.0786,2918,1.73922,-0.7246617,-1.428256 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0035.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0035.csv deleted file mode 100644 index aa5d7baf5b6dc5f6ca34a2e69700925aa46250d3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0035.csv +++ /dev/null @@ -1,500 +0,0 @@ -179.56,395.56,2378,1.541,1.29453,-1.448102 -196.264,85.672,2379,1.394528,-0.7142729,-1.562104 -199.72,287.56,2389,1.636628,0.7510104,-2.512239 -177.256,71.84801,2398,1.486951,-0.770555,-1.486227 -161.704,70.12001,2400,1.577649,-0.7739859,-1.456519 -155.08,73,2417,1.606488,-0.7513014,-1.41261 -195.9184,83.94402,2418,1.41002,-0.7271897,-1.624091 -189.352,394.984,2427,1.473444,1.286002,-1.427235 -231.4,337.96,2456,1.343032,1.102273,-2.250964 -233.9068,380.2201,2512,1.248096,1.342644,-1.85237 -244.648,267.112,2544,1.132756,0.5113858,-1.735491 -284.68,349.48,2562,0.9254647,1.309,-2.538838 -196.264,78.76001,2568,1.37572,-0.7257274,-1.488008 -255.88,356.68,2595,1.185131,1.379446,-2.532399 -206.2864,291.304,2603,1.62838,0.8151554,-2.655568 -284.6685,386.6897,2605,0.8872447,1.423508,-1.951578 -204.2128,349.3648,2610,1.456015,1.105111,-1.821969 -180.1591,391.6663,2617,1.508481,1.245566,-1.355563 -358.12,310.6,2629,0.3087142,1.063601,-2.956187 -339.688,369.064,2665,0.5013182,1.275885,-1.855984 -237.736,381.16,2730,1.208778,1.285855,-1.578591 -428.68,317.8,2749,-0.1494881,0.8941931,-1.795776 -326.44,106.12,2772,0.5758639,-0.6465085,-2.078716 -176.68,71.56001,2773,1.479824,-0.7494395,-1.358321 -201.448,272.296,2779,1.63153,0.6122193,-2.399122 -234.28,267.112,2781,1.385769,0.5959311,-2.540175 -227.368,360.424,2797,1.433621,1.316987,-2.35159 -172.072,73.576,2812,1.514743,-0.7375496,-1.40631 -144.424,68.39201,2814,1.687413,-0.7788061,-1.417492 -291.88,284.68,2815,0.8654929,0.8075405,-2.761051 -204.904,320.68,2819,1.566626,0.9950833,-2.306188 -366.7831,391.6663,2822,0.4068815,0.8213202,-0.067297 -344.872,286.12,2849,0.4452977,0.8048863,-2.857093 -212.5072,268.4944,2855,1.568521,0.6244023,-2.520602 -399.1313,102.6064,2856,0.004306814,-0.6667564,-2.081217 -208.36,347.2913,2858,1.594688,1.261283,-2.384779 -389.178,359.3182,2859,0.1896406,1.028624,-1.26528 -389.178,339.4116,2865,0.1633245,0.9511689,-1.437486 -359.7328,378.3953,2870,0.3472688,1.377651,-1.958771 -195.089,78.13794,2873,1.414083,-0.754631,-1.601458 -202.554,292.1335,2875,1.613433,0.773618,-2.392587 -356.8298,371.7598,2876,0.3515897,1.341943,-2.022709 -364.2948,103.0211,2881,0.2927352,-0.6442573,-1.891127 -381.713,98.0445,2903,0.1671513,-0.6764743,-1.931814 -481.96,411.4,2948,-0.2250664,1.120693,-0.6604453 -277.48,388.072,2992,0.8773797,1.220104,-1.361581 -183.88,397,3002,1.469145,1.26202,-1.291045 -433,281.8,3022,-0.183015,0.6065298,-1.664455 -335.08,107.56,3033,0.465221,-0.650416,-2.027106 -388.36,358.12,3047,0.1838991,0.9932836,-1.182082 -329.32,370.792,3048,0.5506482,1.280917,-1.84974 -180.712,394.984,3051,1.47452,1.226084,-1.269518 -469,371.08,3055,-0.2768836,1.047151,-1.098101 -481.384,412.264,3058,-0.3149958,1.267925,-1.032522 -463.24,401.32,3063,-0.2571674,1.228772,-1.117452 -255.016,332.776,3065,1.193018,1.145053,-2.597834 -486.28,408.52,3066,-0.3402095,1.220516,-0.9805807 -184.168,396.712,3068,1.46183,1.251358,-1.31274 -487.72,353.8,3074,-0.362099,0.9495314,-1.025357 -488.2961,388.072,3075,-0.4491936,1.226868,-1.32339 -469.2881,372.5201,3087,-0.2144969,0.9825872,-0.8466408 -394.12,369.64,3088,0.1211423,1.160059,-1.449672 -458.92,353.512,3091,-0.1962768,0.9344669,-1.006081 -382.888,403.624,3094,0.2158233,1.282056,-1.197917 -424.36,313.768,3095,-0.1934117,0.9279829,-2.082305 -496.36,323.56,3097,-0.5788905,0.8685671,-1.567604 -488.2961,355.5857,3100,-0.3392889,0.9329064,-0.9446489 -145.3226,396.643,3102,1.668416,1.208718,-1.203201 -473.7809,396.643,3103,-0.1758766,1.041912,-0.6325834 -474.472,384.616,3106,-0.393126,1.254975,-1.443323 -428.9911,346.8766,3108,-0.09925772,0.9649795,-1.329036 -433,282.664,3109,-0.1657085,0.6007231,-1.591051 -417.7937,397.0576,3111,-0.0228284,1.301197,-1.359626 -488.2961,392.9105,3115,-0.4617027,1.27657,-1.350013 -443.9211,244.8554,3119,-0.3282748,0.3691241,-1.989021 -463.2305,362.9014,3121,-0.1942793,0.9513431,-0.9494784 -465.4865,349.3648,3125,-0.2086892,0.8851907,-0.9661761 -442.9258,338.4163,3130,-0.1803247,0.9453033,-1.386182 -458.851,351.8532,3140,-0.1754367,0.8942075,-0.949108 -231.1696,96.38561,3154,1.165419,-0.6810305,-1.73222 -235,354,2292,1.256242,1.160125,-1.893069 -179.8,397,2310,1.559909,1.327916,-1.516439 -145,70.12,2354,1.673072,-0.766057,-1.436342 -195.4,84.52,2359,1.388487,-0.7005162,-1.546075 -195.4,88.84,2360,1.38318,-0.669161,-1.519562 -143.56,67.24001,2362,1.682883,-0.7874752,-1.441945 -126.28,64.36,2375,1.762663,-0.7847692,-1.376272 -195.4,78.76,2385,1.393849,-0.7446769,-1.549495 -171.0352,71.50241,2399,1.52233,-0.7638435,-1.477715 -146.152,69.42881,2422,1.639227,-0.7550142,-1.34746 -202.1392,280.936,2425,1.430144,0.5965364,-1.721025 -215,272,2439,1.508999,0.6222438,-2.522881 -267,286,2441,1.090105,0.7862125,-2.746736 -297,291,2443,0.8214092,0.8093026,-2.570923 -308,316,2446,0.734062,1.078717,-2.811244 -297,326,2447,0.8325937,1.158698,-2.777317 -304.6,283,2453,0.7546797,0.7569688,-2.758354 -305,352,2457,0.7426367,1.380623,-2.704 -296,269,2465,0.8335212,0.6550421,-2.880173 -270,273,2467,1.068091,0.6794175,-2.791488 -302,278,2468,0.7864863,0.7483765,-2.965509 -296,273,2473,0.8318927,0.6864983,-2.847313 -272,328,2474,1.065753,1.164819,-2.751824 -259,352,2475,1.156881,1.33948,-2.592768 -266,328,2478,1.108244,1.167326,-2.748583 -291,270,2482,0.8912174,0.6680389,-2.958665 -282,279,2485,0.96095,0.7261516,-2.784035 -205,388.6,2486,1.379525,1.265963,-1.475668 -183.4,397,2487,1.511341,1.304717,-1.434837 -181,70.60001,2488,1.458639,-0.769758,-1.486378 -267,293,2496,1.102445,0.8664629,-2.85044 -227.8,296.2,2497,1.327526,0.7958924,-2.187994 -281,330,2500,0.972818,1.191104,-2.763934 -202.6,321.4,2504,1.604813,1.0257,-2.432622 -271,323.8,2506,1.061673,1.12124,-2.741513 -285,350,2511,0.9461756,1.368795,-2.764357 -279,350,2517,0.9993761,1.386734,-2.813605 -268,275,2521,1.069497,0.6789295,-2.654382 -270,270,2524,1.059142,0.6416683,-2.748162 -297,340,2526,0.8345997,1.291624,-2.794585 -291,289,2527,0.8756263,0.8085113,-2.682734 -258,337,2529,1.167406,1.212267,-2.586101 -285.4,352.6,2531,0.9246532,1.303196,-2.457267 -215,275,2534,1.457863,0.6314726,-2.281201 -293.8,274.6,2535,0.870213,0.6993302,-2.97698 -266,324,2536,1.095653,1.110501,-2.628569 -294,321,2537,0.8636653,1.17193,-3.087498 -277,279,2539,0.9979085,0.7163987,-2.729758 -215.8,291.4,2541,1.495499,0.7783147,-2.460562 -265,288,2542,1.088944,0.8009121,-2.59933 -256.6,283,2545,1.171881,0.7355893,-2.643986 -278.92,281.8,2553,0.9748164,0.7610034,-2.758778 -265.96,286.12,2554,1.08769,0.7774913,-2.701769 -285.4,350.2,2558,0.9400489,1.359036,-2.748213 -247,323,2564,1.252047,1.069578,-2.516573 -279.4,275.8,2565,0.9844655,0.7108158,-2.812779 -283,281.8,2571,0.9488875,0.7255023,-2.737074 -277,281.8,2576,0.9949472,0.7328716,-2.662349 -202.6,357.4,2577,1.487957,1.185708,-1.915432 -213,277,2582,1.491892,0.6452996,-2.378582 -154.4464,71.50241,2585,1.597024,-0.7346603,-1.377055 -202.6,348.04,2587,1.480815,1.109633,-1.884678 -271.72,323.56,2589,1.057727,1.114889,-2.7327 -214.12,350.92,2590,1.512767,1.275044,-2.414222 -278.92,276.04,2593,0.9802423,0.6991296,-2.73684 -213.4,295,2597,1.523685,0.8099101,-2.461427 -256,332,2602,1.197173,1.178997,-2.642525 -206.2864,299.5984,2620,1.375977,0.707913,-1.623422 -200,272,2623,1.645359,0.6140298,-2.432483 -228,315,2628,1.431914,0.9921225,-2.445104 -418.6,309.4,2630,-0.1808231,1.001287,-2.614491 -319,318,2631,0.6659657,1.102474,-2.85378 -419.8,319,2632,-0.1729637,0.9941748,-2.299935 -271,323,2633,1.101319,1.12654,-2.75968 -321,324,2634,0.6398998,1.099218,-2.557228 -304,348,2640,0.8233884,1.411584,-2.925274 -441.64,348.04,2641,-0.1431553,0.9782283,-1.30524 -391,358,2642,0.1772916,1.035839,-1.296103 -237.16,381.16,2644,1.195299,1.259414,-1.565399 -422,369,2645,-0.1626105,1.339035,-2.098926 -366,373,2646,0.2915708,1.347719,-1.974653 -205,393.4,2648,1.368618,1.273609,-1.334166 -436,384,2649,-0.2156356,1.401743,-1.869489 -415,399,2650,0.004652334,1.353711,-1.44193 -366,105,2651,0.2698509,-0.6284955,-1.976436 -417,241,2652,-0.1375826,0.3707583,-2.169357 -295,287,2655,0.873256,0.8047249,-2.774862 -314.2,286.6,2656,0.6677545,0.7708361,-2.66992 -204,299,2658,1.601013,0.8219822,-2.351891 -281,294,2659,1.003385,0.8607857,-2.740865 -307,310,2661,0.7669675,1.053728,-2.861042 -428,314,2662,-0.1608616,0.8873728,-1.908793 -292,322,2663,0.9081718,1.114629,-2.78289 -364,343,2664,0.2741674,1.338466,-2.812036 -404,397,2666,0.06597369,1.370773,-1.52315 -337,266,2667,0.4894502,0.5789086,-2.46803 -365,269,2668,0.2606733,0.6581296,-2.830321 -201,294,2669,1.64141,0.795868,-2.423435 -257,297,2670,1.206041,0.8699401,-2.658242 -317,301,2671,0.6813639,0.9497729,-2.818178 -335,107,2677,0.4910068,-0.6366903,-2.067569 -258,315,2678,1.206952,1.035452,-2.66537 -364,309,2679,0.2783242,0.965017,-2.53505 -389,357,2681,0.199523,1.019032,-1.242673 -331,372,2682,0.5611176,1.293826,-1.834617 -162.28,80.2,2683,1.596768,-0.7242953,-1.442747 -211,294,2687,1.563984,0.8038904,-2.470475 -292,326,2688,0.8857103,1.10071,-2.536383 -326,368,2689,0.6054962,1.342226,-2.069701 -392,98,2690,0.0543651,-0.7245461,-2.235365 -316,269,2691,0.6904562,0.6540698,-2.922261 -148,64,2692,1.636525,-0.7802248,-1.336488 -213,288,2693,1.608853,0.7944976,-2.711638 -310,348,2694,0.7538781,1.36529,-2.811234 -362,284,2696,0.2585104,0.813923,-2.73929 -364,312,2697,0.2617739,0.971537,-2.485421 -203,351,2698,1.617924,1.252978,-2.327292 -363,287,2699,0.2678089,0.8355656,-2.891735 -309,295,2700,0.7595372,0.8863267,-2.845778 -405,99,2702,-0.06227485,-0.7270134,-2.309444 -315.4,271,2703,0.6894639,0.6836003,-2.858253 -204,361,2704,1.589456,1.324816,-2.262027 -212,351,2705,1.558394,1.270167,-2.406441 -323.8,320.2,2706,0.6280374,1.109962,-2.764353 -380,97,2708,0.144771,-0.6873445,-2.082413 -373,94,2709,0.2190466,-0.6720769,-1.870059 -327.4,106.6,2710,0.5456803,-0.6112669,-1.935488 -364,335,2712,0.2719695,1.268918,-2.824771 -265,306,2713,1.116303,0.9245853,-2.529258 -416,220,2714,-0.1413427,0.2305655,-2.303573 -245.8,268.6,2716,1.212095,0.5625029,-2.200174 -200.2,272.2,2717,1.643871,0.6181203,-2.428747 -255.4,295,2723,1.185436,0.8505508,-2.504121 -317.8,306.28,2724,0.6644188,1.000667,-2.876331 -341.8,322.6,2725,0.4627195,1.147667,-2.813642 -323.8,338.2,2726,0.6416956,1.259929,-2.606052 -391,341.8,2727,0.1804224,0.9343729,-1.291876 -388.6,357.4,2729,0.2012731,1.002989,-1.19879 -163.72,398.44,2731,1.602911,1.263488,-1.278907 -365.8,104.2,2734,0.2743939,-0.6209522,-1.922936 -321.4,269.8,2735,0.6391379,0.6578335,-2.83119 -353.8,290.2,2737,0.3420745,0.8790659,-2.972865 -305.8,293.8,2738,0.7920893,0.8960464,-2.94749 -343,317,2739,0.4480279,1.107106,-2.879116 -272.2,327.4,2741,1.074812,1.131564,-2.626321 -202.6,353.8,2742,1.594997,1.2648,-2.266188 -317.8,290.2,2743,0.6733682,0.8484868,-2.83749 -385.48,372.52,2745,0.1751048,1.278092,-1.756315 -402,99,2746,-0.03227396,-0.7022207,-2.224884 -292.6,292.6,2747,0.8977464,0.8457729,-2.735722 -315.4,321.4,2748,0.6957921,1.132375,-2.839525 -214.6,351.4,2751,1.573035,1.313202,-2.49841 -344,268,2752,0.4432631,0.6517958,-2.86786 -209.8,290.2,2753,1.577568,0.7785419,-2.494398 -425.8,313.48,2754,-0.1408781,0.8759422,-1.84366 -337,322,2755,0.5094178,1.148554,-2.827848 -280.6,293.8,2757,1.008,0.8604282,-2.727012 -265,323.8,2758,1.13231,1.104705,-2.633806 -202.6,347.8,2759,1.570333,1.198636,-2.215457 -254,353,2760,1.224173,1.331093,-2.524127 -317,338,2762,0.6883512,1.273729,-2.764915 -267.4,274.6,2764,1.108303,0.6791872,-2.668377 -296.2,289,2765,0.8658454,0.8091039,-2.75492 -301,278.2,2766,0.8074933,0.7477573,-2.774847 -394.6,97,2768,0.02256366,-0.7509164,-2.302131 -350.2,295,2769,0.3583599,0.9179149,-3.061948 -208.6,273.4,2770,1.575781,0.6284101,-2.482097 -355,275.8,2771,0.318824,0.7543316,-3.040238 -204.04,339.4,2774,1.58122,1.15115,-2.277862 -202.6,291.88,2776,1.58929,0.7538743,-2.301926 -402.76,401.32,2777,0.09825372,1.338521,-1.355837 -408.52,392.68,2780,0.04517389,1.345986,-1.520711 -415,398.2,2783,-0.01775346,1.394548,-1.593975 -245.8,267.4,2786,1.245437,0.591669,-2.43415 -337.96,320.68,2789,0.4648487,1.166694,-3.102616 -394,371,2792,0.1143973,1.280013,-1.772586 -317.8,284.68,2794,0.6696897,0.7867751,-2.844494 -345.16,286.12,2795,0.449961,0.8988688,-3.204935 -373.96,96.04,2799,0.2285699,-0.6757069,-1.843282 -360.424,268.84,2800,0.282403,0.6803443,-2.99142 -215.56,271.72,2808,1.516675,0.6234987,-2.427613 -352.36,290.44,2813,0.3432215,0.8901902,-3.043315 -398.44,102.952,2817,-0.01079715,-0.6968489,-2.324377 -187.624,64.936,2823,1.390339,-0.765909,-1.333412 -177.256,401.2049,2826,1.486869,1.237922,-1.157018 -204.904,339.688,2828,1.570984,1.145329,-2.288577 -362.152,336.232,2829,0.2995999,1.261948,-2.755758 -203.176,350.056,2830,1.56293,1.208126,-2.234782 -388.072,358.696,2831,0.1985725,1.039442,-1.268017 -365.9536,368.0273,2832,0.2974962,1.310112,-1.953407 -160.6672,69.42881,2834,1.575935,-0.7605,-1.39574 -244.36,97.48,2835,1.1038,-0.6369571,-1.60473 -204.904,358.696,2837,1.587638,1.310433,-2.325015 -381.16,96.04001,2840,0.1627014,-0.6760753,-1.928584 -363.88,102.952,2841,0.2672416,-0.6474986,-2.073333 -400.168,396.712,2843,0.08870835,1.346978,-1.46812 -363.88,99.49601,2844,0.2765139,-0.7055579,-2.16045 -384.616,372.5201,2846,0.1930459,1.177567,-1.521826 -204.904,301.672,2851,1.611146,0.8644357,-2.446614 -365.2902,371.2621,2852,0.2945992,1.256242,-1.713753 -358.696,286.12,2854,0.2920238,0.8333353,-2.951809 -204.2128,320.3344,2862,1.582572,1.016192,-2.389933 -206.2864,357.6592,2863,1.598339,1.336792,-2.382807 -237.3904,380.4688,2866,1.23345,1.305506,-1.739791 -177.256,71.50241,2867,1.507457,-0.778397,-1.522466 -365.9536,102.6064,2868,0.2822007,-0.6337218,-1.884449 -371.7598,100.5328,2880,0.2112989,-0.6736529,-2.052624 -401.1219,350.3602,2882,0.1537462,0.8991222,-0.9711707 -404.1079,356.8298,2883,0.1482417,0.9273629,-0.9355437 -399.1313,324.4817,2887,0.1255598,0.8717831,-1.381983 -245.8508,96.55151,2889,1.109899,-0.6562327,-1.671563 -335.4303,108.4955,2890,0.4887072,-0.5751106,-1.744274 -227.9348,96.55151,2891,1.192769,-0.65356,-1.701989 -234.9021,381.713,2892,1.208796,1.25438,-1.554476 -207.033,368.2761,2898,1.54792,1.324256,-2.149634 -357.6592,285.0833,2906,0.3173092,0.8161871,-2.881466 -371.2621,99.5375,2910,0.2327491,-0.6399055,-1.809494 -389.178,338.4163,2912,0.1990404,0.8842389,-1.181615 -389.178,362.3042,2913,0.2061716,1.013683,-1.12974 -127,64.60001,2920,1.745615,-0.7981971,-1.33573 -417,100,2921,-0.1555313,-0.6967536,-2.127778 -245,269,2922,1.282154,0.6049415,-2.712371 -291,273,2923,0.881153,0.6633635,-2.834744 -434,276,2924,-0.1914555,0.5631304,-1.677603 -495,276,2925,-0.4904572,0.5326326,-1.329546 -280,283,2926,0.9772353,0.7392776,-2.725803 -317.8,284.2,2927,0.6298406,0.7902954,-2.881339 -213,295,2928,1.515786,0.7930872,-2.46663 -489,303,2929,-0.4667574,0.7005631,-1.342426 -419,310,2930,-0.1496183,0.9074634,-2.112701 -321,320,2931,0.6112021,1.0894,-2.79258 -497,324,2932,-0.5107921,0.8594697,-1.333186 -297,344,2933,0.8400131,1.315215,-2.837508 -227.8,352.6,2934,1.40362,1.288195,-2.465643 -490,371,2935,-0.4621901,1.129768,-1.331527 -438,385,2936,-0.229467,1.356875,-1.731751 -319,391,2937,0.6153762,1.269982,-1.414484 -480,408,2938,-0.3414864,1.272127,-1.098887 -462,411,2939,-0.2198745,1.268388,-1.028998 -498,424,2940,-0.3715648,1.273524,-0.8522621 -233.8,268.6,2941,1.349672,0.5881888,-2.552046 -463,272,2942,-0.4363725,0.5731149,-1.856422 -460,273,2943,-0.4468915,0.589492,-2.028621 -280,276,2944,0.9726943,0.6798219,-2.723762 -306,293,2945,0.7501559,0.8539633,-2.854767 -245.8,295,2946,1.203168,0.7740815,-2.327483 -258,334,2947,1.160138,1.153224,-2.58564 -321,304,2949,0.6190107,0.9486969,-2.833746 -467,311,2950,-0.3736241,0.7882165,-1.531486 -430.6,321.4,2951,-0.1473954,0.8751074,-1.60384 -225.4,356.2,2952,1.421507,1.30946,-2.453642 -381.4,403,2953,0.2353925,1.251306,-1.137025 -493,421,2954,-0.3575455,1.272619,-0.9079759 -200,275,2955,1.61437,0.6224473,-2.430674 -431,312,2956,-0.2283057,0.8812394,-2.022687 -500,324,2957,-0.5239537,0.8326117,-1.332063 -203,357,2958,1.577627,1.287486,-2.327035 -199,395.8,2959,1.392983,1.272219,-1.362815 -146.2,399.4,2960,1.672141,1.234251,-1.21624 -195.4,79,2961,1.383006,-0.7552248,-1.521683 -445,242,2962,-0.3601262,0.3689407,-2.144302 -162,72,2963,1.553752,-0.7651457,-1.371799 -177.4,74.2,2964,1.50535,-0.7921153,-1.541105 -417,228,2965,-0.1384744,0.2634107,-2.08884 -315,286,2966,0.6727819,0.7765993,-2.790749 -202.6,319,2967,1.57644,0.9787799,-2.358577 -479,413,2968,-0.3536298,1.314896,-1.135127 -444,272,2969,-0.2972013,0.5736908,-1.910357 -217,350,2970,1.488943,1.251939,-2.422478 -229,360,2971,1.397216,1.346537,-2.449005 -452,254,2972,-0.3919252,0.4487371,-1.978409 -203,348,2973,1.569406,1.2096,-2.321248 -161.8,80.2,2974,1.559028,-0.7198718,-1.366208 -255,314,2975,1.183265,0.9828475,-2.596097 -471,334,2976,-0.2643675,0.8114308,-0.996582 -460,355,2977,-0.2088088,0.9407712,-1.035634 -460,371,2978,-0.3523981,1.227185,-1.661541 -387,374,2979,0.1334206,1.29087,-1.824517 -381,100,2980,0.1233552,-0.710782,-2.117519 -433,281.8,2981,-0.1811095,0.601222,-1.661037 -293,292,2982,0.872344,0.8423816,-2.830169 -438,372,2983,-0.3012884,1.360822,-2.073707 -452,272,2984,-0.376123,0.5697711,-1.932274 -390,333,2985,0.1693523,0.8773575,-1.264452 -215,354,2986,1.505211,1.283539,-2.411386 -143.8,67,2987,1.659907,-0.7961546,-1.390289 -203,323,2988,1.570852,1.004987,-2.34591 -165,69,2989,1.537615,-0.7865566,-1.416007 -160.84,71.56001,2990,1.570159,-0.7780039,-1.443461 -257.8,299.8,2991,1.177396,0.8778132,-2.672114 -201.4,291.4,2993,1.586224,0.7421339,-2.382915 -430.6,310.6,2994,-0.2190497,0.869056,-2.002977 -232.84,327.88,2995,1.298312,1.036888,-2.246603 -497.8,328.6,2996,-0.4910546,0.8195827,-1.21507 -495.4,338.2,2997,-0.5144458,0.9320109,-1.359156 -297.4,343,2998,0.8305256,1.277085,-2.705463 -469,370.6,2999,-0.3893909,1.193277,-1.561354 -202.6,394.6,3000,1.347351,1.242292,-1.316522 -146.44,398.44,3001,1.670293,1.229008,-1.217594 -159.4,68.2,3003,1.546914,-0.766634,-1.287532 -292.6,285.4,3004,0.865767,0.765911,-2.732613 -225.4,317.8,3005,1.422085,0.9909442,-2.478402 -255.4,332.2,3006,1.182972,1.139375,-2.569012 -278.2,350.2,3007,0.9939702,1.324105,-2.639351 -259,352.6,3008,1.155815,1.318198,-2.559846 -435.4,383.8,3009,-0.2195516,1.351625,-1.744368 -401.8,100.6,3010,-0.05207665,-0.7237578,-2.228497 -200.2,287.8,3011,1.615319,0.7247325,-2.424942 -319,308.2,3012,0.636342,0.9851292,-2.81529 -291.4,322.6,3013,0.8813834,1.086504,-2.721155 -479.8,407.8,3014,-0.321923,1.249868,-1.021333 -491.8,419.8,3015,-0.3564859,1.275748,-0.9133911 -256.6,350.2,3016,1.175397,1.295018,-2.553131 -309.4,367,3017,0.7145894,1.342203,-2.218233 -422.2,369.4,3018,-0.1811664,1.358999,-2.12112 -491,414,3019,-0.3452363,1.2455,-0.9027593 -235.72,267.4,3020,1.326374,0.5662228,-2.533424 -443.8,272.2,3021,-0.3080822,0.5726097,-1.921493 -232.6,335.8,3023,1.366272,1.150294,-2.486576 -471,387,3024,-0.4420844,1.354741,-1.733377 -470.44,418.6,3025,-0.282635,1.32936,-1.063356 -460.6,370.6,3026,-0.2053612,1.031451,-1.017186 -403,103,3027,-0.05093431,-0.697659,-2.187019 -319,317.8,3028,0.6460779,1.100255,-2.913523 -430.12,322.12,3029,-0.2171654,0.9544714,-2.009874 -490.6,341.8,3030,-0.3410296,0.8489478,-0.8923246 -469,381.4,3031,-0.4018249,1.282757,-1.599643 -381.4,98.2,3032,0.121513,-0.7014843,-2.039462 -498,354,3034,-0.3593613,0.8915871,-0.8307697 -308.2,279.4,3035,0.7553239,0.7146637,-2.997076 -308.2,314.2,3036,0.7265874,1.029383,-2.779205 -310.6,347.8,3037,0.7248098,1.35388,-2.852365 -289,289,3038,0.8776726,0.7638286,-2.624333 -211,349,3039,1.547222,1.246509,-2.41747 -404.2,99.4,3040,-0.04240008,-0.6896589,-1.984476 -232.84,271.72,3041,1.360067,0.6122174,-2.53796 -494.92,277.48,3042,-0.5301302,0.5535194,-1.433188 -430.12,310.6,3043,-0.2165513,0.8655306,-2.008452 -489.16,388.36,3044,-0.4438855,1.219073,-1.292168 -490.6,404.2,3045,-0.3424707,1.176302,-0.8957151 -204.04,358.12,3046,1.567906,1.288898,-2.304863 -402.76,397,3049,0.08197452,1.283308,-1.316143 -461.8,271.72,3050,-0.3884096,0.5448942,-1.754129 -444.52,242.92,3052,-0.3200652,0.3562128,-1.955727 -235.72,286.12,3053,1.335257,0.6984375,-2.51282 -460.36,371.08,3054,-0.2062843,1.027316,-1.013869 -381.16,402.76,3056,0.2257313,1.306841,-1.267467 -478.6,417.4,3057,-0.343797,1.345843,-1.129246 -490.6,342.28,3059,-0.3432072,0.8399647,-0.9013482 -458.92,353.8,3060,-0.1907502,0.9263488,-0.9833287 -394.12,97.48,3061,0.04932161,-0.6792784,-1.887457 -458.92,376.84,3062,-0.33683,1.256498,-1.638872 -480.52,407.08,3064,-0.3453293,1.26959,-1.103371 -470.44,386.92,3067,-0.3102154,1.186773,-1.158259 -404.2,98.92001,3069,-0.01969358,-0.6793324,-1.917043 -445.096,242.92,3070,-0.3090301,0.3477225,-1.928617 -379.432,401.896,3071,0.2334325,1.285232,-1.236049 -494.5169,276.7888,3072,-0.595409,0.5816075,-1.591933 -495.208,337.96,3073,-0.5131522,0.9204167,-1.352768 -401.896,401.896,3076,0.07744662,1.313529,-1.334623 -462.376,401.896,3077,-0.2619114,1.23117,-1.140835 -443.368,272.296,3078,-0.28923,0.5585495,-1.853163 -455.4641,348.328,3079,-0.2190098,0.9277112,-1.18112 -334.504,104.68,3080,0.4752243,-0.6446707,-1.913062 -460.648,270.568,3081,-0.3785965,0.5442203,-1.719204 -429.544,310.312,3082,-0.1572075,0.7962455,-1.682275 -491.752,343.144,3083,-0.3544709,0.8418476,-0.9220437 -458.92,375.976,3084,-0.3251838,1.245876,-1.608294 -481.384,408.808,3085,-0.3512974,1.264828,-1.107815 -502.8113,324.4817,3086,-0.5831016,0.8789271,-1.477904 -488.2961,394.984,3089,-0.4212442,1.246583,-1.224193 -431.272,324.136,3090,-0.1388143,0.8666824,-1.523361 -403.624,99.49601,3092,-0.0609218,-0.7015913,-2.106432 -453.0449,256.0529,3093,-0.3700591,0.4421912,-1.920293 -393.256,97.76801,3096,0.05645318,-0.6764889,-1.873844 -434.3824,278.8624,3098,-0.1982532,0.5858216,-1.686262 -492.4433,341.0704,3099,-0.3598954,0.8301179,-0.9078447 -384.6161,370.1009,3101,0.1663702,1.178607,-1.551792 -459.2657,374.248,3104,-0.3355257,1.237784,-1.627897 -488.2961,384.6161,3105,-0.446911,1.206671,-1.318164 -446.8241,243.6112,3107,-0.356263,0.3665672,-2.072382 -409.4993,390.8369,3110,0.01341908,1.301581,-1.471682 -469.6337,370.1009,3112,-0.2616448,1.023762,-1.016097 -461.3393,270.568,3113,-0.4258592,0.5515211,-1.872541 -444.7505,347.2913,3114,-0.172839,0.9561313,-1.277175 -444.7505,270.568,3116,-0.3204166,0.564207,-1.94361 -473.7809,380.4688,3117,-0.3738731,1.238975,-1.427268 -392.9105,98.45921,3118,0.06046352,-0.6920201,-1.875958 -428.9911,326.97,3120,-0.07083936,0.826013,-1.307744 -443.9211,269.7386,3122,-0.1849239,0.5188344,-1.492626 -207.5306,319.505,3123,1.536981,0.9869878,-2.375975 -446.4094,346.8766,3124,-0.1821184,0.957379,-1.312033 -244.8554,98.0445,3126,1.088462,-0.655227,-1.688694 -468.8043,371.7598,3127,-0.2338502,0.9802964,-0.9199985 -409.0846,105.5095,3128,-0.07358977,-0.644049,-1.986508 -401.6196,349.3649,3129,0.1083012,0.9430517,-1.183031 -451.386,359.3182,3131,-0.1214452,0.9220979,-0.8644038 -458.851,269.7386,3132,-0.3717965,0.5301623,-1.769239 -427.9958,347.3742,3133,-0.09287135,0.9799719,-1.371337 -320.5004,105.5095,3134,0.5608873,-0.6207955,-1.886227 -442.9258,245.8508,3135,-0.2895582,0.3689455,-1.815847 -395.15,326.4724,3136,0.1283776,0.8260946,-1.288666 -463.8276,350.3602,3137,-0.2170454,0.8928897,-0.9484531 -460.8417,362.3042,3138,-0.1836084,0.9520803,-0.9332814 -445.9117,347.3742,3139,-0.1773541,0.9457879,-1.237566 -326.4724,371.2621,3141,0.556438,1.219949,-1.685977 -398.136,368.2761,3142,0.02741046,1.302144,-1.964994 -380.2201,371.2621,3143,0.1865219,1.256663,-1.779225 -457.8557,269.7386,3144,-0.4261628,0.5445852,-1.948068 -391.5668,337.8191,3145,0.1145816,0.9089655,-1.493093 -430.9818,344.9855,3146,-0.09818079,0.9145004,-1.300444 -416.6491,212.4077,3147,-0.144645,0.1317289,-2.098521 -434.565,284.0714,3148,-0.1977112,0.6381099,-1.639037 -413.0659,327.0695,3149,-0.05897874,0.9766046,-1.832856 -405.8995,348.5686,3150,0.1036927,0.9366741,-1.113141 -445.3145,266.1555,3151,-0.3553651,0.5598346,-2.048983 -430.9818,301.9873,3152,-0.1716709,0.7768216,-1.812289 -232.6,95.8,3153,1.171682,-0.6833607,-1.744989 -229.9255,267.2503,3155,1.219309,0.4863787,-1.757623 -176.2,70.60001,3156,1.494634,-0.8065149,-1.504808 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0036.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0036.csv deleted file mode 100644 index a7eb3cc5ee9305e2af2663e8f53e873eaa4015ff..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0036.csv +++ /dev/null @@ -1,424 +0,0 @@ -56.29601,59.75201,2365,1.588749,-0.7817624,-1.447139 -97.76801,71.84801,2385,1.393849,-0.7446769,-1.549495 -98.0445,78.13794,2418,1.41002,-0.7271897,-1.624091 -147.88,280.36,2452,1.229026,0.5271421,-1.89124 -197.8,293.8,2502,0.9509969,0.751773,-2.729471 -181,340.6,2536,1.095653,1.110501,-2.628569 -159.976,279.208,2544,1.132756,0.5113858,-1.735491 -202.6,365.32,2558,0.9400489,1.359036,-2.748213 -209.8,277.48,2569,0.8496407,0.6649618,-2.872949 -184.6,281.8,2592,1.048331,0.6397353,-2.671238 -135.784,377.704,2611,1.41671,1.310338,-2.366344 -338.4163,317.5144,2630,-0.1808231,1.001287,-2.614491 -284.392,336.232,2635,0.2750892,1.153922,-2.720774 -372.5201,355.24,2641,-0.1431553,0.9782283,-1.30524 -116.2,423.4,2648,1.368618,1.273609,-1.334166 -257.8,273.4,2667,0.4894502,0.5789086,-2.46803 -58.02401,70.12001,2683,1.596768,-0.7242953,-1.442747 -119.8,304.6,2686,1.596028,0.7892013,-2.588329 -251.8227,386.192,2689,0.6054962,1.342226,-2.069701 -284.68,296.2,2696,0.2585104,0.813923,-2.73929 -287.8,320.2,2697,0.2617739,0.971537,-2.485421 -170.2,311.8,2723,1.185436,0.8505508,-2.504121 -153.064,407.08,2730,1.208778,1.285855,-1.578591 -271,302.2,2744,0.3632121,0.8976305,-2.980404 -121.96,373.96,2751,1.573035,1.313202,-2.49841 -219.4,291.4,2766,0.8074933,0.7477573,-2.774847 -75.30401,61.48001,2773,1.479824,-0.7494395,-1.358321 -109.864,306.856,2776,1.58929,0.7538743,-2.301926 -348.04,379.72,2791,-0.192281,1.451742,-2.336727 -260.2,299.08,2795,0.449961,0.8988688,-3.204935 -294.76,101.224,2799,0.2285699,-0.6757069,-1.843282 -212.68,299.08,2815,0.8654929,0.8075405,-2.761051 -115.048,338.9969,2819,1.566626,0.9950833,-2.306188 -115.048,370.1009,2830,1.56293,1.208126,-2.234782 -154.792,94.31201,2835,1.1038,-0.6369571,-1.60473 -332.7761,357.6592,2838,0.1539583,0.902116,-1.021649 -284.392,353.512,2845,0.2945355,1.226721,-2.445527 -295.4512,384.6161,2852,0.2945992,1.256242,-1.713753 -115.4627,371.7598,2858,1.594688,1.261283,-2.384779 -115.4627,339.4116,2862,1.582572,1.016192,-2.389933 -115.4627,381.713,2863,1.598339,1.336792,-2.382807 -299.5985,100.5328,2903,0.1671513,-0.6764743,-1.931814 -293.6265,99.5375,2910,0.2327491,-0.6399055,-1.809494 -241,332.2,2931,0.6112021,1.0894,-2.79258 -112.6,380.2,2958,1.577627,1.287486,-2.327035 -109,424.36,2959,1.392983,1.272219,-1.362815 -57.16,70.12,2974,1.559028,-0.7198718,-1.366208 -109,306.28,2993,1.586224,0.7421339,-2.382915 -424.36,342.28,2997,-0.5144458,0.9320109,-1.359156 -91.72,428.68,3002,1.469145,1.26202,-1.291045 -227.08,326.44,3036,0.7265874,1.029383,-2.779205 -229,362.2,3037,0.7248098,1.35388,-2.852365 -113.32,381.16,3046,1.567906,1.288898,-2.304863 -312.04,417.448,3056,0.2257313,1.306841,-1.267467 -422.92,348.04,3059,-0.3432072,0.8399647,-0.9013482 -404.2,395.56,3067,-0.3102154,1.186773,-1.158259 -419.176,280.936,3072,-0.595409,0.5816075,-1.591933 -427.816,329.32,3086,-0.5831016,0.8789271,-1.477904 -325,379.72,3088,0.1211423,1.160059,-1.449672 -324.4817,102.6064,3092,-0.0609218,-0.7015913,-2.106432 -307.8929,100.5328,3096,0.05645318,-0.6764889,-1.873844 -421.9409,324.4817,3097,-0.5788905,0.8685671,-1.567604 -314.5284,381.713,3101,0.1663702,1.178607,-1.551792 -362.3042,347.3742,3146,-0.09818079,0.9145004,-1.300444 -142.8343,93.06786,3154,1.165419,-0.6810305,-1.73222 -398.44,372.5201,3188,-0.3040242,1.10684,-1.37354 -149.8,404.2,3191,1.24942,1.327652,-1.815496 -392.2,388.6,3194,-0.3099712,1.239602,-1.450884 -97,83.8,3200,1.430847,-0.7148085,-1.656927 -401.2049,338.9969,3208,-0.2659457,0.8311998,-1.082585 -112.6,341.8,3211,1.594354,1.016889,-2.391167 -320.68,368.2,3212,0.1755166,1.016186,-1.250629 -422.92,404.2,3214,-0.3969188,1.225165,-1.109893 -425.8,327.4,3217,-0.5151612,0.8438678,-1.370673 -352.36,319.24,3223,-0.1229539,0.8280845,-1.716421 -113.32,379.72,3227,1.595653,1.294876,-2.351762 -113.32,370.792,3234,1.365527,0.9703379,-1.372357 -134.92,336.52,3239,1.459542,1.01914,-2.54442 -97.48,78.76,3242,1.392289,-0.7072409,-1.508487 -206.2,279.4,3243,0.8950961,0.618655,-2.717738 -334.8496,411.5728,3246,0.1009446,1.281277,-1.255593 -110.2,316.6,3247,1.606199,0.8286512,-2.412476 -120.52,310.6,3248,1.519284,0.7807089,-2.366845 -111.88,337.96,3256,1.586762,0.9775581,-2.342567 -320.68,351.784,3257,0.1716319,0.9241506,-1.268346 -197.992,408.808,3259,0.9170707,1.298258,-1.559386 -89.12801,54.568,3260,1.416978,-0.8273343,-1.451449 -107.56,286.12,3261,1.611832,0.5967897,-2.408915 -175.528,372.5201,3264,1.156965,1.315836,-2.495393 -431.56,434.44,3265,-0.3809793,1.34135,-0.9450009 -116.776,417.448,3266,1.369433,1.255329,-1.408258 -360.424,284.392,3267,-0.1639565,0.5943697,-1.63542 -422.632,405.3521,3276,-0.3210103,1.148004,-0.8783509 -113.32,424.36,3277,1.362884,1.251704,-1.289929 -244.648,108.136,3278,0.5393119,-0.6285744,-1.958163 -424.36,318.952,3279,-0.5090359,0.8211187,-1.378219 -253.288,109.864,3282,0.4794097,-0.6456134,-2.046486 -339.688,407.08,3284,0.03922981,1.314312,-1.423438 -392.9105,365.9536,3287,-0.2068496,0.9506899,-1.035245 -319.505,369.2715,3288,0.1942071,1.012268,-1.200579 -412.84,417.16,3290,-0.3417772,1.314729,-1.143982 -284.6685,391.6663,3293,0.3528331,1.312166,-1.791648 -397.0576,345.2177,3295,-0.2030296,0.8391832,-0.9638417 -391.6663,366.7831,3296,-0.170639,0.9508317,-0.9507654 -290.6405,380.2201,3298,0.2964748,1.2794,-1.931623 -424.0145,338.9969,3300,-0.575404,0.9670517,-1.578493 -359.3182,379.2247,3309,-0.2179711,1.355412,-2.027864 -338.4163,374.2481,3314,0.0641064,1.045253,-1.253881 -148.2256,278.8624,3320,1.143946,0.4527652,-1.364272 -144.3273,276.905,3321,1.217325,0.4704207,-1.674903 -98.45921,77.72321,2379,1.394528,-0.7142729,-1.562104 -122,285,2439,1.508999,0.6222438,-2.522881 -181,298.6,2441,1.090105,0.7862125,-2.746736 -227,328,2446,0.734062,1.078717,-2.811244 -221.8,292.6,2453,0.7546797,0.7569688,-2.758354 -224,367,2457,0.7426367,1.380623,-2.704 -212,280,2465,0.8335212,0.6550421,-2.880173 -220,288,2468,0.7864863,0.7483765,-2.965509 -187,343,2474,1.065753,1.164819,-2.751824 -181,344.2,2478,1.108244,1.167326,-2.748583 -197,290,2485,0.96095,0.7261516,-2.784035 -140.68,313.48,2497,1.327526,0.7958924,-2.187994 -197.8,345.4,2500,0.972818,1.191104,-2.763934 -187,338.2,2506,1.061673,1.12124,-2.741513 -202,366,2511,0.9461756,1.368795,-2.764357 -196,367,2517,0.9993761,1.386734,-2.813605 -182,287,2521,1.069497,0.6789295,-2.654382 -184,281,2524,1.059142,0.6416683,-2.748162 -172,355,2529,1.167406,1.212267,-2.586101 -202.6,368.2,2531,0.9246532,1.303196,-2.457267 -123,290,2534,1.457863,0.6314726,-2.281201 -209.8,284.2,2535,0.870213,0.6993302,-2.97698 -212,334,2537,0.8636653,1.17193,-3.087498 -191.8,290.2,2539,0.9979085,0.7163987,-2.729758 -123.4,306.28,2541,1.495499,0.7783147,-2.460562 -178.6,301,2542,1.088944,0.8009121,-2.59933 -194.2,287.8,2565,0.9844655,0.7108158,-2.812779 -98.45921,71.50241,2568,1.37572,-0.7257274,-1.488008 -198.28,290.44,2571,0.9488875,0.7255023,-2.737074 -186.76,337.96,2589,1.057727,1.114889,-2.7327 -193.96,287.56,2593,0.9802423,0.6991296,-2.73684 -170.2,377.8,2595,1.185131,1.379446,-2.532399 -119.8,310.6,2597,1.523685,0.8099101,-2.461427 -110.9008,307.8929,2603,1.62838,0.8151554,-2.655568 -238,330,2631,0.6659657,1.102474,-2.85378 -186,339,2633,1.101319,1.12654,-2.75968 -242,337,2634,0.6398998,1.099218,-2.557228 -321.4,368.2,2642,0.1772916,1.035839,-1.296103 -348,377,2645,-0.1626105,1.339035,-2.098926 -345.4,407.8,2650,0.004652334,1.353711,-1.44193 -285,107,2651,0.2698509,-0.6284955,-1.976436 -340,247,2652,-0.1375826,0.3707583,-2.169357 -236.2,295,2656,0.6677545,0.7708361,-2.66992 -196,307,2659,1.003385,0.8607857,-2.740865 -226,325,2661,0.7669675,1.053728,-2.861042 -353.8,320.2,2662,-0.1608616,0.8873728,-1.908793 -209,336,2663,0.9081718,1.114629,-2.78289 -170,311,2670,1.206041,0.8699401,-2.658242 -253,109,2677,0.4910068,-0.6366903,-2.067569 -171,331,2678,1.206952,1.035452,-2.66537 -319,368.2,2681,0.199523,1.019032,-1.242673 -255,387,2682,0.5611176,1.293826,-1.834617 -212,339,2688,0.8857103,1.10071,-2.536383 -234,278,2691,0.6904562,0.6540698,-2.922261 -120,304,2693,1.608853,0.7944976,-2.711638 -229,362,2694,0.7538781,1.36529,-2.811234 -226,306,2700,0.7595372,0.8863267,-2.845778 -324,102,2702,-0.06227485,-0.7270134,-2.309444 -113,385,2704,1.589456,1.324816,-2.262027 -301,101,2708,0.144771,-0.6873445,-2.082413 -293,96,2709,0.2190466,-0.6720769,-1.870059 -245.8,107.8,2710,0.5456803,-0.6112669,-1.935488 -180,320,2713,1.116303,0.9245853,-2.529258 -338,227,2714,-0.1413427,0.2305655,-2.303573 -159.4,280.6,2716,1.212095,0.5625029,-2.200174 -242,355,2726,0.6416956,1.259929,-2.606052 -320.68,350.92,2727,0.1804224,0.9343729,-1.291876 -285.4,106.6,2734,0.2743939,-0.6209522,-1.922936 -111.88,376.84,2742,1.594997,1.2648,-2.266188 -322,103,2746,-0.03227396,-0.7022207,-2.224884 -117.4,305.8,2753,1.577568,0.7785419,-2.494398 -195.4,307,2757,1.008,0.8604282,-2.727012 -113.32,369.64,2759,1.570333,1.198636,-2.215457 -270.28,303.4,2769,0.3583599,0.9179149,-3.061948 -116.2,286.6,2770,1.575781,0.6284101,-2.482097 -113.32,361,2774,1.58122,1.15115,-2.277862 -345.16,407.08,2783,-0.01775346,1.394548,-1.593975 -159.4,280.36,2786,1.245437,0.591669,-2.43415 -317.224,106.408,2817,-0.01079715,-0.6968489,-2.324377 -115.048,359.7328,2828,1.570984,1.145329,-2.288577 -318.952,369.064,2831,0.1985725,1.039442,-1.268017 -115.048,380.4688,2837,1.587638,1.310433,-2.325015 -299.944,99.49601,2840,0.1627014,-0.6760753,-1.928584 -284.392,106.408,2841,0.2672416,-0.6474986,-2.073333 -332.776,408.808,2843,0.08870835,1.346978,-1.46812 -314.1136,380.4688,2846,0.1930459,1.177567,-1.521826 -318.2608,104.68,2856,0.004306814,-0.6667564,-2.081217 -320.5004,347.3742,2865,0.1633245,0.9511689,-1.437486 -285.0833,104.68,2868,0.2822007,-0.6337218,-1.884449 -292.1335,103.0211,2880,0.2112989,-0.6736529,-2.052624 -284.6685,105.5095,2881,0.2927352,-0.6442573,-1.891127 -324.4817,339.4116,2887,0.1255598,0.8717831,-1.381983 -156.2712,93.56553,2889,1.109899,-0.6562327,-1.671563 -254.8087,108.4955,2890,0.4887072,-0.5751106,-1.744274 -141.3413,93.56553,2891,1.192769,-0.65356,-1.701989 -336,104,2921,-0.1555313,-0.6967536,-2.127778 -420,280,2925,-0.4904572,0.5326326,-1.329546 -195,295,2926,0.9772353,0.7392776,-2.725803 -343,320,2930,-0.1496183,0.9074634,-2.112701 -423,327,2932,-0.5107921,0.8594697,-1.333186 -216,359,2933,0.8400131,1.315215,-2.837508 -367,394,2936,-0.229467,1.356875,-1.731751 -413,413,2938,-0.3414864,1.272127,-1.098887 -386,277,2942,-0.4363725,0.5731149,-1.856422 -383,277,2943,-0.4468915,0.589492,-2.028621 -224,305,2945,0.7501559,0.8539633,-2.854767 -173,350,2947,1.160138,1.153224,-2.58564 -239,315,2949,0.6190107,0.9486969,-2.833746 -394,316,2950,-0.3736241,0.7882165,-1.531486 -358.12,329.32,2951,-0.1473954,0.8751074,-1.60384 -427,425,2954,-0.3575455,1.272619,-0.9079759 -426,327,2957,-0.5239537,0.8326117,-1.332063 -97.48,71.56001,2961,1.383006,-0.7552248,-1.521683 -367,247,2962,-0.3601262,0.3689407,-2.144302 -58,62,2963,1.553752,-0.7651457,-1.371799 -75.88,65.8,2964,1.50535,-0.7921153,-1.541105 -232,296,2966,0.6727819,0.7765993,-2.790749 -111.4,338.2,2967,1.57644,0.9787799,-2.358577 -412.6,417.4,2968,-0.3536298,1.314896,-1.135127 -367,278,2969,-0.2972013,0.5736908,-1.910357 -113,370,2973,1.569406,1.2096,-2.321248 -320,345,2985,0.1693523,0.8773575,-1.264452 -112,342,2988,1.570852,1.004987,-2.34591 -170.2,314.2,2991,1.177396,0.8778132,-2.672114 -200.0656,407.4257,2992,0.8773797,1.220104,-1.361581 -147.88,346.6,2995,1.298312,1.036888,-2.246603 -428.68,329.32,2996,-0.4910546,0.8195827,-1.21507 -54.28,57.16,3003,1.546914,-0.766634,-1.287532 -208.6,335.8,3013,0.8813834,1.086504,-2.721155 -347.8,376.6,3018,-0.1811664,1.358999,-2.12112 -367,277,3021,-0.3080822,0.5726097,-1.921493 -393.4,377.8,3026,-0.2053612,1.031451,-1.017186 -238.6,329.32,3028,0.6460779,1.100255,-2.913523 -301,100.6,3032,0.121513,-0.7014843,-2.039462 -253,109,3033,0.465221,-0.650416,-2.027106 -431,359,3034,-0.3593613,0.8915871,-0.8307697 -221.8,287.8,3035,0.7553239,0.7146637,-2.997076 -206.2,298.6,3038,0.8776726,0.7638286,-2.624333 -119.08,371.08,3039,1.547222,1.246509,-2.41747 -323.8,103,3040,-0.04240008,-0.6896589,-1.984476 -420.04,280.36,3042,-0.5301302,0.5535194,-1.433188 -385.48,276.04,3050,-0.3884096,0.5448942,-1.754129 -366.76,247.24,3052,-0.3200652,0.3562128,-1.955727 -146.44,296.2,3053,1.335257,0.6984375,-2.51282 -392.68,378.28,3054,-0.2062843,1.027316,-1.013869 -401.32,375.4,3055,-0.2768836,1.047151,-1.098101 -410,423,3057,-0.343797,1.345843,-1.129246 -412.264,417.448,3058,-0.3149958,1.267925,-1.032522 -313.48,100.36,3061,0.04932161,-0.6792784,-1.887457 -412.84,412.84,3064,-0.3453293,1.26959,-1.103371 -323.56,101.8,3069,-0.01969358,-0.6793324,-1.917043 -367.336,248.104,3070,-0.3090301,0.3477225,-1.928617 -334.504,412.264,3076,0.07744662,1.313529,-1.334623 -397.0576,405.3521,3077,-0.2619114,1.23117,-1.140835 -367.336,275.752,3078,-0.28923,0.5585495,-1.853163 -253.288,104.68,3080,0.4752243,-0.6446707,-1.913062 -384.616,275.752,3081,-0.3785965,0.5442203,-1.719204 -355.24,315.496,3082,-0.1572075,0.7962455,-1.682275 -424.36,346.6,3083,-0.3544709,0.8418476,-0.9220437 -376.3217,262.2737,3093,-0.3700591,0.4421912,-1.920293 -426.0881,345.2177,3099,-0.3598954,0.8301179,-0.9078447 -368.0273,247.7584,3107,-0.356263,0.3665672,-2.072382 -359.7328,285.0833,3109,-0.1657085,0.6007231,-1.591051 -384.6161,274.7152,3113,-0.4258592,0.5515211,-1.872541 -374.248,353.5121,3114,-0.172839,0.9561313,-1.277175 -368.0273,274.7152,3116,-0.3204166,0.564207,-1.94361 -366.7831,249.8321,3119,-0.3282748,0.3691241,-1.989021 -356.8298,331.9466,3120,-0.07083936,0.826013,-1.307744 -395.15,366.4846,3121,-0.1942793,0.9513431,-0.9494784 -366.7831,274.7153,3122,-0.1849239,0.5188344,-1.492626 -117.4534,338.4163,3123,1.536981,0.9869878,-2.375975 -374.2481,354.3415,3124,-0.1821184,0.957379,-1.312033 -394.9841,353.5121,3125,-0.2086892,0.8851907,-0.9661761 -401.6196,376.7364,3127,-0.2338502,0.9802964,-0.9199985 -329.4583,110.4861,3128,-0.07358977,-0.644049,-1.986508 -332.4443,359.3182,3129,0.1083012,0.9430517,-1.183031 -371.2621,344.3882,3130,-0.1803247,0.9453033,-1.386182 -386.6897,366.7831,3131,-0.1214452,0.9220979,-0.8644038 -381.713,274.7153,3132,-0.3717965,0.5301623,-1.769239 -239.8788,108.4955,3134,0.5608873,-0.6207955,-1.886227 -368.2761,251.8227,3135,-0.2895582,0.3689455,-1.815847 -392.164,368.2761,3138,-0.1836084,0.9520803,-0.9332814 -377.2341,353.3462,3139,-0.1773541,0.9457879,-1.237566 -252.3204,386.6897,3141,0.556438,1.219949,-1.685977 -380.2201,272.7246,3144,-0.4261628,0.5445852,-1.948068 -362.9014,291.2377,3148,-0.1977112,0.6381099,-1.639037 -337.8191,337.8191,3149,-0.05897874,0.9766046,-1.832856 -334.2359,359.3182,3150,0.1036927,0.9366741,-1.113141 -370.0677,273.3218,3151,-0.3553651,0.5598346,-2.048983 -142.12,93.16,3153,1.171682,-0.6833607,-1.744989 -144.3273,278.6966,3155,1.219309,0.4863787,-1.757623 -75.88,61.48,3156,1.494634,-0.8065149,-1.504808 -338,230,3157,-0.1561376,0.2403825,-2.278635 -147.4,281.8,3158,1.344482,0.5856432,-2.523569 -220,292,3159,0.7913929,0.7309397,-2.73836 -236,295,3160,0.6602588,0.7788648,-2.872422 -476,336,3161,-0.7333446,0.8568897,-1.116561 -263,345,3162,0.4445298,1.237963,-2.885187 -363,378,3163,-0.254995,1.338798,-2.035787 -195,395,3164,0.9731486,1.350698,-1.99235 -153.4,407.8,3165,1.209743,1.305944,-1.664095 -113.8,424.6,3166,1.371897,1.270919,-1.338763 -86.2,430.6,3167,1.518071,1.28488,-1.321626 -191,435,3168,0.9160405,1.258712,-1.047548 -434,432,3169,-0.4073171,1.343119,-0.9773369 -102,63,3170,1.343262,-0.772928,-1.422403 -246,108,3171,0.5344074,-0.630135,-1.925496 -208,296,3172,0.8934318,0.7630239,-2.768639 -183.4,338.2,3173,1.110658,1.097674,-2.744125 -228,343,3174,0.7482404,1.181988,-2.806644 -241,351.4,3175,0.6386279,1.264983,-2.821082 -192,410,3176,0.9678454,1.352488,-1.703783 -443,433,3177,-0.443244,1.32975,-0.9254091 -240,401,3178,0.6599558,1.312335,-1.673713 -313,101,3179,0.03923199,-0.7067804,-2.108258 -166.6,298.6,3180,1.242648,0.7617979,-2.799424 -57.4,70.60001,3181,1.593126,-0.7375777,-1.453767 -322,105,3182,-0.04396535,-0.6996887,-2.213418 -234,282,3183,0.6662616,0.6616189,-2.799889 -225,292,3184,0.7524371,0.7432722,-2.808254 -112,337,3185,1.587569,0.9722226,-2.351483 -199,371,3186,0.9887749,1.364679,-2.665082 -142.6,375.4,3187,1.403495,1.311189,-2.468204 -35,54,3189,1.677891,-0.8025756,-1.367689 -424,343,3190,-0.5047845,0.9439541,-1.381422 -145,92.2,3192,1.158565,-0.67326,-1.667208 -185,300,3193,1.079047,0.7789797,-2.721195 -91,429.4,3195,1.488381,1.275631,-1.308295 -236,300,3196,0.6666934,0.8165283,-2.814487 -212,302,3197,0.888947,0.842008,-2.93852 -98.2,79,3198,1.405851,-0.7252,-1.584924 -287.8,361,3199,0.2426388,1.310076,-2.571676 -109,425.8,3201,1.393911,1.268755,-1.320503 -53.8,57.4,3202,1.603366,-0.8058441,-1.438375 -237,318,3203,0.6611779,0.9952153,-2.940914 -110.2,334.6,3204,1.602091,0.9555883,-2.362907 -81.4,61,3205,1.461644,-0.7921765,-1.454982 -40.6,70.60001,3206,1.686788,-0.7407023,-1.467766 -185.32,283.24,3207,1.08238,0.6412347,-2.770293 -187,358,3209,1.08624,1.258424,-2.685823 -367,247,3210,-0.3135586,0.3518254,-2.000623 -153.64,407.08,3213,1.181509,1.258911,-1.54598 -263,276,3215,0.4188311,0.6333622,-2.908738 -118.6,284.2,3216,1.55804,0.6061405,-2.553143 -124.84,346.6,3218,1.522828,1.064273,-2.413635 -69,434,3219,1.599124,1.28191,-1.285306 -431.8,428.2,3220,-0.383195,1.306116,-0.9419482 -57.16,61.48,3221,1.590485,-0.7870519,-1.450552 -110.2,310.6,3222,1.597215,0.7788542,-2.384265 -196.6,409,3224,0.9378666,1.332393,-1.646531 -167.8,328.6,3225,1.210574,0.9840194,-2.584524 -355.24,325,3226,-0.1217185,0.8529284,-1.617153 -392.68,394.12,3228,-0.2941157,1.253629,-1.38826 -170.2,331,3229,1.199268,1.011105,-2.632875 -325,381.4,3230,0.1494093,1.088285,-1.292285 -335,408,3231,0.09575956,1.267548,-1.27626 -39.4,51.4,3232,1.652398,-0.8147875,-1.361214 -241.48,333.64,3233,0.6252446,1.111822,-2.774098 -167.8,371.8,3235,1.170435,1.256099,-2.307033 -338.2,406.6,3236,0.04327851,1.330461,-1.464946 -440.2,433,3237,-0.4095123,1.31383,-0.8892187 -122.2,284.2,3238,1.524498,0.5979154,-2.501043 -84,436,3240,1.504325,1.278955,-1.227078 -431.8,435.4,3241,-0.3663082,1.324173,-0.8924102 -97.48,83.08,3244,1.420059,-0.7108122,-1.623175 -182,299,3245,1.085372,0.7755763,-2.654577 -259,283,3249,0.4581169,0.687399,-2.861189 -300.52,100.36,3250,0.1364157,-0.6935061,-2.018535 -291.88,395.56,3251,0.2941917,1.422312,-1.96793 -343.72,404.2,3252,-0.009405635,1.347333,-1.547766 -409.96,430.12,3253,-0.2747099,1.329648,-0.9955833 -284.68,106.12,3254,0.2539203,-0.6558641,-2.011097 -366.76,276.04,3255,-0.2891164,0.5773998,-1.939143 -348.04,376.84,3258,-0.1472177,1.322106,-2.052951 -263.08,382.6,3262,0.4913718,1.336914,-2.036406 -362.44,378.28,3263,-0.08981384,1.119749,-1.331161 -165.16,297.64,3268,1.224382,0.7340311,-2.630931 -119.08,283.24,3269,1.542688,0.5870429,-2.47992 -110.44,317.8,3270,1.605797,0.8384627,-2.416096 -208.6,296.2,3271,0.8815162,0.747916,-2.644649 -422.632,417.448,3272,-0.3337339,1.232907,-0.9383218 -90.85601,68.39201,3273,1.392468,-0.7285113,-1.370257 -306.856,102.952,3274,0.08801534,-0.7005206,-2.037946 -348.328,377.704,3275,-0.1440891,1.358535,-2.079925 -355.5857,314.1136,3280,-0.1520454,0.7878866,-1.711734 -253.9792,384.6161,3281,0.5581556,1.260906,-1.839101 -328.6288,399.1313,3283,0.1379805,1.200092,-1.215207 -390.8369,357.6592,3285,-0.1660918,0.9075828,-0.9470509 -424.0145,405.3521,3286,-0.3811675,1.21824,-1.057247 -260.2,272.6416,3289,0.4465807,0.591503,-2.796591 -391.6663,379.2247,3291,-0.3158724,1.187492,-1.47786 -424.0145,349.3649,3292,-0.3185994,0.8476018,-0.8558552 -359.3182,287.1569,3294,-0.2576683,0.6654344,-2.07817 -419.0379,394.1547,3297,-0.3647794,1.158221,-1.094126 -326.97,379.2247,3299,0.05678413,1.228424,-1.748388 -160.2525,277.2036,3301,1.130528,0.4854709,-1.717716 -359.3182,287.6545,3302,-0.2136682,0.6443795,-1.851746 -338.4163,335.4303,3303,-0.06363969,1.01143,-2.01347 -389.178,359.3182,3304,-0.1765142,0.9184085,-1.002794 -404.1079,377.2341,3305,-0.3377905,1.11857,-1.280714 -389.178,380.2201,3306,-0.1872309,1.063461,-1.07677 -419.0379,281.6826,3307,-0.5040058,0.565351,-1.444935 -425.0098,338.4163,3308,-0.5508982,0.9321887,-1.490084 -427.3987,348.5686,3310,-0.3898853,0.892463,-1.014758 -416.6491,359.3182,3311,-0.3367664,1.027498,-1.073871 -380.8173,273.3218,3312,-0.4232869,0.5693926,-2.067179 -366.4846,334.2359,3313,-0.005365618,0.7533983,-0.849902 -344.9855,341.4023,3315,-0.1463355,1.078463,-2.134927 -427.3987,337.8191,3316,-0.5293734,0.9137447,-1.385453 -398.7332,359.3182,3317,-0.2356641,0.908479,-1.018303 -384.4005,355.735,3318,-0.2048161,0.9193974,-1.17427 -286.12,348.04,3319,0.2956003,1.132015,-2.276471 -154.6,94.60001,3322,1.10568,-0.6738784,-1.710855 -97,62,3323,1.413588,-0.8318955,-1.612997 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0037.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0037.csv deleted file mode 100644 index 34015d2aa016207b672beee3718e2d1e21573dbf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0037.csv +++ /dev/null @@ -1,462 +0,0 @@ -70.12001,284.392,2452,1.229026,0.5271421,-1.89124 -105.5095,284.6685,2481,1.110905,0.6561984,-2.906628 -113.32,346.6,2506,1.061673,1.12124,-2.741513 -123.4,299.08,2553,0.9748164,0.7610034,-2.758778 -107.56,303.4,2554,1.08769,0.7774913,-2.701769 -94.31201,358.696,2602,1.197173,1.178997,-2.642525 -73,417.16,2701,1.274916,1.336013,-1.844754 -77.03201,424.36,2730,1.208778,1.285855,-1.578591 -276.04,362.44,2761,0.1514767,0.9185978,-1.079168 -278.92,408.52,2780,0.04517389,1.345986,-1.520711 -222.184,99.49601,2784,0.2895447,-0.6435433,-1.899275 -168.04,297.64,2794,0.6696897,0.7867751,-2.844494 -280.936,412.264,2839,0.05382296,1.335192,-1.457032 -274.7152,413.6465,2843,0.08870835,1.346978,-1.46812 -222.8752,98.45921,2868,0.2822007,-0.6337218,-1.884449 -222.4605,98.0445,2881,0.2927352,-0.6442573,-1.891127 -78.13794,78.13794,2889,1.109899,-0.6562327,-1.671563 -257.297,384.2014,2894,0.0942911,1.283791,-1.879037 -239.8788,93.06786,2903,0.1671513,-0.6764743,-1.931814 -230.9208,93.56553,2910,0.2327491,-0.6399055,-1.809494 -221.9629,96.55151,2914,0.2891002,-0.6269291,-1.847057 -85.96001,314.92,2946,1.203168,0.7740815,-2.327483 -69.42881,283.0096,3020,1.326374,0.5662228,-2.533424 -370.792,350.056,3030,-0.3410296,0.8489478,-0.8923246 -191.08,395.56,3048,0.5506482,1.280917,-1.84974 -68.39201,301.672,3053,1.335257,0.6984375,-2.51282 -337.96,381.16,3054,-0.2062843,1.027316,-1.013869 -358.696,419.176,3058,-0.3149958,1.267925,-1.032522 -343.144,408.808,3063,-0.2571674,1.228772,-1.117452 -94.60001,358.12,3065,1.193018,1.145053,-2.597834 -363.88,280.936,3072,-0.595409,0.5816075,-1.591933 -331.9466,354.3415,3079,-0.2190098,0.9277112,-1.18112 -189.6976,98.45921,3080,0.4752243,-0.6446707,-1.913062 -359.7328,413.6465,3085,-0.3512974,1.264828,-1.107815 -337.96,362.152,3091,-0.1962768,0.9344669,-1.006081 -316.36,260.2,3093,-0.3700591,0.4421912,-1.920293 -251.9056,96.38561,3096,0.05645318,-0.6764889,-1.873844 -365.2902,326.4724,3097,-0.5788905,0.8685671,-1.567604 -254.8087,386.192,3101,0.1663702,1.178607,-1.551792 -302.0868,287.1569,3109,-0.1657085,0.6007231,-1.591051 -283.0096,407.4257,3110,0.01341908,1.301581,-1.471682 -344.3882,391.6663,3117,-0.3738731,1.238975,-1.427268 -309.5518,249.8321,3119,-0.3282748,0.3691241,-1.989021 -341.0704,370.1009,3121,-0.1942793,0.9513431,-0.9494784 -309.5518,274.7153,3122,-0.1849239,0.5188344,-1.492626 -332.7761,370.1009,3131,-0.1214452,0.9220979,-0.8644038 -344.3882,359.3182,3137,-0.2170454,0.8928897,-0.9484531 -337.8191,359.3182,3140,-0.1754367,0.8942075,-0.949108 -99.49601,382.888,3235,1.170435,1.256099,-2.307033 -111.88,307.72,3245,1.085372,0.7755763,-2.654577 -263.656,356.968,3257,0.1716319,0.9241506,-1.268346 -300.52,289,3267,-0.1639565,0.5943697,-1.63542 -274.024,408.808,3283,0.1379805,1.200092,-1.215207 -262.2737,376.7364,3288,0.1942071,1.012268,-1.200579 -339.4116,369.2715,3296,-0.170639,0.9508317,-0.9507654 -275.7106,341.4023,3303,-0.06363969,1.01143,-2.01347 -332.4443,353.3462,3318,-0.2048161,0.9193974,-1.17427 -222.184,353.512,3319,0.2956003,1.132015,-2.276471 -548.7761,189.352,3329,-0.9681439,0.07677495,-0.3063755 -222.76,352.36,3384,0.2462623,1.279523,-2.945707 -227.368,422.632,3387,0.3492686,1.373314,-1.522129 -532.36,299.08,3429,-0.8926363,0.5569137,-0.3237611 -350.056,389.8,3447,-0.2199574,1.06329,-0.9111374 -297.64,319.24,3455,-0.1856929,0.8404462,-1.807239 -225.64,358.12,3458,0.2155794,1.356107,-2.987799 -56.29601,318.952,3478,1.437248,0.8235134,-2.485218 -223.912,322.408,3496,0.2159799,1.04522,-3.012951 -126.28,422.92,3503,0.9449558,1.348985,-1.680148 -280.936,408.808,3505,0.05677598,1.289263,-1.377744 -66.66401,77.03201,3509,1.164564,-0.6709185,-1.691138 -195.9184,272.6416,3513,0.4319526,0.6229669,-3.086288 -355.24,424.36,3517,-0.2371941,1.236984,-0.9030533 -336.232,388.072,3525,-0.3714824,1.283256,-1.65379 -502.12,263.08,3526,-0.9045516,0.414356,-0.5807428 -181.4032,274.7152,3528,0.5739868,0.5227472,-2.123298 -479.656,173.8,3529,-0.8586195,-0.0375614,-0.6890352 -231.1696,388.7632,3531,0.2932507,1.279051,-1.881274 -177.6708,100.5328,3536,0.5493917,-0.6693907,-2.054643 -190.1124,100.5328,3541,0.4913901,-0.5910507,-1.75948 -495.4791,201.6582,3542,-0.9464448,0.105836,-0.7099842 -486.2225,258.1264,3544,-0.8681908,0.385052,-0.6427931 -286.12,355.24,3546,-0.08255859,1.100722,-1.840369 -488.2961,249.832,3550,-0.9441333,0.3561915,-0.7317182 -86.01761,283.0096,3563,1.176352,0.5361081,-2.063332 -234.28,391.528,3564,0.2705677,1.34057,-1.964618 -158,335,2446,0.734062,1.078717,-2.811244 -156,375,2457,0.7426367,1.380623,-2.704 -142,282,2465,0.8335212,0.6550421,-2.880173 -151,291,2468,0.7864863,0.7483765,-2.965509 -113,352,2474,1.065753,1.164819,-2.751824 -125,294,2485,0.96095,0.7261516,-2.784035 -136.36,286.12,2535,0.870213,0.6993302,-2.97698 -141.4,340.6,2537,0.8636653,1.17193,-3.087498 -119.8,293.8,2539,0.9979085,0.7163987,-2.729758 -107.56,310.6,2542,1.088944,0.8009121,-2.59933 -83.94401,284.392,2544,1.132756,0.5113858,-1.735491 -121.96,291.88,2565,0.9844655,0.7108158,-2.812779 -126.28,294.76,2571,0.9488875,0.7255023,-2.737074 -96,389,2595,1.185131,1.379446,-2.532399 -113,346,2633,1.101319,1.12654,-2.75968 -174,343,2634,0.6398998,1.099218,-2.557228 -289,413.8,2650,0.004652334,1.353711,-1.44193 -223,100,2651,0.2698509,-0.6284955,-1.976436 -280,247,2652,-0.1375826,0.3707583,-2.169357 -124.6,311.8,2659,1.003385,0.8607857,-2.740865 -139,343,2663,0.9081718,1.114629,-2.78289 -188,100,2677,0.4910068,-0.6366903,-2.067569 -192,397,2682,0.5611176,1.293826,-1.834617 -34,313,2686,1.596028,0.7892013,-2.588329 -142,346,2688,0.8857103,1.10071,-2.536383 -37,310,2693,1.608853,0.7944976,-2.711638 -231,89,2709,0.2190466,-0.6720769,-1.870059 -84.52,283.24,2716,1.212095,0.5625029,-2.200174 -175,362,2726,0.6416956,1.259929,-2.606052 -263.08,356.68,2727,0.1804224,0.9343729,-1.291876 -223,99.4,2734,0.2743939,-0.6209522,-1.922936 -205.48,306.28,2769,0.3583599,0.9179149,-3.061948 -232.552,92.58401,2799,0.2285699,-0.6757069,-1.843282 -261.928,374.248,2831,0.1985725,1.039442,-1.268017 -78.76001,78.76001,2835,1.1038,-0.6369571,-1.60473 -239.464,94.31201,2840,0.1627014,-0.6760753,-1.928584 -222.8752,357.6592,2845,0.2945355,1.226721,-2.445527 -258.1264,100.5328,2856,0.004306814,-0.6667564,-2.081217 -260.7807,353.3462,2865,0.1633245,0.9511689,-1.437486 -229.9255,95.55618,2880,0.2112989,-0.6736529,-2.052624 -269.7386,338.4163,2887,0.1255598,0.8717831,-1.381983 -192.103,99.5375,2890,0.4887072,-0.5751106,-1.744274 -276,100,2921,-0.1555313,-0.6967536,-2.127778 -364,280,2925,-0.4904572,0.5326326,-1.329546 -145,367,2933,0.8400131,1.315215,-2.837508 -310,398,2936,-0.229467,1.356875,-1.731751 -328,278,2942,-0.4363725,0.5731149,-1.856422 -154,309,2945,0.7501559,0.8539633,-2.854767 -172,320,2949,0.6190107,0.9486969,-2.833746 -375,428,2954,-0.3575455,1.272619,-0.9079759 -370,328,2957,-0.5239537,0.8326117,-1.332063 -165.4,299.8,2966,0.6727819,0.7765993,-2.790749 -358.12,418.6,2968,-0.3536298,1.314896,-1.135127 -308,278,2969,-0.2972013,0.5736908,-1.910357 -263,349,2985,0.1693523,0.8773575,-1.264452 -96.04,320.68,2991,1.177396,0.8778132,-2.672114 -71.56001,356.68,2995,1.298312,1.036888,-2.246603 -289,380,3018,-0.1811664,1.358999,-2.12112 -308.2,278.2,3021,-0.3080822,0.5726097,-1.921493 -188.2,99.4,3033,0.465221,-0.650416,-2.027106 -378,359,3034,-0.3593613,0.8915871,-0.8307697 -153.64,289,3035,0.7553239,0.7146637,-2.997076 -160.6,369.4,3037,0.7248098,1.35388,-2.852365 -137,304,3038,0.8776726,0.7638286,-2.624333 -263.8,97,3040,-0.04240008,-0.6896589,-1.984476 -363.88,280.36,3042,-0.5301302,0.5535194,-1.433188 -326.44,276.04,3050,-0.3884096,0.5448942,-1.754129 -307.72,245.8,3052,-0.3200652,0.3562128,-1.955727 -356.2,425.8,3057,-0.343797,1.345843,-1.129246 -371.08,346.6,3059,-0.3432072,0.8399647,-0.9013482 -253,94.60001,3061,0.04932161,-0.6792784,-1.887457 -359.56,414.28,3064,-0.3453293,1.26959,-1.103371 -263.08,97.48,3069,-0.01969358,-0.6793324,-1.917043 -308.584,248.104,3070,-0.3090301,0.3477225,-1.928617 -343.144,407.4257,3077,-0.2619114,1.23117,-1.140835 -308.584,277.48,3078,-0.28923,0.5585495,-1.853163 -325.864,275.752,3081,-0.3785965,0.5442203,-1.719204 -298.216,318.952,3082,-0.1572075,0.7962455,-1.682275 -370.792,346.6,3083,-0.3544709,0.8418476,-0.9220437 -372.1744,345.2177,3099,-0.3598954,0.8301179,-0.9078447 -309.9664,247.7584,3107,-0.356263,0.3665672,-2.072382 -326.5552,274.7152,3113,-0.4258592,0.5515211,-1.872541 -318.2608,355.5857,3114,-0.172839,0.9561313,-1.277175 -309.9664,274.7152,3116,-0.3204166,0.564207,-1.94361 -320.5004,356.3322,3124,-0.1821184,0.957379,-1.312033 -267.2503,105.5095,3128,-0.07358977,-0.644049,-1.986508 -278.6966,365.2902,3129,0.1083012,0.9430517,-1.183031 -324.4817,274.7153,3132,-0.3717965,0.5301623,-1.769239 -174.1871,99.5375,3134,0.5608873,-0.6207955,-1.886227 -308.5564,251.8227,3135,-0.2895582,0.3689455,-1.815847 -338.4163,371.2621,3138,-0.1836084,0.9520803,-0.9332814 -190.1124,394.1547,3141,0.556438,1.219949,-1.685977 -323.4864,272.7246,3144,-0.4261628,0.5445852,-1.948068 -305.5705,348.5686,3146,-0.09818079,0.9145004,-1.300444 -305.5705,294.8209,3148,-0.1977112,0.6381099,-1.639037 -280.4882,341.4023,3149,-0.05897874,0.9766046,-1.832856 -280.4882,366.4846,3150,0.1036927,0.9366741,-1.113141 -309.1536,269.7386,3151,-0.3553651,0.5598346,-2.048983 -279,230,3157,-0.1561376,0.2403825,-2.278635 -68.68,284.68,3158,1.344482,0.5856432,-2.523569 -168,298,3160,0.6602588,0.7788648,-2.872422 -421,335,3161,-0.7333446,0.8568897,-1.116561 -124.6,407.8,3164,0.9731486,1.350698,-1.99235 -77.32,424.36,3165,1.209743,1.305944,-1.664095 -179.8,98.2,3171,0.5344074,-0.630135,-1.925496 -110.2,345.4,3173,1.110658,1.097674,-2.744125 -159,350,3174,0.7482404,1.181988,-2.806644 -391,434,3177,-0.443244,1.32975,-0.9254091 -175,412,3178,0.6599558,1.312335,-1.673713 -89.8,302.2,3180,1.242648,0.7617979,-2.799424 -165.4,284.2,3183,0.6662616,0.6616189,-2.799889 -156,296,3184,0.7524371,0.7432722,-2.808254 -344.872,374.248,3188,-0.3040242,1.10684,-1.37354 -67.24001,77.32,3192,1.158565,-0.67326,-1.667208 -167,304,3196,0.6666934,0.8165283,-2.814487 -142,307,3197,0.888947,0.842008,-2.93852 -225.64,365.32,3199,0.2426388,1.310076,-2.571676 -110.44,286.12,3207,1.08238,0.6412347,-2.770293 -347.2913,338.9969,3208,-0.2659457,0.8311998,-1.082585 -113.8,368.2,3209,1.08624,1.258424,-2.685823 -308.2,247,3210,-0.3135586,0.3518254,-2.000623 -264.52,373.96,3212,0.1755166,1.016186,-1.250629 -369.64,404.2,3214,-0.3969188,1.225165,-1.109893 -38.2,290.2,3216,1.55804,0.6061405,-2.553143 -41.8,357.4,3218,1.522828,1.064273,-2.413635 -379,430.6,3220,-0.383195,1.306116,-0.9419482 -294.76,320.68,3223,-0.1229539,0.8280845,-1.716421 -127,423.4,3224,0.9378666,1.332393,-1.646531 -93.4,337,3225,1.210574,0.9840194,-2.584524 -297.64,326.44,3226,-0.1217185,0.8529284,-1.617153 -268.6,386.2,3230,0.1494093,1.088285,-1.292285 -175,341.8,3233,0.6252446,1.111822,-2.774098 -281.8,411.4,3236,0.04327851,1.330461,-1.464946 -380.2,437.8,3241,-0.3663082,1.324173,-0.8924102 -136.6,283,3243,0.8950961,0.618655,-2.717738 -240.04,94.60001,3250,0.1364157,-0.6935061,-2.018535 -356.68,434.44,3253,-0.2747099,1.329648,-0.9955833 -222.76,98.92001,3254,0.2539203,-0.6558641,-2.011097 -307.72,277.48,3255,-0.2891164,0.5773998,-1.939143 -289,379.72,3258,-0.1472177,1.322106,-2.052951 -90.28001,301.96,3268,1.224382,0.7340311,-2.630931 -370.792,417.448,3272,-0.3337339,1.232907,-0.9383218 -246.376,96.04001,3274,0.08801534,-0.7005206,-2.037946 -287.848,381.16,3275,-0.1440891,1.358535,-2.079925 -370.792,407.08,3276,-0.3210103,1.148004,-0.8783509 -179.3296,100.5328,3278,0.5393119,-0.6285744,-1.958163 -297.5248,316.1873,3280,-0.1520454,0.7878866,-1.711734 -187.624,99.49601,3282,0.4794097,-0.6456134,-2.046486 -283.0096,411.5728,3284,0.03922981,1.314312,-1.423438 -371.7598,351.8532,3292,-0.3185994,0.8476018,-0.8558552 -343.144,347.2913,3295,-0.2030296,0.8391832,-0.9638417 -364.2948,394.1547,3297,-0.3647794,1.158221,-1.094126 -269.7386,381.713,3299,0.05678413,1.228424,-1.748388 -85.6029,282.1802,3301,1.130528,0.4854709,-1.717716 -302.5845,290.6405,3302,-0.2136682,0.6443795,-1.851746 -335.4303,362.3042,3304,-0.1765142,0.9184085,-1.002794 -335.4303,383.2061,3306,-0.1872309,1.063461,-1.07677 -296.6125,386.192,3309,-0.2179711,1.355412,-2.027864 -373.6509,348.5686,3310,-0.3898853,0.892463,-1.014758 -362.3042,374.2481,3311,-0.3367664,1.027498,-1.073871 -312.7368,341.4023,3313,-0.005365618,0.7533983,-0.849902 -344.9855,359.3182,3317,-0.2356641,0.908479,-1.018303 -78.76,78.76,3322,1.10568,-0.6738784,-1.710855 -525,171,3324,-1.027624,-0.03092967,-0.5411402 -481,172,3325,-0.9072531,-0.0444908,-0.7354666 -534,173,3326,-1.013249,-0.02560311,-0.4718189 -514,175,3327,-0.9282636,-0.02106616,-0.524232 -530,192,3328,-0.9689401,0.07457733,-0.4583478 -536,214,3330,-1.080313,0.1696147,-0.5352775 -484,213,3331,-0.9327725,0.1608197,-0.7454525 -522,222,3332,-1.059845,0.2125534,-0.6141682 -485,236,3333,-0.9131584,0.283619,-0.7159426 -485,250,3334,-0.9564757,0.3472011,-0.7777947 -502.6,249.4,3335,-0.9675919,0.3648647,-0.6539505 -550,256,3336,-1.04984,0.3717888,-0.4074941 -525,263,3337,-1.012354,0.4066874,-0.5277641 -506,265,3338,-0.9989043,0.4302141,-0.6640182 -84,285,3339,1.257767,0.6030318,-2.574207 -110,286,3340,1.086676,0.6370354,-2.681491 -122.2,291.4,3341,1.010827,0.6990556,-2.809525 -208,292,3342,0.3326736,0.775167,-3.025985 -196,294,3343,0.4522816,0.7720046,-2.890956 -532,289,3344,-0.8502049,0.4971858,-0.2761135 -153,298,3345,0.7833484,0.760614,-2.80341 -90,303,3346,1.22452,0.743082,-2.599003 -545,298,3347,-0.8591787,0.523927,-0.2062494 -96,323,3348,1.191206,0.8926396,-2.596165 -300,320,3349,-0.1943763,0.8592369,-1.829332 -173,337,3350,0.6560423,1.128824,-2.884456 -55,344.2,3351,1.452389,1.002416,-2.478996 -94.60001,358.6,3352,1.210184,1.152905,-2.570915 -226.6,357.4,3353,0.2048607,1.310323,-2.781131 -265,357,3354,0.164381,0.9259579,-1.243956 -539,358,3355,-0.9284137,0.8249387,-0.3294463 -98,382,3356,1.194829,1.330016,-2.565193 -59.8,387.4,3357,1.432474,1.300094,-2.431798 -161.8,391,3358,0.7703487,1.426142,-2.459087 -59.8,395.8,3359,1.436037,1.366956,-2.450824 -231,392,3360,0.2890292,1.317218,-1.916645 -109,399,3361,1.093704,1.35247,-2.205026 -55,411.4,3362,1.403534,1.35548,-2.084525 -173.8,411.4,3363,0.6683289,1.320725,-1.69392 -281.8,411.4,3364,0.04506055,1.331636,-1.482129 -152,423,3365,0.7910228,1.324851,-1.550742 -181,421,3366,0.6310399,1.305933,-1.464401 -380,431,3367,-0.3762312,1.29731,-0.8960664 -539,169,3368,-1.034559,-0.03276409,-0.4515943 -545,172,3369,-1.084906,-0.02218229,-0.4752451 -527,175,3370,-1.032818,-0.01483248,-0.5221381 -502,177,3371,-0.9533156,-0.01206553,-0.6228917 -512,178,3372,-0.9710876,-8.226095e-05,-0.575421 -486,200,3373,-0.9046791,0.1002727,-0.687575 -517,202,3374,-0.9831847,0.1098182,-0.543495 -484,228,3375,-0.9167973,0.2415976,-0.725901 -484,246,3376,-0.915761,0.3357776,-0.7304754 -171.4,280.6,3377,0.6341721,0.6438391,-2.887869 -205,286,3378,0.3555427,0.7211975,-3.00577 -56.2,319,3379,1.438909,0.8266655,-2.498962 -529,313,3380,-0.8621638,0.6052812,-0.306516 -372,324,3381,-0.4992058,0.8078589,-1.281075 -523,322,3382,-0.8619546,0.6573287,-0.3514135 -57.4,341.8,3383,1.437566,0.9886961,-2.486387 -72,398,3385,1.350947,1.376274,-2.401466 -352,394,3386,-0.4757825,1.354584,-1.672937 -33,446,3388,1.373489,1.284081,-1.333267 -520,200,3389,-0.9983592,0.1048352,-0.5453176 -514,204,3390,-0.9420152,0.1295193,-0.5262438 -516,225,3391,-1.071122,0.2341594,-0.6688597 -545,249,3392,-1.049977,0.3420644,-0.4309127 -531,252,3393,-1.001285,0.3603939,-0.4720708 -503,259,3394,-0.9328957,0.392015,-0.6022003 -503,262,3395,-0.9942608,0.4161595,-0.6822726 -546,262,3396,-1.071712,0.4020427,-0.4460258 -221,280,3397,0.2202973,0.6642694,-2.96922 -171.4,283,3398,0.6351604,0.6662824,-2.884942 -57.4,299.8,3399,1.426829,0.6870822,-2.515979 -196,303,3400,0.4502684,0.8488056,-2.915124 -225.4,303.4,3401,0.2099488,0.8384078,-2.720422 -532.6,299.8,3402,-0.8812817,0.5504891,-0.2979929 -37,319,3403,1.551489,0.8073866,-2.455427 -145,362.2,3404,0.8638595,1.257993,-2.731443 -184,360,3405,0.5739633,1.292014,-2.800434 -268,386,3406,0.04490303,1.301787,-1.900385 -350.2,391,3407,-0.191349,1.037499,-0.8326735 -282,412,3408,0.04750673,1.307503,-1.395524 -542,169,3409,-1.16511,-0.04165253,-0.5851055 -500,179,3410,-0.952584,-0.001688379,-0.6391642 -525,206,3411,-1.06591,0.1378904,-0.5969346 -528,310,3412,-0.8683668,0.5993868,-0.3246634 -226.6,321.4,3413,0.192038,1.030622,-2.918295 -298.6,326.2,3414,-0.1292769,0.8592001,-1.647727 -226.6,359.8,3415,0.205126,1.379533,-3.004742 -388,434,3416,-0.3593962,1.261957,-0.7567108 -519,178,3417,-0.9673258,0.001408827,-0.5178246 -495,180,3418,-0.9545226,-0.007026943,-0.6877756 -495,253,3419,-0.980912,0.3725838,-0.7308562 -107.8,347.8,3420,1.120528,1.086573,-2.602149 -340,380,3421,-0.2005384,1.041389,-1.016562 -516,177,3422,-0.9834064,-0.003227311,-0.5531962 -506,178,3423,-0.9433829,-0.008025269,-0.587186 -519,250,3424,-0.9988856,0.3356365,-0.5590155 -140,289,3425,0.877458,0.6788729,-2.757613 -213.4,323.8,3426,0.3047369,1.041887,-2.99132 -168,343,3427,0.6830329,1.145705,-2.831131 -201,352,3428,0.4198805,1.27371,-2.936509 -486,265,3430,-0.9245065,0.4343469,-0.7296733 -142,302,3431,0.8905654,0.8037093,-2.884491 -498,180,3432,-0.9727182,0.0006793933,-0.6817216 -135,302,3433,0.9169614,0.7803748,-2.743863 -126,354,3434,0.9984924,1.156027,-2.648101 -201.4,355,3435,0.4196991,1.297553,-2.925956 -499,176,3436,-0.9192873,-0.01348974,-0.6030195 -519,173,3437,-1.02007,-0.02637808,-0.5819474 -208,302,3438,0.3250744,0.8845281,-3.135286 -239.8,97,3439,0.126331,-0.6888821,-2.108916 -221,277,3440,0.2207869,0.6440119,-3.140581 -460.6,278.2,3441,-0.8493535,0.5119814,-0.8553106 -40.6,316.6,3442,1.528968,0.7933231,-2.450363 -419.8,334.6,3443,-0.703357,0.8469633,-1.066018 -529,347.8,3444,-0.8183995,0.7439041,-0.2694829 -58.6,363.88,3445,1.437286,1.152723,-2.479851 -43,386.2,3446,1.527481,1.260178,-2.341673 -351,397,3448,-0.3746102,1.263311,-1.372911 -453.4,163,3449,-0.8723984,-0.1146341,-0.9475676 -479.8,172.6,3450,-0.8736408,-0.04555122,-0.7030168 -502.6,262.6,3451,-0.9749464,0.4199946,-0.6586647 -363.4,280.6,3452,-0.5253158,0.5621452,-1.46001 -199,296.2,3453,0.4173533,0.805254,-2.955474 -224.2,322.12,3454,0.2120868,1.045073,-3.017829 -370.6,346.6,3456,-0.3189041,0.8319857,-0.8559047 -265,356.2,3457,0.1428973,1.001139,-1.479279 -538.6,357.4,3459,-0.8560756,0.7917753,-0.2450941 -154.6,371.8,3460,0.8089376,1.360764,-2.799088 -130.6,375.4,3461,0.9705456,1.33838,-2.685571 -98.2,382.6,3462,1.192498,1.333621,-2.573776 -200.2,392.2,3463,0.4917806,1.360166,-2.110299 -229.96,391.24,3464,0.2938467,1.338116,-1.976866 -228.52,394.12,3465,0.3000278,1.346656,-1.963916 -275.8,99.4,3466,-0.1077001,-0.6747761,-2.002202 -485.8,217,3467,-0.9515883,0.1833327,-0.7663267 -195.4,277,3468,0.420856,0.6255145,-3.017516 -139,281.8,3469,0.8800499,0.6341643,-2.885002 -53.8,322.6,3470,1.452691,0.8425637,-2.470802 -54.28,345.16,3471,1.456693,1.007932,-2.475648 -226.6,350.2,3472,0.201941,1.248181,-2.854931 -58.6,386.92,3473,1.441549,1.305467,-2.457176 -225.4,389.8,3474,0.3254073,1.300523,-1.926888 -529,193,3475,-1.046876,0.07539987,-0.541852 -532.6,195.4,3476,-0.9954361,0.08983572,-0.4618321 -542.2,255.4,3477,-1.11298,0.3819386,-0.5312869 -170.2,323.8,3479,0.6571121,0.9715078,-2.870499 -55.72,391.24,3480,1.457545,1.323469,-2.437448 -55.72,394.12,3481,1.459273,1.348227,-2.440159 -517,201.4,3482,-1.044567,0.1096263,-0.6317812 -485,205,3483,-0.9401171,0.1224153,-0.7439076 -327.4,277,3484,-0.3986913,0.5702566,-1.813161 -171.4,355,3485,0.6627226,1.24578,-2.817013 -215.56,361,3486,0.3095322,1.36622,-2.907121 -514.6,225.4,3487,-1.0499,0.2331566,-0.6589071 -519.4,200.2,3488,-1.025887,0.1052626,-0.5831494 -94.60001,317.8,3489,1.198607,0.8458458,-2.540213 -349,377,3490,-0.2608442,1.015617,-1.021559 -301.96,283.24,3491,-0.2331127,0.6160844,-1.877562 -231.4,394.6,3492,0.286329,1.386541,-2.045265 -158.2,333.4,3493,0.7565986,1.049908,-2.786906 -153.4,289,3494,0.7988479,0.711778,-3.01059 -153.4,297.4,3495,0.7705606,0.7639835,-2.889829 -378.28,430.12,3497,-0.3715674,1.295927,-0.9082744 -486.28,264.52,3498,-0.9013579,0.4201257,-0.6937014 -181,420.04,3499,0.6250437,1.335854,-1.567031 -453.16,165.16,3500,-0.8329229,-0.1047868,-0.8784128 -98.92001,384.04,3501,1.187623,1.33595,-2.553564 -273.16,401.32,3502,0.09458956,1.244566,-1.418096 -349.48,389.8,3504,-0.3980866,1.249321,-1.471354 -529.48,192.52,3506,-0.9854535,0.07635849,-0.4725237 -528.04,310.6,3507,-0.8578676,0.5987644,-0.3109313 -227.08,389.8,3508,0.3362626,1.319717,-1.932958 -368.2,319.24,3510,-0.4881352,0.7849796,-1.311928 -188.2,96.04,3511,0.4938345,-0.6321925,-1.790513 -224.2,303.4,3512,0.2073549,0.8848408,-3.022333 -289.576,413.992,3514,0.00581737,1.318475,-1.37144 -353.512,374.248,3515,-0.3209284,1.040123,-1.131494 -191.08,394.984,3516,0.5588781,1.277639,-1.830594 -482.0753,173.1088,3518,-0.8866693,-0.0487065,-0.7170185 -225.64,400.168,3519,0.3417488,1.324805,-1.779327 -337.96,420.9041,3520,-0.195242,1.276982,-1.063968 -453.7361,163.432,3521,-0.829596,-0.09812305,-0.8655825 -353.512,394.984,3522,-0.3745068,1.214159,-1.250033 -521.1281,320.68,3523,-0.7334439,0.6084514,-0.2085745 -528.04,348.328,3524,-0.9091405,0.7884255,-0.3816064 -486.5681,258.472,3527,-0.9061454,0.3963275,-0.70101 -289.2304,380.4688,3530,-0.1771203,1.352334,-2.147461 -338.9969,378.3953,3532,-0.2630922,1.098887,-1.210382 -486.2225,262.2737,3533,-0.8670154,0.4106405,-0.6627305 -363.8801,280.936,3534,-0.4662044,0.5498629,-1.316311 -280.936,334.8496,3535,-0.02020497,0.9468247,-1.738422 -264.3472,355.5857,3537,0.1703077,0.9316282,-1.28978 -262.2737,374.248,3538,0.1769038,1.041105,-1.28627 -270.568,382.5424,3539,0.06004988,1.182416,-1.625224 -455.1185,162.7408,3540,-0.871928,-0.1103901,-0.9167307 -461.3393,277.2036,3543,-0.8239641,0.4964539,-0.807762 -486.2225,262.2737,3545,-0.814027,0.3973639,-0.6138402 -105.5095,383.2061,3547,1.145987,1.332572,-2.530249 -229.9255,386.6897,3548,0.2957834,1.28872,-1.953414 -481.2459,172.6941,3549,-0.9238981,-0.04497022,-0.7501066 -453.8744,162.7408,3551,-0.8406028,-0.1081708,-0.8685976 -180.1591,272.7246,3552,0.5828959,0.5277894,-2.182388 -481.7436,174.1871,3553,-0.8129306,-0.03142546,-0.6207672 -487.7155,260.7807,3554,-0.896594,0.3944978,-0.6783653 -454.8697,162.2432,3555,-0.8471584,-0.1081968,-0.8768119 -460.8417,275.7106,3556,-0.8234378,0.4870123,-0.7947471 -371.2621,347.3742,3557,-0.3398662,0.8646781,-0.9038928 -308.5564,275.7106,3558,-0.3567658,0.5997532,-2.198718 -334.2359,352.1518,3559,-0.2287175,0.9281778,-1.210757 -323.4864,352.1518,3560,-0.2334023,0.9789092,-1.423167 -456.0641,162.2432,3561,-0.814492,-0.09805211,-0.8094428 -309.1536,251.8227,3562,-0.3677541,0.4071932,-2.236038 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0038.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0038.csv deleted file mode 100644 index bb8a3100a8d8ea9315232d6dd5a05af729b5990e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0038.csv +++ /dev/null @@ -1,426 +0,0 @@ -55.72,304.84,2468,0.7864863,0.7483765,-2.965509 -45.64,296.2,2569,0.8496407,0.6649618,-2.872949 -61.48,392.68,2640,0.8233884,1.411584,-2.925274 -249.832,368.0273,2641,-0.1431553,0.9782283,-1.30524 -140.3459,334.435,2679,0.2783242,0.965017,-2.53505 -100.36,414.28,2689,0.6054962,1.342226,-2.069701 -74.2,291.4,2691,0.6904562,0.6540698,-2.922261 -147.88,400.168,2707,0.3163882,1.299248,-2.046612 -150.76,85.96001,2709,0.2190466,-0.6720769,-1.870059 -61.48001,394.984,2728,0.8242126,1.420226,-2.894811 -61.48001,324.136,2738,0.7920893,0.8960464,-2.94749 -215.9909,359.3182,2750,-0.09889578,1.051749,-1.864274 -157.96,85.96001,2778,0.169939,-0.6834718,-1.90587 -210.088,426.088,2780,0.04517389,1.345986,-1.520711 -157.7642,88.09122,2903,0.1671513,-0.6764743,-1.931814 -302.2,339.4,2932,-0.5107921,0.8594697,-1.333186 -74.2,313,2966,0.6727819,0.7765993,-2.790749 -245.6848,266.4208,2972,-0.3919252,0.4487371,-1.978409 -245.8,283.24,2984,-0.376123,0.5697711,-1.932274 -270.568,403.624,3024,-0.4420844,1.354741,-1.733377 -80.2,352.36,3028,0.6460779,1.100255,-2.913523 -296.2,286.12,3042,-0.5301302,0.5535194,-1.433188 -310.6,421.48,3045,-0.3424707,1.176302,-0.8957151 -108.136,417.448,3048,0.5506482,1.280917,-1.84974 -276.04,391.24,3054,-0.2062843,1.027316,-1.013869 -274.6,373.96,3060,-0.1907502,0.9263488,-0.9833287 -227.0224,326.5552,3082,-0.1572075,0.7962455,-1.682275 -194.536,403.624,3088,0.1211423,1.160059,-1.449672 -309.9664,353.5121,3099,-0.3598954,0.8301179,-0.9078447 -236.8928,368.2761,3108,-0.09925772,0.9649795,-1.329036 -252.3204,366.7831,3114,-0.172839,0.9561313,-1.277175 -172.6941,88.09122,3118,0.06046352,-0.6920201,-1.875958 -236.8928,281.6826,3122,-0.1849239,0.5188344,-1.492626 -278.8624,365.9536,3125,-0.2086892,0.8851907,-0.9661761 -287.6545,386.192,3127,-0.2338502,0.9802964,-0.9199985 -247.3437,359.3182,3130,-0.1803247,0.9453033,-1.386182 -277.2036,381.713,3138,-0.1836084,0.9520803,-0.9332814 -255.4059,366.4846,3139,-0.1773541,0.9457879,-1.237566 -251.8227,278.6966,3144,-0.4261628,0.5445852,-1.948068 -223.1573,319.9032,3152,-0.1716709,0.7768216,-1.812289 -77.03201,296.488,3183,0.6662616,0.6616189,-2.799889 -269.7386,381.713,3188,-0.3040242,1.10684,-1.37354 -45.4,321.4,3197,0.888947,0.842008,-2.93852 -146.152,381.16,3199,0.2426388,1.310076,-2.571676 -227.368,337.96,3226,-0.1217185,0.8529284,-1.617153 -153.064,424.36,3251,0.2941917,1.422312,-1.96793 -118.504,413.992,3262,0.4913718,1.336914,-2.036406 -227.4372,324.4817,3280,-0.1520454,0.7878866,-1.711734 -274.7152,372.1744,3285,-0.1660918,0.9075828,-0.9470509 -279.6919,356.8298,3295,-0.2030296,0.8391832,-0.9638417 -227.4372,396.643,3309,-0.2179711,1.355412,-2.027864 -282.1802,366.7831,3317,-0.2356641,0.908479,-1.018303 -83.08,355.24,3350,0.6560423,1.128824,-2.884456 -70.12,414.28,3358,0.7703487,1.426142,-2.459087 -470.3968,301.9873,3429,-0.8926363,0.5569137,-0.3237611 -45.64,316.36,3431,0.8905654,0.8037093,-2.884491 -134.92,283.24,3440,0.2207869,0.6440119,-3.140581 -466.6,347.8,3444,-0.8183995,0.7439041,-0.2694829 -228.52,327.88,3455,-0.1856929,0.8404462,-1.807239 -189.64,372.52,3457,0.1428973,1.001139,-1.479279 -152.2,409.96,3464,0.2938467,1.338116,-1.976866 -146.44,362.44,3472,0.201941,1.248181,-2.854931 -132.328,377.704,3486,0.3095322,1.36622,-2.907121 -230.824,291.304,3491,-0.2331127,0.6160844,-1.877562 -58.6,300.52,3494,0.7988479,0.711778,-3.01059 -203.176,417.448,3502,0.09458956,1.244566,-1.418096 -146.152,410.536,3508,0.3362626,1.319717,-1.932958 -101.224,87.40001,3511,0.4938345,-0.6321925,-1.790513 -413.992,175.528,3518,-0.8866693,-0.0487065,-0.7170185 -95.55618,284.6685,3528,0.5739868,0.5227472,-2.123298 -425.0098,204.047,3542,-0.9464448,0.105836,-0.7099842 -213.544,369.064,3546,-0.08255859,1.100722,-1.840369 -415.7201,175.1824,3549,-0.9238981,-0.04497022,-0.7501066 -421.5262,254.8087,3550,-0.9441333,0.3561915,-0.7317182 -389.178,165.2292,3551,-0.8406028,-0.1081708,-0.8685976 -398.136,278.6966,3556,-0.8234378,0.4870123,-0.7947471 -308.5564,359.3182,3557,-0.3398662,0.8646781,-0.9038928 -518.5707,205.0423,3570,-1.155647,0.1228039,-0.2746509 -146.152,370.1009,3597,0.1916817,1.318558,-2.86949 -199,395.8,3599,-0.0114504,1.289042,-1.953132 -274.6,424.36,3600,-0.2890176,1.312509,-1.283853 -488.7108,294.6218,3635,0.1819268,1.013393,-1.24105 -146.2,305.8,3636,-0.1746206,1.300672,-1.628243 -91.72,297.64,3659,0.3570119,1.190318,-2.957893 -85.96001,379.72,3670,-1.207448,-0.0307641,-0.2497907 -296.2,425.8,3671,-0.9408596,0.7840138,-0.1844397 -149.32,408.52,3674,0.1677686,0.616905,-2.801849 -145,284.68,3676,-0.1945523,0.8385701,-0.9174797 -64.36,348.04,3677,0.1475718,1.049411,-1.333961 -279.208,358.696,3678,0.3238247,1.350465,-1.850321 -489.16,178.12,3682,-1.033518,0.3701002,-0.4400731 -77.32,296.2,3694,-0.9524431,0.5052244,-0.20521 -85.672,97.76801,3695,0.5353726,-0.6530922,-1.998195 -90.85601,92.58401,3697,-1.150137,0.1788479,-0.2892635 -515.08,217,3699,-1.114099,-0.06868853,-0.309853 -213.544,426.088,3700,-0.8376175,0.4944239,-0.8257831 -395.56,280.36,3702,-0.9315672,0.2542099,-0.7150949 -421.48,234.28,3704,-0.916119,0.7751812,-0.164522 -499.24,358.12,3706,0.3337689,0.8570685,-3.005436 -308.584,413.992,3707,-0.8687396,0.5044551,-0.8615942 -490.024,293.032,3712,0.5387895,-0.6561972,-2.00397 -514.2161,217,3715,-0.9429371,0.4883527,-0.2000287 -296.488,426.088,3719,-0.9223676,0.5163576,-0.2739259 -481.96,293.32,3721,-0.02052501,-0.6898879,-1.976467 -505,215.56,3726,-0.8907007,0.4763061,-0.1607014 -166.888,90.16481,3732,-0.4031535,1.182183,-1.03491 -150.2992,85.6029,3735,-0.849907,0.7443523,-0.2875958 -467.5601,347.2913,3737,-0.8347251,0.5100104,-0.1680363 -232.4138,299.5985,3738,0.1017079,0.8021489,-1.18175 -148.2256,411.5728,3741,-0.1385467,0.9747086,-0.849169 -221.9629,371.2621,3748,-0.6984076,0.6764228,-0.1166731 -67,351.4,2446,0.734062,1.078717,-2.811244 -69,396,2457,0.7426367,1.380623,-2.704 -220.6,430.6,2650,0.004652334,1.353711,-1.44193 -205,252,2652,-0.1375826,0.3707583,-2.169357 -46,360,2663,0.9081718,1.114629,-2.78289 -49,365.8,2688,0.8857103,1.10071,-2.536383 -120.52,317.8,2769,0.3583599,0.9179149,-3.061948 -139.24,92.58401,2784,0.2895447,-0.6435433,-1.899275 -150.2992,86.01761,2799,0.2285699,-0.6757069,-1.843282 -191.08,391.528,2831,0.1985725,1.039442,-1.268017 -158.5936,88.09121,2840,0.1627014,-0.6760753,-1.928584 -179.3296,96.38561,2856,0.004306814,-0.6667564,-2.081217 -139.9312,92.23841,2868,0.2822007,-0.6337218,-1.884449 -137.8576,90.57954,2881,0.2927352,-0.6442573,-1.891127 -198.075,353.3462,2887,0.1255598,0.8717831,-1.381983 -187.624,399.1313,2894,0.0942911,1.283791,-1.879037 -297,285,2925,-0.4904572,0.5326326,-1.329546 -258,284,2942,-0.4363725,0.5731149,-1.856422 -304,335,2957,-0.5239537,0.8326117,-1.332063 -294.76,431.56,2968,-0.3536298,1.314896,-1.135127 -235,285,2969,-0.2972013,0.5736908,-1.910357 -191,363,2985,0.1693523,0.8773575,-1.264452 -216,395,3018,-0.1811664,1.358999,-2.12112 -317,369,3034,-0.3593613,0.8915871,-0.8307697 -185,93,3040,-0.04240008,-0.6896589,-1.984476 -255.88,281.8,3050,-0.3884096,0.5448942,-1.754129 -293.8,437.8,3057,-0.343797,1.345843,-1.129246 -173.8,90.28001,3061,0.04932161,-0.6792784,-1.887457 -279.208,420.9041,3063,-0.2571674,1.228772,-1.117452 -183.88,93.16,3069,-0.01969358,-0.6793324,-1.917043 -234.28,251.56,3070,-0.3090301,0.3477225,-1.928617 -296.488,286.12,3072,-0.595409,0.5816075,-1.591933 -100.5328,92.23841,3080,0.4752243,-0.6446707,-1.913062 -256.744,282.664,3081,-0.3785965,0.5442203,-1.719204 -274.024,374.248,3091,-0.1962768,0.9344669,-1.006081 -244.36,264.52,3093,-0.3700591,0.4421912,-1.920293 -173.1088,90.16481,3096,0.05645318,-0.6764889,-1.873844 -235.3168,251.9056,3107,-0.356263,0.3665672,-2.072382 -230.9208,296.6125,3109,-0.1657085,0.6007231,-1.591051 -256.0529,280.936,3113,-0.4258592,0.5515211,-1.872541 -237.3904,283.0096,3116,-0.3204166,0.564207,-1.94361 -234.9021,252.3204,3119,-0.3282748,0.3691241,-1.989021 -251.8227,365.2902,3124,-0.1821184,0.957379,-1.312033 -190.1124,100.5328,3128,-0.07358977,-0.644049,-1.986508 -207.033,377.2341,3129,0.1083012,0.9430517,-1.183031 -252.3204,279.6919,3132,-0.3717965,0.5301623,-1.769239 -237.49,255.4059,3135,-0.2895582,0.3689455,-1.815847 -281.6826,368.2761,3137,-0.2170454,0.8928897,-0.9484531 -237.49,280.4882,3151,-0.3553651,0.5598346,-2.048983 -235,251,3210,-0.3135586,0.3518254,-2.000623 -197.8,399.4,3230,0.1494093,1.088285,-1.292285 -211.24,428.68,3236,0.04327851,1.330461,-1.464946 -235.72,284.68,3255,-0.2891164,0.5773998,-1.939143 -165.16,90.85601,3274,0.08801534,-0.7005206,-2.037946 -215.272,394.984,3275,-0.1440891,1.358535,-2.079925 -310.312,417.448,3276,-0.3210103,1.148004,-0.8783509 -192.6007,391.6663,3288,0.1942071,1.012268,-1.200579 -275.7106,380.2201,3296,-0.170639,0.9508317,-0.9507654 -272.7246,371.2621,3304,-0.1765142,0.9184085,-1.002794 -309.1536,359.3182,3310,-0.3898853,0.892463,-1.014758 -296.6125,383.2061,3311,-0.3367664,1.027498,-1.073871 -266.1555,362.9014,3318,-0.2048161,0.9193974,-1.17427 -415,175,3325,-0.9072531,-0.0444908,-0.7354666 -466,175,3326,-1.013249,-0.02560311,-0.4718189 -448,176,3327,-0.9282636,-0.02106616,-0.524232 -463,195,3328,-0.9689401,0.07457733,-0.4583478 -419,215,3331,-0.9327725,0.1608197,-0.7454525 -420,239,3333,-0.9131584,0.283619,-0.7159426 -420,252,3334,-0.9564757,0.3472011,-0.7777947 -437.8,251.8,3335,-0.9675919,0.3648647,-0.6539505 -483,257,3336,-1.04984,0.3717888,-0.4074941 -460,264,3337,-1.012354,0.4066874,-0.5277641 -470,291,3344,-0.8502049,0.4971858,-0.2761135 -483,299,3347,-0.8591787,0.523927,-0.2062494 -229,330,3349,-0.1943763,0.8592369,-1.829332 -147.88,372.52,3353,0.2048607,1.310323,-2.781131 -209.8,427,3364,0.04506055,1.331636,-1.482129 -319,442,3367,-0.3762312,1.29731,-0.8960664 -472,173,3368,-1.034559,-0.03276409,-0.4515943 -477,175,3369,-1.084906,-0.02218229,-0.4752451 -460,178,3370,-1.032818,-0.01483248,-0.5221381 -436,180,3371,-0.9533156,-0.01206553,-0.6228917 -445,181,3372,-0.9710876,-8.226095e-05,-0.575421 -421,203,3373,-0.9046791,0.1002727,-0.687575 -451,204,3374,-0.9831847,0.1098182,-0.543495 -419,231,3375,-0.9167973,0.2415976,-0.725901 -419,249,3376,-0.915761,0.3357776,-0.7304754 -120,296,3378,0.3555427,0.7211975,-3.00577 -468,314,3380,-0.8621638,0.6052812,-0.306516 -306,331,3381,-0.4992058,0.8078589,-1.281075 -454,202,3389,-0.9983592,0.1048352,-0.5453176 -447.4,207.4,3390,-0.9420152,0.1295193,-0.5262438 -450,228,3391,-1.071122,0.2341594,-0.6688597 -479,251,3392,-1.049977,0.3420644,-0.4309127 -466,255,3393,-1.001285,0.3603939,-0.4720708 -481,263,3396,-1.071712,0.4020427,-0.4460258 -137.8,287.8,3397,0.2202973,0.6642694,-2.96922 -145,313.48,3401,0.2099488,0.8384078,-2.720422 -474,173,3409,-1.16511,-0.04165253,-0.5851055 -434,182,3410,-0.952584,-0.001688379,-0.6391642 -458,209,3411,-1.06591,0.1378904,-0.5969346 -145,333.64,3413,0.192038,1.030622,-2.918295 -227.08,336.52,3414,-0.1292769,0.8592001,-1.647727 -328,446,3416,-0.3593962,1.261957,-0.7567108 -452,180,3417,-0.9673258,0.001408827,-0.5178246 -277,391,3421,-0.2005384,1.041389,-1.016562 -450,180,3422,-0.9834064,-0.003227311,-0.5531962 -439,181,3423,-0.9433829,-0.008025269,-0.587186 -453.4,249.4,3424,-0.9988856,0.3356365,-0.5590155 -432,183,3432,-0.9727182,0.0006793933,-0.6817216 -433,179,3436,-0.9192873,-0.01348974,-0.6030195 -452,176,3437,-1.02007,-0.02637808,-0.5819474 -124,314,3438,0.3250744,0.8845281,-3.135286 -395.8,281.8,3441,-0.8493535,0.5119814,-0.8553106 -287.848,401.896,3447,-0.2199574,1.06329,-0.9111374 -415,175,3450,-0.8736408,-0.04555122,-0.7030168 -296.2,285.4,3452,-0.5253158,0.5621452,-1.46001 -477.4,358.6,3459,-0.8560756,0.7917753,-0.2450941 -63,392,3460,0.8089376,1.360764,-2.799088 -117.64,412.84,3463,0.4917806,1.360166,-2.110299 -110.44,284.68,3468,0.420856,0.6255145,-3.017516 -45.64,293.32,3469,0.8800499,0.6341643,-2.885002 -465.4,199,3476,-0.9954361,0.08983572,-0.4618321 -81.64,335.08,3479,0.6571121,0.9715078,-2.870499 -420,208,3483,-0.9401171,0.1224153,-0.7439076 -257.8,283,3484,-0.3986913,0.5702566,-1.813161 -448,228,3487,-1.0499,0.2331566,-0.6589071 -453.4,202.6,3488,-1.025887,0.1052626,-0.5831494 -286.6,386.2,3490,-0.2608442,1.015617,-1.021559 -152.2,413.8,3492,0.286329,1.386541,-2.045265 -421.48,265.96,3498,-0.9013579,0.4201257,-0.6937014 -386.92,166.6,3500,-0.8329229,-0.1047868,-0.8784128 -461.8,196.84,3506,-0.9854535,0.07635849,-0.4725237 -301.96,326.44,3510,-0.4881352,0.7849796,-1.311928 -388.072,166.888,3521,-0.829596,-0.09812305,-0.8655825 -291.304,405.3521,3522,-0.3745068,1.214159,-1.250033 -437.32,265.96,3526,-0.9045516,0.414356,-0.5807428 -420.9041,261.928,3527,-0.9061454,0.3963275,-0.70101 -216.6544,394.9841,3530,-0.1771203,1.352334,-2.147461 -274.7152,390.8369,3532,-0.2630922,1.098887,-1.210382 -424.0145,266.4208,3533,-0.8670154,0.4106405,-0.6627305 -206.2864,349.3648,3535,-0.02020497,0.9468247,-1.738422 -88.09122,90.57954,3536,0.5493917,-0.6693907,-2.054643 -191.7712,370.1009,3537,0.1703077,0.9316282,-1.28978 -191.7712,390.8369,3538,0.1769038,1.041105,-1.28627 -200.0656,394.9841,3539,0.06004988,1.182416,-1.625224 -102.5235,93.56553,3541,0.4913901,-0.5910507,-1.75948 -396.643,279.6919,3543,-0.8239641,0.4964539,-0.807762 -421.9409,260.2,3544,-0.8681908,0.385052,-0.6427931 -421.5262,264.762,3545,-0.814027,0.3973639,-0.6138402 -93.56553,284.6685,3552,0.5828959,0.5277894,-2.182388 -413.0659,177.1731,3553,-0.8129306,-0.03142546,-0.6207672 -422.0239,263.7667,3554,-0.896594,0.3944978,-0.6783653 -389.178,165.2292,3555,-0.8471584,-0.1081968,-0.8768119 -391.5668,165.8264,3561,-0.814492,-0.09805211,-0.8094428 -502,168,3565,-1.103392,-0.03880496,-0.3168863 -494,172,3566,-1.074393,-0.02920166,-0.3390695 -492,178,3567,-1.080479,-0.003428881,-0.3590724 -507,183,3568,-1.092791,0.02386778,-0.2866282 -485,192,3569,-1.183929,0.05241668,-0.5181984 -525,208,3571,-1.197699,0.1401758,-0.2747838 -538,216,3572,-1.239382,0.1790811,-0.2378099 -519.4,219.4,3573,-1.13405,0.18231,-0.2528431 -447,222,3574,-0.9669023,0.1918588,-0.5567809 -421,225.4,3575,-0.8454859,0.2051772,-0.5997739 -537,229,3576,-1.220225,0.2317525,-0.2274646 -539,249,3577,-1.159009,0.3170142,-0.1683962 -514,252,3578,-1.235141,0.3505249,-0.3832408 -496,259,3579,-1.102144,0.3745374,-0.3661826 -539,261,3580,-1.184011,0.376519,-0.1861076 -524,261,3581,-1.106751,0.3764678,-0.2146889 -146,284,3582,0.1463668,0.6360645,-3.006067 -396,282,3583,-0.845748,0.5046281,-0.8342808 -120,301,3584,0.3547209,0.7528808,-2.99558 -45.4,316.6,3585,0.8824155,0.7714142,-2.691338 -226.6,332.2,3586,-0.2116894,0.9033819,-1.944999 -223,332,3587,-0.07441449,0.7932433,-1.506749 -95,339,3588,0.560689,1.01138,-2.88797 -228,337,3589,-0.1324122,0.8528257,-1.615261 -302,335,3590,-0.4914311,0.8295141,-1.306458 -147.4,344.2,3591,0.1833211,1.076653,-2.799877 -124,356,3592,0.3524376,1.189338,-2.957689 -50,360,3593,0.87117,1.078019,-2.669113 -468,348,3594,-0.9216797,0.7740675,-0.3675859 -508,350,3595,-0.9958984,0.7577986,-0.1937563 -482,360,3596,-0.8593603,0.7821892,-0.2079376 -130,379,3598,0.3107771,1.427995,-3.106571 -296.2,425.8,3601,-0.3193165,1.242298,-1.033856 -287.8,442.6,3602,-0.2597622,1.31286,-1.014243 -323,447,3603,-0.3332945,1.249104,-0.7385736 -497,169,3604,-1.089554,-0.04266339,-0.3341218 -527,171,3605,-1.174508,-0.02270213,-0.2318521 -509,186,3606,-1.144792,0.03571195,-0.3185063 -489,191,3607,-1.080732,0.05598408,-0.3820196 -534,191,3608,-1.166205,0.06991635,-0.1983444 -527,223,3609,-1.192993,0.3401741,-0.2450145 -517,251,3610,-1.230106,0.3800499,-0.4260442 -530,252,3611,-1.070428,0.3873244,-0.3798205 -507,258,3612,-1.190764,0.3960113,-0.3037973 -489,263,3613,0.2272944,0.7900828,-3.011118 -520,263,3614,0.1912032,1.362147,-2.782882 -136,303,3615,0.3173373,1.34254,-1.823041 -148.6,380.2,3616,-0.3308668,1.2942,-1.082525 -151,420,3617,-0.8110026,-0.1050884,-0.8244478 -295,431.8,3618,-1.128278,-0.02873258,-0.3446027 -388,166,3619,-1.094979,-0.02157425,-0.532251 -502,173,3620,-1.058562,0.1047999,-0.5156047 -469,177,3621,-1.153398,0.195519,-0.2302667 -466,203,3622,-1.117391,0.3245167,-0.2437347 -526,220,3623,-1.178849,0.3289365,-0.2378761 -518,249,3624,-1.000188,0.3307385,-0.361205 -529,249,3625,-1.136092,0.3447777,-0.2753875 -483,251,3626,-1.025625,0.3675892,-0.4306971 -514,254,3627,0.3326783,1.384265,-3.120933 -474,258,3628,-1.082762,-0.01934153,-0.3431477 -127,374,3629,-1.27682,0.04253428,-0.3785011 -494,174,3630,-0.9814857,0.2337144,-0.5631691 -520,188,3631,-1.15894,0.3337273,-0.2664554 -448,230,3632,-1.03633,0.3713605,-0.3625177 -521,251,3633,-0.8436495,0.4895039,-0.1437747 -485.8,259,3634,0.1527143,0.8161805,-3.019578 -191,389,3637,-1.238103,-0.04098101,-0.2603369 -237.4,407.8,3638,-0.3683136,0.4453161,-1.972354 -533,167,3639,0.214587,0.6744288,-3.04159 -244,264,3640,0.5778652,1.053287,-2.876958 -137,289,3641,0.3166539,1.390842,-3.104672 -93,345,3642,0.1748129,1.339733,-1.971966 -129,375,3643,-1.222281,0.3398796,-0.2602294 -170.2,407.8,3644,0.1368116,0.644475,-3.067456 -532,251,3645,-0.4919229,0.8527497,-1.308982 -146.2,284.2,3646,0.1893575,1.2434,-2.790491 -302,339,3647,-1.088062,-0.05621525,-0.3212996 -147.4,364.6,3648,-1.021645,0.3442878,-0.1464007 -499,166,3649,0.5650598,1.007505,-2.854408 -519,256,3650,0.991025,1.299775,-2.522605 -94.60001,339.4,3651,-1.058295,0.006255868,-0.3299936 -32,400,3652,-0.8905677,0.255349,-0.6798452 -494,179,3653,0.5536711,1.076904,-2.82509 -419,235,3654,0.1542017,0.6479397,-2.851045 -97,349,3655,-0.7869539,-0.09427561,-0.792172 -147,288,3656,-1.098166,0.2549507,-0.3169489 -387.4,166.6,3657,0.5661065,0.6906195,-2.876748 -502.6,233.8,3658,-0.9123504,0.4970062,-0.1904119 -493,292.6,3660,-0.8741872,0.1523604,-0.6561581 -123.4,356.2,3661,-1.137615,0.1793546,-0.2877834 -418.6,214.6,3662,-0.9919993,0.2045998,-0.5150688 -513.4,217,3663,-0.9179599,0.2740127,-0.7087706 -456,224,3664,-0.1287888,0.3513726,-2.075654 -419.8,237.4,3665,0.6762477,0.8190168,-2.789523 -205,251.8,3666,0.8925365,1.074148,-2.672612 -77.32,317.8,3667,0.6567703,1.275952,-2.841097 -46.6,359.8,3668,0.642894,1.306128,-2.856456 -83.8,376.6,3669,-0.3061936,1.228759,-1.001938 -530.2,170.2,3672,0.3233253,1.270019,-1.823332 -500.2,358.6,3673,0.5539811,1.294806,-1.848717 -109,418.6,3675,0.7757054,1.030289,-2.786737 -193.96,389.8,3679,-0.2936098,1.205412,-0.7504024 -149.32,420.04,3680,-1.076817,-0.00838636,-0.3748762 -314.2,439,3681,-1.125058,0.1809991,-0.2634363 -515,217,3683,0.3573259,0.8725154,-2.958693 -473.8,257.8,3684,-0.4862419,0.8211868,-1.274091 -121,316.6,3685,0.1680853,1.04947,-1.328656 -303.4,334.6,3686,-1.114659,-0.009820276,-0.3971435 -191.08,389.8,3687,-0.8953289,0.340903,-0.6834471 -491.8,178.6,3688,-0.9287881,0.4249685,-0.7205926 -419.8,251.8,3689,-0.8049434,0.6237364,-0.2686498 -421,267.4,3690,0.8832383,0.8032706,-2.709914 -461.8,322.6,3691,-1.086732,-0.03209913,-0.338314 -45.64,320.68,3692,0.665058,0.6720376,-2.895615 -496.6,171.4,3693,0.5612152,-0.6412899,-2.094774 -492.04,291.88,3696,-0.9137252,-0.0501507,-0.7372645 -414.28,175.24,3698,0.02802405,1.306079,-1.428131 -505,163,3701,-0.1804549,1.009228,-0.9515671 -275.8,391,3703,-0.9490665,0.4152952,-0.5811511 -441.4,266.2,3705,-0.444003,1.23931,-1.147505 -123.4,313.48,3708,-0.05591524,1.064478,-1.635353 -396.712,280.936,3709,-1.107143,-0.06268187,-0.309115 -217,372.5201,3710,-0.8489202,0.4873105,-0.1427857 -503.8481,163.432,3711,-0.1196986,0.9435892,-0.8773284 -268.84,384.616,3713,-1.097509,0.1748155,-0.2536031 -90.16481,92.23841,3714,-0.9163824,0.4124635,-0.6953392 -422.632,267.112,3716,-0.9252375,0.811046,-0.3068065 -493.48,289.576,3717,-0.3077598,1.230619,-1.001936 -477.928,358.696,3718,-0.2900654,0.633055,-2.045424 -231.1696,291.304,3720,-0.9770519,0.7404014,-0.1683495 -509.032,348.328,3722,-0.8513379,0.5947409,-0.2845578 -184.168,92.58401,3723,0.1995995,1.401064,-2.912217 -467.5601,313.768,3724,-1.194658,0.1726139,-0.3970206 -146.152,380.4688,3725,-0.4266618,1.242912,-1.175695 -303.7456,413.6465,3727,-0.859353,0.4974349,-0.1889617 -494.5169,287.1568,3728,-1.218745,0.02922265,-0.3870841 -484.1489,295.4512,3729,-0.8646265,0.4938411,-0.1558439 -504.8849,185.5504,3730,0.08074912,-0.7007042,-2.011817 -490.3697,293.3777,3731,-0.9263068,0.8036999,-0.2943593 -480.0017,357.6592,3733,0.1846194,-0.7270491,-2.006362 -309.9664,411.5728,3734,-0.7891223,0.6114707,-0.253213 -461.3393,320.3344,3736,-0.2156662,0.6369649,-1.768817 -483.7342,297.1101,3739,0.339753,1.262666,-1.749804 -205.0423,351.8532,3740,-0.08330117,1.078551,-1.68591 -219.9722,371.7598,3742,-0.02901299,-0.6967252,-2.00626 -274.7153,391.6663,3743,-0.7759635,0.6092219,-0.2441205 -185.1357,93.06786,3744,-0.3189523,0.8181602,-0.8241342 -461.3393,319.505,3745,0.113189,-0.6772326,-1.886571 -309.5518,354.3415,3746,-0.006851124,0.9682518,-1.315911 -165.2292,90.57954,3747,-0.8067976,0.493174,-0.1290776 -484.7296,296.6125,3749,-0.8443519,0.7774076,-0.2111339 -466.8136,344.3882,3750,-0.9527863,-0.05064393,-0.7667702 -478.7576,359.3182,3751,-0.828213,0.7096484,-0.266081 -416.6491,176.5759,3752,-0.9409364,0.3983808,-0.7136838 -466.8136,341.4023,3753,-0.8777131,0.7616934,-0.3248906 -423.8155,262.5723,3754,-0.8219618,0.1683332,-0.5306909 -466.8136,348.5686,3755,-0.7412982,0.6014051,-0.2111049 -430.9818,215.9909,3756,0.282706,0.4873518,-1.90872 -459.6473,319.9032,3757,0.255338,-0.6735535,-1.978986 -147,279,3758,-1.150157,-0.04803572,0.183715 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0039.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0039.csv deleted file mode 100644 index 78b78ac9ec930c3c0045c027079e679c21d06da4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0039.csv +++ /dev/null @@ -1,381 +0,0 @@ -144.424,415.72,2645,-0.1626105,1.339035,-2.098926 -178.12,276.04,2972,-0.3919252,0.4487371,-1.978409 -169.48,299.08,3021,-0.3080822,0.5726097,-1.921493 -168.616,263.656,3052,-0.3200652,0.3562128,-1.955727 -168.9616,262.2737,3070,-0.3090301,0.3477225,-1.928617 -171.0352,297.5248,3078,-0.28923,0.5585495,-1.853163 -178.984,277.48,3093,-0.3700591,0.4421912,-1.920293 -167.7175,264.762,3107,-0.356263,0.3665672,-2.072382 -190.1124,294.6218,3113,-0.4258592,0.5515211,-1.872541 -222.4605,389.178,3125,-0.2086892,0.8851907,-0.9661761 -132.3833,227.9348,3147,-0.144645,0.1317289,-2.098521 -211.24,409.96,3188,-0.3040242,1.10684,-1.37354 -159.976,356.968,3226,-0.1217185,0.8529284,-1.617153 -165.2292,309.5518,3267,-0.1639565,0.5943697,-1.63542 -242.3671,349.3649,3279,-0.5090359,0.8211187,-1.378219 -218.728,398.44,3287,-0.2068496,0.9506899,-1.035245 -147.88,417.448,3314,0.0641064,1.045253,-1.253881 -217,428.68,3386,-0.4757825,1.354584,-1.672937 -59.75201,331.048,3401,0.2099488,0.8384078,-2.720422 -432.3089,318.2608,3402,-0.8812817,0.5504891,-0.2979929 -117.9511,399.1313,3457,0.1428973,1.001139,-1.479279 -130.6,90.85601,3466,-0.1077001,-0.6747761,-2.002202 -342.28,175.24,3500,-0.8329229,-0.1047868,-0.8784128 -422.632,339.688,3523,-0.7334439,0.6084514,-0.2085745 -393.256,280.936,3526,-0.9045516,0.414356,-0.5807428 -375.976,275.752,3527,-0.9061454,0.3963275,-0.70101 -144.0784,413.6465,3530,-0.1771203,1.352334,-2.147461 -239.464,301.672,3534,-0.4662044,0.5498629,-1.316311 -343.144,175.1824,3540,-0.871928,-0.1103901,-0.9167307 -349.3649,294.6218,3543,-0.8239641,0.4964539,-0.807762 -371.7598,187.624,3549,-0.9238981,-0.04497022,-0.7501066 -376.7364,267.2503,3550,-0.9441333,0.3561915,-0.7317182 -62.92,362.44,3591,0.1833211,1.076653,-2.799877 -61.48001,396.712,3597,0.1916817,1.318558,-2.86949 -63.4,387.4,3648,-1.021645,0.3442878,-0.1464007 -64.60001,301,3656,-1.098166,0.2549507,-0.3169489 -64.36,297.64,3676,-0.1945523,0.8385701,-0.9174797 -118.504,419.176,3687,-0.8953289,0.340903,-0.6834471 -218.44,417.16,3703,-0.9490665,0.4152952,-0.5811511 -348.328,296.488,3709,-1.107143,-0.06268187,-0.309115 -146.152,397.0576,3710,-0.8489202,0.4873105,-0.1427857 -375.976,280.936,3716,-0.9252375,0.811046,-0.3068065 -443.368,310.312,3721,-0.02052501,-0.6898879,-1.976467 -77.03201,75.30401,3735,-0.849907,0.7443523,-0.2875958 -147.8109,396.643,3742,-0.02901299,-0.6967252,-2.00626 -448.8977,312.7368,3749,-0.8443519,0.7774076,-0.2111339 -571.2401,171.0352,3760,-1.215629,-0.03684027,-0.1979473 -255.88,376.84,3778,-0.577607,1.390412,-1.832691 -49.96,300.52,3801,-0.1459844,0.8312109,-1.690728 -237.3904,403.2784,3805,-1.352831,-0.1087453,0.01907362 -106.12,433,3806,-1.197982,-0.05796971,-0.1115649 -500.2,184.6,3809,-1.170142,0.1966156,-0.2004589 -500.2,268.6,3819,0.253801,0.8280123,-3.037941 -64.36,389.8,3833,-1.018227,0.4138082,-0.8152323 -375.4,275.8,3835,0.1205142,-0.7682282,-2.138302 -130.6,90.28001,3839,-1.222818,0.2836938,-0.07645042 -85.96001,78.76,3849,-1.200981,0.06985202,-0.2283011 -463.24,229.96,3852,0.2323364,0.839497,-3.080182 -49.96,392.68,3855,-0.2023246,1.033958,-0.8598406 -121.96,420.04,3856,0.0616384,-0.90971,-3.333133 -502.12,267.4,3862,-1.382791,0.3506368,-0.1115718 -538.4081,270.568,3864,-0.1472839,0.8516895,-1.677363 -253.288,412.264,3867,-1.000351,0.06828956,-0.4322938 -455.8,183.4,3868,-1.260414,0.3090025,-0.06123412 -425.8,208.6,3869,-1.264341,0.3799596,-0.1877546 -389.8,280.6,3872,-0.5045722,0.8338998,-1.351753 -163.432,362.152,3879,-0.3689142,0.5718093,-1.941441 -378.3953,258.1264,3892,-0.07185499,1.251821,-1.507197 -135.784,372.5201,3897,-0.01492339,1.280343,-1.938411 -146.152,398.44,3898,-0.8280127,0.5848722,-0.2547175 -125.416,422.632,3899,-0.2115729,1.340131,-1.77328 -428.68,330.76,3900,-0.5059412,0.8111626,-1.33968 -166.6,433,3901,-0.5029738,0.8099579,-1.307213 -244.648,350.056,3902,-0.07154318,0.5140021,-1.259687 -245.8,349.48,3903,-0.09972627,0.9188508,-1.986406 -171.0352,303.7456,3904,0.1642804,0.7897804,-2.955065 -135.784,359.7328,3905,-1.013164,0.06772315,-0.4492233 -61.48001,320.68,3906,-0.9561951,0.3819854,-0.5756375 -456.04,304.84,3909,0.1167915,1.115541,-1.409602 -426.088,367.336,3910,-1.227911,0.3307517,-0.1706417 -533.2241,166.888,3914,-1.281204,0.1664992,-0.07245037 -61.48001,353.512,3918,-1.272909,0.3732503,-0.02571647 -61.48001,386.344,3919,-0.1222844,0.8534065,-1.516343 -533.9153,233.2432,3924,-1.076535,0.0368962,-0.2861287 -461.8,198.28,3926,-1.251587,0.2244417,0.002099738 -543.592,242.92,3928,-0.1828885,1.009349,-0.9533871 -241.48,348.04,3929,-1.099431,0.1690068,-0.2950249 -473.7809,227.0224,3933,-0.9772177,0.7300435,-0.1538494 -471.2926,364.2948,3939,-0.2015446,0.9274331,-1.006368 -217.4839,396.643,3941,-1.107472,0.1650974,-0.252066 -426.5028,366.7831,3942,-0.3506998,0.3784108,-2.073698 -169.4095,266.1555,3944,-0.2808853,1.021331,-2.148972 -63.20801,80.48801,2784,0.2895447,-0.6435433,-1.899275 -77.72321,73.57601,2799,0.2285699,-0.6757069,-1.843282 -239.8,299.8,2925,-0.4904572,0.5326326,-1.329546 -246,353,2957,-0.5239537,0.8326117,-1.332063 -169,299.8,2969,-0.2972013,0.5736908,-1.910357 -192.52,296.2,3050,-0.3884096,0.5448942,-1.754129 -116.2,85.96001,3069,-0.01969358,-0.6793324,-1.917043 -192.808,296.488,3081,-0.3785965,0.5442203,-1.719204 -165.8264,312.7368,3109,-0.1657085,0.6007231,-1.591051 -103.0211,80.62626,3118,0.06046352,-0.6920201,-1.875958 -168.2151,266.7527,3119,-0.3282748,0.3691241,-1.989021 -176.5759,301.9873,3122,-0.1849239,0.5188344,-1.492626 -183.1451,383.2061,3130,-0.1803247,0.9453033,-1.386182 -189.117,293.6265,3132,-0.3717965,0.5301623,-1.769239 -167.8,261.4,3210,-0.3135586,0.3518254,-2.000623 -140.968,424.36,3275,-0.1440891,1.358535,-2.079925 -159.2572,341.4023,3280,-0.1520454,0.7878866,-1.711734 -424,187,3326,-1.013249,-0.02560311,-0.4718189 -405,189,3327,-0.9282636,-0.02106616,-0.524232 -420,209,3328,-0.9689401,0.07457733,-0.4583478 -393.4,266.2,3335,-0.9675919,0.3648647,-0.6539505 -440,273,3336,-1.04984,0.3717888,-0.4074941 -416,279,3337,-1.012354,0.4066874,-0.5277641 -431,307,3344,-0.8502049,0.4971858,-0.2761135 -445,315,3347,-0.8591787,0.523927,-0.2062494 -430,186,3368,-1.034559,-0.03276409,-0.4515943 -418,190,3370,-1.032818,-0.01483248,-0.5221381 -393,192,3371,-0.9533156,-0.01206553,-0.6228917 -402,194,3372,-0.9710876,-8.226095e-05,-0.575421 -408,217,3374,-0.9831847,0.1098182,-0.543495 -374,244,3375,-0.9167973,0.2415976,-0.725901 -411,216,3389,-0.9983592,0.1048352,-0.5453176 -405,221,3390,-0.9420152,0.1295193,-0.5262438 -436,266,3392,-1.049977,0.3420644,-0.4309127 -422.2,269.8,3393,-1.001285,0.3603939,-0.4720708 -390,194,3410,-0.952584,-0.001688379,-0.6391642 -410,194,3417,-0.9673258,0.001408827,-0.5178246 -219.4,417.4,3421,-0.2005384,1.041389,-1.016562 -407,193,3422,-0.9834064,-0.003227311,-0.5531962 -397,193,3423,-0.9433829,-0.008025269,-0.587186 -409,263.8,3424,-0.9988856,0.3356365,-0.5590155 -390,191,3436,-0.9192873,-0.01348974,-0.6030195 -33,330,3438,0.3250744,0.8845281,-3.135286 -427.24,366.76,3444,-0.8183995,0.7439041,-0.2694829 -370.6,185.8,3450,-0.8736408,-0.04555122,-0.7030168 -437.8,377.8,3459,-0.8560756,0.7917753,-0.2450941 -423.4,212.2,3476,-0.9954361,0.08983572,-0.4618321 -375,220,3483,-0.9401171,0.1224153,-0.7439076 -193,297.4,3484,-0.3986913,0.5702566,-1.813161 -229.96,408.52,3490,-0.2608442,1.015617,-1.021559 -420.04,209.8,3506,-0.9854535,0.07635849,-0.4725237 -370.792,185.896,3518,-0.8866693,-0.0487065,-0.7170185 -378.3953,280.936,3533,-0.8670154,0.4106405,-0.6627305 -135.784,372.1744,3535,-0.02020497,0.9468247,-1.738422 -376.7364,279.6919,3545,-0.814027,0.3973639,-0.6138402 -344.3882,175.1824,3551,-0.8406028,-0.1081708,-0.8685976 -371.2621,186.1311,3553,-0.8129306,-0.03142546,-0.6207672 -377.2341,275.7106,3554,-0.896594,0.3944978,-0.6783653 -344.9855,176.5759,3555,-0.8471584,-0.1081968,-0.8768119 -350.3602,293.6265,3556,-0.8234378,0.4870123,-0.7947471 -461,184,3565,-1.103392,-0.03880496,-0.3168863 -453,186,3566,-1.074393,-0.02920166,-0.3390695 -450,192,3567,-1.080479,-0.003428881,-0.3590724 -465,197,3568,-1.092791,0.02386778,-0.2866282 -476.2692,219.9722,3570,-1.155647,0.1228039,-0.2746509 -477,233,3573,-1.13405,0.18231,-0.2528431 -494,242,3576,-1.220225,0.2317525,-0.2274646 -496,264,3577,-1.159009,0.3170142,-0.1683962 -496,277,3580,-1.184011,0.376519,-0.1861076 -481,277,3581,-1.106751,0.3764678,-0.2146889 -160.6,357.4,3589,-0.1324122,0.8528257,-1.615261 -244,354,3590,-0.4914311,0.8295141,-1.306458 -443,378,3596,-0.8593603,0.7821892,-0.2079376 -37,406,3598,0.3107771,1.427995,-3.106571 -456,183,3604,-1.089554,-0.04266339,-0.3341218 -486,186,3605,-1.174508,-0.02270213,-0.2318521 -446,206,3607,-1.080732,0.05598408,-0.3820196 -492,207,3608,-1.166205,0.06991635,-0.1983444 -487,267,3611,-1.070428,0.3873244,-0.3798205 -461,273,3612,-1.190764,0.3960113,-0.3037973 -445,278,3613,0.2272944,0.7900828,-3.011118 -50.2,320.2,3615,0.3173373,1.34254,-1.823041 -63.4,404.2,3616,-0.3308668,1.2942,-1.082525 -459,187,3620,-1.058562,0.1047999,-0.5156047 -425,191,3621,-1.153398,0.195519,-0.2302667 -422,217,3622,-1.117391,0.3245167,-0.2437347 -484,235,3623,-1.178849,0.3289365,-0.2378761 -476,265,3624,-1.000188,0.3307385,-0.361205 -486,265,3625,-1.136092,0.3447777,-0.2753875 -440,266,3626,-1.025625,0.3675892,-0.4306971 -472,269,3627,0.3326783,1.384265,-3.120933 -431,273,3628,-1.082762,-0.01934153,-0.3431477 -33,400,3629,-1.27682,0.04253428,-0.3785011 -453,188,3630,-0.9814857,0.2337144,-0.5631691 -404,244,3632,-1.03633,0.3713605,-0.3625177 -478,266,3633,-0.8436495,0.4895039,-0.1437747 -444,275,3634,0.1527143,0.8161805,-3.019578 -451.386,309.5518,3635,0.1819268,1.013393,-1.24105 -490.6,184.6,3639,0.214587,0.6744288,-3.04159 -36,401,3643,-1.222281,0.3398796,-0.2602294 -244,358,3647,-1.088062,-0.05621525,-0.3212996 -342.28,178.12,3657,0.5661065,0.6906195,-2.876748 -454.6,309.4,3660,-0.8741872,0.1523604,-0.6561581 -375,252,3665,0.6762477,0.8190168,-2.789523 -460.6,376.6,3673,0.5539811,1.294806,-1.848717 -223.912,381.16,3678,0.3238247,1.350465,-1.850321 -447.4,192.52,3682,-1.033518,0.3701002,-0.4400731 -473,232,3683,0.3573259,0.8725154,-2.958693 -245.8,353.8,3686,-1.114659,-0.009820276,-0.3971435 -448.6,191.8,3688,-0.9287881,0.4249685,-0.7205926 -375.4,281.8,3690,0.8832383,0.8032706,-2.709914 -422.92,339.4,3691,-1.086732,-0.03209913,-0.338314 -452.2,185.8,3693,0.5612152,-0.6412899,-2.094774 -369.64,186.76,3698,0.02802405,1.306079,-1.428131 -471.88,231.4,3699,-1.114099,-0.06868853,-0.309853 -464.2,177.4,3701,-0.1804549,1.009228,-0.9515671 -460.36,376.84,3706,0.3337689,0.8570685,-3.005436 -462.376,177.256,3711,-0.1196986,0.9435892,-0.8773284 -453.7361,308.584,3712,0.5387895,-0.6561972,-2.00397 -212.5072,409.4993,3713,-1.097509,0.1748155,-0.2536031 -455.4641,305.128,3717,-0.3077598,1.230619,-1.001936 -469.2881,365.608,3722,-0.8513379,0.5947409,-0.2845578 -115.048,86.01761,3723,0.1995995,1.401064,-2.912217 -427.816,331.048,3724,-1.194658,0.1726139,-0.3970206 -455.1185,303.7456,3728,-1.218745,0.02922265,-0.3870841 -444.7505,309.9664,3729,-0.8646265,0.4938411,-0.1558439 -463.4129,200.0656,3730,0.08074912,-0.7007042,-2.011817 -453.0449,307.8929,3731,-0.9263068,0.8036999,-0.2943593 -165.2292,311.5424,3738,0.1017079,0.8021489,-1.18175 -443.9211,314.5284,3739,0.339753,1.262666,-1.749804 -135.3693,377.2341,3740,-0.08330117,1.078551,-1.68591 -115.4627,85.6029,3744,-0.3189523,0.8181602,-0.8241342 -419.0379,338.4163,3745,0.113189,-0.6772326,-1.886571 -257.7947,377.2341,3746,-0.006851124,0.9682518,-1.315911 -95.55618,80.62626,3747,-0.8067976,0.493174,-0.1290776 -439.9398,377.2341,3751,-0.828213,0.7096484,-0.266081 -373.6509,187.3255,3752,-0.9409364,0.3983808,-0.7136838 -427.3987,359.3182,3753,-0.8777131,0.7616934,-0.3248906 -377.2341,276.905,3754,-0.8219618,0.1683332,-0.5306909 -387.9836,230.3236,3756,0.282706,0.4873518,-1.90872 -420.2323,337.8191,3757,0.255338,-0.6735535,-1.978986 -65,83,3759,-1.234187,-0.06612447,-0.09485257 -520,174,3761,-1.102929,-0.04893346,-0.4471498 -498,184,3762,-0.9381368,0.06182926,-0.7309617 -436,185,3763,-1.050453,0.1411195,-0.3639348 -374,211,3764,-1.138525,0.168248,-0.3317656 -445,224,3765,-0.9554647,0.3385471,-0.6106777 -463,230,3766,-1.035066,0.3378684,-0.4238055 -393,266,3767,-1.319771,0.3451793,-0.2300462 -433,267,3768,-1.229563,0.3838407,-0.1682108 -506.2,267.4,3769,-1.212891,0.3821262,-0.106567 -506,278,3770,-0.2754747,0.6360472,-1.532859 -516,279,3771,-0.8452455,0.5569939,-0.2801596 -190,318,3772,-0.3397444,0.6752118,-1.448919 -425.8,322.6,3773,-0.799517,0.5726902,-0.2253137 -207,326,3774,0.3160664,1.031509,-3.031229 -429,330,3775,-0.2945229,0.8009578,-1.243702 -36,355,3776,-0.350719,0.8375739,-0.9003327 -215,358,3777,0.1587528,0.9362952,-1.29163 -122,398,3779,-0.1895376,1.32319,-1.682201 -219.4,425.8,3780,-0.151043,-0.722339,-2.14866 -168,437,3781,0.2396169,-0.6449066,-2.041828 -130.6,91,3782,-1.159011,-0.04375494,-0.1468585 -65.8,91,3783,-1.22243,-0.04206536,-0.16937 -500,180,3784,-1.246499,0.04753658,-0.1069179 -505,182,3785,-1.21088,0.08687714,-0.1513484 -520,202,3786,-1.024081,0.07885306,-0.4725523 -506.2,211,3787,-1.05763,0.1572111,-0.3688154 -423,212,3788,-1.181267,0.227552,-0.09201393 -445,228,3789,-1.333459,0.252409,-0.06770581 -518,242,3790,-1.010607,0.2903681,-0.4388818 -540,248,3791,-1.257417,0.314237,-0.06900735 -426,257,3792,-1.229074,0.3159449,-0.1665322 -529,264,3793,-0.9242722,0.3281753,-0.7007369 -503,264,3794,-1.138973,0.3298537,-0.3490101 -376,264,3795,-1.017641,0.3410898,-0.4952355 -460.6,263.8,3796,-1.264251,0.333193,-0.05964658 -419,267,3797,-1.240625,0.3525174,-0.1553027 -532,268,3798,-1.187398,0.3832753,-0.1660911 -510,271,3799,0.2169593,0.6410044,-3.044302 -500,279,3800,-0.775634,0.6168352,-0.2307586 -424,341,3802,0.1403642,0.9457159,-1.327819 -158.2,351.4,3803,-0.697989,1.276045,-1.817242 -124,397,3804,0.1027944,1.313873,-1.905079 -561,164,3807,-1.225885,-0.029706,-0.1919303 -511,180,3808,-1.050618,0.07306025,-0.5184041 -419,212,3810,-1.303438,0.2228644,-0.03870901 -491,236,3811,-1.293242,0.3787303,-0.0634737 -542,242,3812,0.1788978,1.344048,-1.982515 -535,278,3813,0.1343475,1.2611,-1.508555 -88.60001,439,3814,-1.00939,-0.01611079,-0.5319758 -118,449,3815,-1.242426,0.3070675,-0.05183095 -412,192,3816,-1.128126,0.3436861,-0.3818654 -532,262,3817,-1.335388,0.3536637,-0.277732 -454,267,3818,-1.08055,0.3603192,-0.3477639 -452,273,3820,-1.123422,0.1636767,-0.285287 -45,326,3821,-1.233025,0.3808658,-0.2054621 -469,229,3822,0.3027229,1.342225,-2.027406 -499,277,3823,-1.035837,0.3511428,-0.4185991 -63.4,441.4,3824,0.3578749,0.8861237,-2.871363 -434,270,3825,-1.207103,0.3338984,-0.1489256 -33,340,3826,-1.229805,0.3402699,-0.05086857 -506,267,3827,0.1601562,1.012054,-2.975791 -530,270,3828,-0.8917437,0.224627,-0.6540759 -62.2,350.2,3829,-1.178264,0.3564271,-0.2286941 -376,243,3830,-0.1862284,0.8961294,-1.909432 -487,272.2,3831,0.1675253,1.274403,-2.893742 -154.6,355,3832,-1.226661,0.3507436,-0.181741 -503,270,3834,0.2504835,0.7913706,-3.053333 -45,320,3836,0.0317007,-0.7226379,-1.99833 -83.8,76.60001,3837,-0.1423057,-0.7176112,-2.117309 -106,81,3838,-1.18144,0.06525784,-0.179946 -494.92,205.48,3840,-0.9765096,0.7394487,-0.167694 -524.2,256.6,3841,-0.11471,1.145666,-1.904495 -469,365.32,3842,0.252399,-0.685788,-2.005966 -143.8,399.4,3843,-1.355235,-0.07430963,0.002887145 -64.36,81.64,3844,-1.023752,0.06413223,-0.4940936 -557.8,172.6,3845,-1.294165,0.37409,-0.03748834 -419.8,208.6,3846,-0.8203086,0.5844225,-0.2437498 -541,277,3847,0.1379267,-0.7215242,-2.00918 -429.4,331,3848,-1.056019,0.03853,-0.2482392 -466.6,200.2,3850,-1.097714,0.1653098,-0.2969804 -490.6,208.6,3851,-1.061628,0.2207126,-0.6442488 -404,242,3853,0.2356849,1.315456,-3.01672 -47.08,326.44,3854,0.143512,1.06572,-1.362855 -231.4,428.2,3857,-1.207404,-0.03728312,-0.1569801 -61.48,97.48,3858,-1.009744,0.07583595,-0.4852492 -503.8,182.2,3859,-1.108812,0.1602701,-0.2785901 -419.8,211,3860,-1.351489,0.3489122,-0.2788828 -467.8,227.8,3861,-0.4994511,0.7815673,-1.313824 -244.6,345.4,3863,-0.251637,0.8799071,-1.991322 -160.84,348.04,3865,-0.4090831,1.05633,-1.0519 -159.4,355.24,3866,-1.080715,-0.04520133,-0.3251667 -529,263.8,3870,-0.9566674,0.4083492,-0.635978 -505,277,3871,0.168042,1.011748,-2.959238 -61.48,350.92,3873,0.154935,0.9275834,-1.279667 -243.4,353.8,3874,0.1379494,-0.7063951,-2.012044 -123.4,397,3875,-1.016905,0.0571831,-0.4673091 -85.96001,81.64,3876,-1.035198,0.3588373,-0.4056849 -423,207,3877,-0.1245325,0.8543637,-1.54255 -436,273,3878,-0.370346,1.238542,-1.416799 -217,428,3880,-0.1828623,0.5694877,-1.668782 -179.56,297.64,3881,-0.5117902,0.8001692,-1.29375 -165.16,304.84,3882,0.2120489,1.299557,-3.045228 -248.2,349,3883,-1.212968,0.3481938,-0.1520153 -52.84,388.36,3884,-0.8943803,0.01762881,-0.6745278 -506.2,271,3885,-1.218546,0.3475703,-0.1372647 -374.2,200.2,3886,-1.284235,-0.06436471,-0.04483296 -509.8,271,3887,-1.308972,0.2233019,-0.04004905 -538.12,175.24,3888,-1.113731,0.1586342,-0.2852137 -542.44,241.48,3889,-1.244086,0.1867663,-0.03850242 -467.56,227.08,3890,-1.053869,0.3231633,-0.8305256 -533.8,232.84,3891,-0.1445669,0.8377631,-1.524135 -168.04,358.12,3893,-1.246085,0.1663315,-0.04670773 -158.2,437.8,3894,-1.27997,0.3700536,-0.02679995 -532.36,228.52,3895,0.02907521,0.8793374,-1.512284 -541,276.04,3896,-0.1061978,1.121987,-1.833682 -424.36,208.36,3907,-0.8920406,0.4741409,-0.1555189 -397,280.36,3908,-0.8832094,0.7597045,-0.3244089 -125.8,423.4,3911,-1.19157,0.3447868,-0.1386465 -505,265.96,3912,-1.272438,-0.1013416,-0.06061739 -506.44,270.28,3913,-1.201391,0.116768,-0.01775122 -536.6801,217,3915,-1.275034,-0.06942067,-0.03745447 -531.496,229.096,3916,0.1881412,1.010255,-2.861561 -538.4081,173.8,3917,0.2046601,1.229665,-2.804871 -540.136,277.48,3920,0.1513417,0.9594379,-1.375868 -164.8144,361.8065,3921,-1.310193,0.1737311,-0.06883429 -119.1952,397.0576,3922,-1.220462,0.1919011,-0.02325422 -536.6801,230.824,3923,-1.152184,0.0664839,-0.1697412 -493.48,204.904,3925,-0.9821984,0.1550829,-0.1971248 -467.5601,227.368,3927,-0.4253534,0.7701364,-1.20124 -218.728,417.448,3930,0.1332439,-0.5830141,-1.476262 -464.104,230.824,3931,-1.055628,0.1586808,-0.215928 -104.68,79.79681,3932,-1.235457,-0.07752092,-0.07227691 -521.4737,173.1088,3934,-1.160628,0.1744889,-0.2934416 -471.7073,363.8801,3935,-1.105939,0.1673638,-0.292199 -473.7809,231.1696,3936,-0.250344,0.5516267,-1.730946 -465.4865,229.096,3937,-0.9056672,0.7043485,-0.0857489 -174.1871,302.5845,3938,-0.3376417,1.001207,-1.473917 -205.0423,386.6897,3940,-0.812762,0.7360209,-0.2509453 -473.7809,227.4372,3943,-0.1865959,0.8042614,-1.835446 -158.66,341.4023,3945,-1.133118,0.1311662,-0.2544403 -155.0768,362.9014,3946,-0.9242076,0.7140941,-0.0999148 -475.7716,221.9629,3947,-1.041469,0.09594853,-0.762247 -472.7856,365.2902,3948,-0.02352308,0.8564535,-1.750752 -387.9836,215.9909,3949,-0.938872,0.7169221,-0.1051316 -133.5777,359.3182,3950,-0.8677416,0.4839194,-0.8342959 -473.98,362.9014,3951,-1.171244,-0.03031923,-0.2170845 -352.1518,294.8209,3952,-0.9346774,-0.04765632,-0.7546081 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0040.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0040.csv deleted file mode 100644 index e6425dda07920087927c1e76a0fa7042b35bf278..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0040.csv +++ /dev/null @@ -1,321 +0,0 @@ -189.6976,318.2608,3072,-0.595409,0.5816075,-1.591933 -173.8,428.68,3296,-0.170639,0.9508317,-0.9507654 -195.089,383.2061,3308,-0.5508982,0.9321887,-1.490084 -381.4,200.2,3324,-1.027624,-0.03092967,-0.5411402 -336.52,277.48,3334,-0.9564757,0.3472011,-0.7777947 -357.4,290.2,3394,-0.9328957,0.392015,-0.6022003 -303.4,187.624,3500,-0.8329229,-0.1047868,-0.8784128 -334.8496,197.992,3518,-0.8866693,-0.0487065,-0.7170185 -393.256,356.968,3523,-0.7334439,0.6084514,-0.2085745 -356.968,296.488,3526,-0.9045516,0.414356,-0.5807428 -338.9969,295.4512,3533,-0.8670154,0.4106405,-0.6627305 -304.5751,187.624,3540,-0.871928,-0.1103901,-0.9167307 -341.8999,289.6452,3544,-0.8681908,0.385052,-0.6427931 -371.08,253,3574,-0.9669023,0.1918588,-0.5567809 -102.6064,374.248,3586,-0.2116894,0.9033819,-1.944999 -419.8,207.4,3653,0.5536711,1.076904,-2.82509 -395.8,287.8,3684,-0.4862419,0.8211868,-1.274091 -424.36,326.44,3696,-0.9137252,-0.0501507,-0.7372645 -339.688,261.928,3704,-0.916119,0.7751812,-0.164522 -362.152,296.488,3705,-0.444003,1.23931,-1.147505 -310.312,312.04,3709,-1.107143,-0.06268187,-0.309115 -438.1841,246.376,3715,-0.9429371,0.4883527,-0.2000287 -343.144,295.4512,3716,-0.9252375,0.811046,-0.3068065 -64.936,87.40001,3723,0.1995995,1.401064,-2.912217 -428.1617,216.6544,3730,0.08074912,-0.7007042,-2.011817 -421.9409,326.5552,3731,-0.9263068,0.8036999,-0.2943593 -395.56,340.84,3773,-0.799517,0.5726902,-0.2253137 -391.24,222.76,3907,-0.8920406,0.4741409,-0.1555189 -471.88,281.8,3912,-1.272438,-0.1013416,-0.06061739 -502.12,231.4,3915,-1.275034,-0.06942067,-0.03745447 -431.272,244.648,3931,-1.055628,0.1586808,-0.215928 -438.9444,244.8554,3943,-0.1865959,0.8042614,-1.835446 -505,268.84,3964,-1.030856,0.3558202,-0.5703355 -213.544,401.896,4015,-0.9823724,0.4173642,-0.6381665 -397,385.48,4017,-0.960182,0.1101813,-0.4986503 -394.12,358.12,4024,-0.922102,-0.00623392,-0.490158 -467.56,284.68,4026,-1.28259,0.3676199,-0.3433936 -371.8,203.8,4027,-0.1503518,1.199376,-2.06085 -535.9889,160.6672,4033,-1.084311,0.3224273,-0.1015054 -408.52,397,4034,-0.7834203,0.4872191,-0.1952651 -401.32,323.56,4037,-1.326256,-0.1041312,-0.1013261 -497.8,181,4040,-0.9132377,0.4162885,-0.594098 -388.36,225.64,4041,-1.081861,0.04613739,-0.2789592 -196.264,372.5201,4042,-1.197968,0.3818091,-0.1467771 -467.56,290.44,4046,-1.156653,0.3088093,-0.1319654 -363.88,201.16,4047,-1.356186,0.4496042,0.1112676 -547.048,310.312,4050,-1.299688,0.2925415,-0.06874644 -491.1992,249.8321,4052,-0.5001412,0.8595832,-1.31612 -173.8,410.536,4058,-1.181909,0.0882569,-0.009334033 -309.5518,312.0401,4059,-1.242915,0.3741168,-0.005942753 -409.0846,396.643,4060,-0.8143211,0.7462179,-0.2491727 -502.8113,222.8752,4061,-1.170453,-0.0675386,-0.3541389 -498.6641,252.3204,4066,-1.246874,0.1731119,-0.05410589 -504.8849,245.6848,4067,-1.226464,0.08907231,-0.03823171 -496.1758,239.8788,4069,-1.260426,0.3672446,-0.03234068 -427.9958,215.9909,4073,-1.259593,-0.08235351,-0.06477749 -405.4,287.8,4083,-0.8958756,-0.005540949,-0.5865535 -426.088,191.08,4084,-0.9337361,-0.004591328,-0.6041744 -119.1952,314.1136,3078,-0.28923,0.5585495,-1.853163 -390,200,3326,-1.013249,-0.02560311,-0.4718189 -370,201,3327,-0.9282636,-0.02106616,-0.524232 -386,222,3328,-0.9689401,0.07457733,-0.4583478 -355,284,3335,-0.9675919,0.3648647,-0.6539505 -406,288,3336,-1.04984,0.3717888,-0.4074941 -381,294,3337,-1.012354,0.4066874,-0.5277641 -396,199,3368,-1.034559,-0.03276409,-0.4515943 -384,203,3370,-1.032818,-0.01483248,-0.5221381 -357.4,203.8,3371,-0.9533156,-0.01206553,-0.6228917 -373,231,3374,-0.9831847,0.1098182,-0.543495 -337,258,3375,-0.9167973,0.2415976,-0.725901 -376,229,3389,-0.9983592,0.1048352,-0.5453176 -402,281,3392,-1.049977,0.3420644,-0.4309127 -389,286,3393,-1.001285,0.3603939,-0.4720708 -172,444,3421,-0.2005384,1.041389,-1.016562 -373,206,3422,-0.9834064,-0.003227311,-0.5531962 -361,205,3423,-0.9433829,-0.008025269,-0.587186 -333.4,197.8,3450,-0.8736408,-0.04555122,-0.7030168 -388.6,225.4,3476,-0.9954361,0.08983572,-0.4618321 -338,233,3483,-0.9401171,0.1224153,-0.7439076 -385.48,222.76,3506,-0.9854535,0.07635849,-0.4725237 -337.96,291.304,3527,-0.9061454,0.3963275,-0.70101 -311.5424,311.5424,3543,-0.8239641,0.4964539,-0.807762 -334.435,197.5773,3549,-0.9238981,-0.04497022,-0.7501066 -339.4116,282.1802,3550,-0.9441333,0.3561915,-0.7317182 -305.5704,186.1311,3551,-0.8406028,-0.1081708,-0.8685976 -335.4303,198.075,3553,-0.8129306,-0.03142546,-0.6207672 -338.4163,293.6265,3554,-0.896594,0.3944978,-0.6783653 -305.5705,187.3255,3555,-0.8471584,-0.1081968,-0.8768119 -428,198,3565,-1.103392,-0.03880496,-0.3168863 -420,200,3566,-1.074393,-0.02920166,-0.3390695 -417,206,3567,-1.080479,-0.003428881,-0.3590724 -432,211,3568,-1.092791,0.02386778,-0.2866282 -443.9211,234.9021,3570,-1.155647,0.1228039,-0.2746509 -444,247,3573,-1.13405,0.18231,-0.2528431 -463,280,3577,-1.159009,0.3170142,-0.1683962 -463,292,3580,-1.184011,0.376519,-0.1861076 -448,293,3581,-1.106751,0.3764678,-0.2146889 -422,197,3604,-1.089554,-0.04266339,-0.3341218 -453,201,3605,-1.174508,-0.02270213,-0.2318521 -414,219,3607,-1.080732,0.05598408,-0.3820196 -459,222,3608,-1.166205,0.06991635,-0.1983444 -412,293,3613,0.2272944,0.7900828,-3.011118 -426,201,3620,-1.058562,0.1047999,-0.5156047 -391,204,3621,-1.153398,0.195519,-0.2302667 -387.4,230.2,3622,-1.117391,0.3245167,-0.2437347 -451,250,3623,-1.178849,0.3289365,-0.2378761 -443,280,3624,-1.000188,0.3307385,-0.361205 -453,281,3625,-1.136092,0.3447777,-0.2753875 -406,281,3626,-1.025625,0.3675892,-0.4306971 -439,284,3627,0.3326783,1.384265,-3.120933 -420,202,3630,-0.9814857,0.2337144,-0.5631691 -445,281,3633,-0.8436495,0.4895039,-0.1437747 -410,290,3634,0.1527143,0.8161805,-3.019578 -421.5262,326.97,3635,0.1819268,1.013393,-1.24105 -338,267,3665,0.6762477,0.8190168,-2.789523 -414.28,205.48,3682,-1.033518,0.3701002,-0.4400731 -440,247,3683,0.3573259,0.8725154,-2.958693 -415,205,3688,-0.9287881,0.4249685,-0.7205926 -337.96,297.64,3690,0.8832383,0.8032706,-2.709914 -422.2,199,3693,0.5612152,-0.6412899,-2.094774 -333.64,198.28,3698,0.02802405,1.306079,-1.428131 -438.76,245.8,3699,-1.114099,-0.06868853,-0.309853 -430.6,191.8,3701,-0.1804549,1.009228,-0.9515671 -429.544,191.08,3711,-0.1196986,0.9435892,-0.8773284 -424.36,325.864,3712,0.5387895,-0.6561972,-2.00397 -426.088,322.408,3717,-0.3077598,1.230619,-1.001936 -413.992,327.592,3721,-0.02052501,-0.6898879,-1.976467 -426.0881,320.3344,3728,-1.218745,0.02922265,-0.3870841 -415.7201,326.5552,3729,-0.8646265,0.4938411,-0.1558439 -416.5495,329.4583,3739,0.339753,1.262666,-1.749804 -93.56553,386.192,3740,-0.08330117,1.078551,-1.68591 -392.164,356.3322,3745,0.113189,-0.6772326,-1.886571 -420.2323,330.6527,3749,-0.8443519,0.7774076,-0.2111339 -334.2359,198.075,3752,-0.9409364,0.3983808,-0.7136838 -341.4023,291.2377,3754,-0.8219618,0.1683332,-0.5306909 -352.1518,241.0732,3756,0.282706,0.4873518,-1.90872 -391.5668,355.735,3757,0.255338,-0.6735535,-1.978986 -487,189,3761,-1.102929,-0.04893346,-0.4471498 -465,198,3762,-0.9381368,0.06182926,-0.7309617 -403,198,3763,-1.050453,0.1411195,-0.3639348 -338,223,3764,-1.138525,0.168248,-0.3317656 -412,238,3765,-0.9554647,0.3385471,-0.6106777 -430,245,3766,-1.035066,0.3378684,-0.4238055 -399,282,3768,-1.229563,0.3838407,-0.1682108 -472.6,283,3769,-1.212891,0.3821262,-0.106567 -483,295,3771,-0.8452455,0.5569939,-0.2801596 -467,195,3784,-1.246499,0.04753658,-0.1069179 -471,197,3785,-1.21088,0.08687714,-0.1513484 -487,217,3786,-1.024081,0.07885306,-0.4725523 -473,226,3787,-1.05763,0.1572111,-0.3688154 -389,225,3788,-1.181267,0.227552,-0.09201393 -412,242,3789,-1.333459,0.252409,-0.06770581 -484,257,3790,-1.010607,0.2903681,-0.4388818 -394,270,3792,-1.229074,0.3159449,-0.1665322 -496,279,3793,-0.9242722,0.3281753,-0.7007369 -469,279,3794,-1.138973,0.3298537,-0.3490101 -384,283,3797,-1.240625,0.3525174,-0.1553027 -499,281.8,3798,-1.187398,0.3832753,-0.1660911 -467,295,3800,-0.775634,0.6168352,-0.2307586 -480,191,3808,-1.050618,0.07306025,-0.5184041 -466.6,199,3809,-1.170142,0.1966156,-0.2004589 -385,225,3810,-1.303438,0.2228644,-0.03870901 -458,251,3811,-1.293242,0.3787303,-0.0634737 -502,292,3813,0.1343475,1.2611,-1.508555 -378,205,3816,-1.128126,0.3436861,-0.3818654 -498,277,3817,-1.335388,0.3536637,-0.277732 -419,283,3818,-1.08055,0.3603192,-0.3477639 -419,287,3820,-1.123422,0.1636767,-0.285287 -436,244,3822,0.3027229,1.342225,-2.027406 -466,292,3823,-1.035837,0.3511428,-0.4185991 -474,282,3827,0.1601562,1.012054,-2.975791 -497,286,3828,-0.8917437,0.224627,-0.6540759 -341,257,3830,-0.1862284,0.8961294,-1.909432 -453.4,287.8,3831,0.1675253,1.274403,-2.893742 -490.6,272.2,3841,-0.11471,1.145666,-1.904495 -386.2,221.8,3846,-0.8203086,0.5844225,-0.2437498 -434.2,214.6,3850,-1.097714,0.1653098,-0.2969804 -430.12,244.36,3852,0.2323364,0.839497,-3.080182 -471.4,196.6,3859,-1.108812,0.1602701,-0.2785901 -385,224.2,3860,-1.351489,0.3489122,-0.2788828 -435.4,243.4,3861,-0.4994511,0.7815673,-1.313824 -502.1201,286.12,3864,-0.1472839,0.8516895,-1.677363 -422.2,196.6,3868,-1.260414,0.3090025,-0.06123412 -392.2,223,3869,-1.264341,0.3799596,-0.1877546 -497.8,277,3870,-0.9566674,0.4083492,-0.635978 -472.6,292.6,3871,0.168042,1.011748,-2.959238 -196.84,372.52,3874,0.1379494,-0.7063951,-2.012044 -389,220,3877,-0.1245325,0.8543637,-1.54255 -402,288,3878,-0.370346,1.238542,-1.416799 -473.8,286.6,3885,-1.218546,0.3475703,-0.1372647 -477.4,286.6,3887,-1.308972,0.2233019,-0.04004905 -434.44,241.48,3890,-1.053869,0.3231633,-0.8305256 -500.68,248.68,3891,-0.1445669,0.8377631,-1.524135 -499.24,244.36,3895,0.02907521,0.8793374,-1.512284 -507.88,291.88,3896,-0.1061978,1.121987,-1.833682 -197.992,370.1009,3902,-0.07154318,0.5140021,-1.259687 -425.8,322.12,3909,0.1167915,1.115541,-1.409602 -473.32,286.12,3913,-1.201391,0.116768,-0.01775122 -498.6641,244.648,3916,0.1881412,1.010255,-2.861561 -507.304,293.032,3920,0.1513417,0.9594379,-1.375868 -500.7377,251.9056,3924,-1.076535,0.0368962,-0.2861287 -462.376,220.456,3925,-0.9821984,0.1550829,-0.1971248 -427.24,212.68,3926,-1.251587,0.2244417,0.002099738 -434.728,241.192,3927,-0.4253534,0.7701364,-1.20124 -65.28161,86.01761,3932,-1.235457,-0.07752092,-0.07227691 -440.6033,241.5376,3933,-0.9772177,0.7300435,-0.1538494 -492.4433,187.624,3934,-1.160628,0.1744889,-0.2934416 -438.5297,245.6848,3936,-0.250344,0.5516267,-1.730946 -432.3089,243.6112,3937,-0.9056672,0.7043485,-0.0857489 -443.9211,381.713,3939,-0.2015446,0.9274331,-1.006368 -395.15,386.192,3942,-0.3506998,0.3784108,-2.073698 -442.9258,236.8928,3947,-1.041469,0.09594853,-0.762247 -442.9258,383.2061,3948,-0.02352308,0.8564535,-1.750752 -348.5686,230.3236,3949,-0.938872,0.7169221,-0.1051316 -312.7368,309.1536,3952,-0.9346774,-0.04765632,-0.7546081 -455,197,3953,-1.074963,-0.01599207,-0.3242604 -334,198,3954,-1.013568,-0.01285983,-0.4441945 -422,201,3955,-0.9172767,0.01445488,-0.6977782 -392.2,202.6,3956,-1.21407,0.04908022,-0.09404425 -339,210,3957,-1.076291,0.1171532,-0.3311963 -485,215,3958,-1.197241,0.197188,-0.2210692 -421,231,3959,-1.008687,0.2086822,-0.5269647 -458,249,3960,-1.066396,0.2409883,-0.3761802 -378,252,3961,-1.078253,0.2644717,-0.2977952 -411,259,3962,-1.234461,0.2832657,-0.01051185 -427,265,3963,-1.249206,0.2976108,-0.08790664 -491,273,3965,-1.124261,0.3317032,-0.06790158 -374,282,3966,-1.303563,0.381865,-0.03902393 -478,282,3967,-0.8870275,0.4022155,-0.546611 -508,292,3968,-1.202981,-0.02586152,-0.5589188 -358,294,3969,-0.8771181,-0.01134966,-0.5902215 -401,202,3970,-1.195534,0.04586158,-0.1157643 -349,203.8,3971,-1.08553,0.07377584,-0.4999968 -478,214,3972,-1.157538,0.1715698,-0.2226128 -393,223,3973,-0.9507558,0.3273337,-0.215419 -452,243,3974,-1.054979,0.3587326,-0.511238 -425,280,3975,-1.116322,-0.07084725,-0.2905605 -387,283,3976,-0.8815123,-0.112744,-0.9215932 -433,188.2,3977,-1.056776,-0.01242616,-0.4602507 -304,186,3978,-1.218803,0.2936714,-0.01451366 -396,203,3979,-1.012248,0.3481287,-0.3444477 -502,273,3980,-1.16768,0.3541106,-0.1247347 -410,284,3981,-1.098807,0.007017903,-0.3569126 -474,287,3982,-1.117648,0.3240428,-0.2132898 -419,207,3983,-1.0963,0.366649,-0.2506807 -448,279,3984,-1.068835,-0.03149849,-0.4043938 -438,288,3985,-1.105651,-0.01415521,-0.1445789 -406,198,3986,-1.166495,0.06216474,-0.2518825 -460,199,3987,-1.008781,0.1032176,-0.4524657 -448,219,3988,-0.9617878,0.1863634,-0.7439701 -390,228,3989,-1.069405,0.3695447,-0.3921184 -339.4,245.8,3990,-1.149905,-0.03410761,-0.2171177 -409,287,3991,-1.034925,0.3405343,-0.3657382 -452,196,3992,-1.265881,0.3215295,-0.04760762 -409,281,3993,-0.2247368,1.024363,-1.036073 -502,279,3994,-1.105298,0.1917426,-0.2705856 -172,435,3995,-0.9273481,0.3919303,-0.57811 -436,248,3996,-0.9984368,-0.02366311,-0.603806 -358,291,3997,-1.120136,0.3628805,-0.2044874 -365,201,3998,-0.9403356,0.3090728,-0.7036709 -450,288,3999,-1.056853,0.4031225,-0.3866368 -341.8,272.2,4000,-1.127777,0.333549,-0.2101486 -389,203,4001,-1.003921,-0.0256015,-0.4981634 -408,295,4002,-1.132475,-0.04262472,-0.3209471 -451,281,4003,-1.191709,0.3461143,-0.07776294 -382,200,4004,-0.8842993,0.004825737,-0.6653808 -430,195,4005,-1.156909,0.3304979,-0.2495826 -485,285,4006,-1.240476,0.1013128,-0.0238192 -338,208,4007,-0.9645101,0.3061203,-0.7064922 -446,279,4008,-0.4151914,1.305203,-1.64897 -503,227,4009,-1.22364,-0.02282166,-0.2651934 -345,271,4010,-1.077445,0.1878255,-0.2253476 -161,445,4011,-0.8755863,0.5126552,-0.8620105 -452.2,200.2,4012,-0.2806122,0.8172488,-0.7633598 -440.2,247,4013,-1.416002,-0.186489,0.03136141 -310.6,312.04,4014,-0.8230494,0.7418646,-0.2471055 -536.68,160.84,4016,-0.2105025,0.9556342,-0.988665 -357.4,295,4018,-0.9604871,-0.008052777,-0.4541065 -173.8,423.4,4019,-1.001686,0.3572479,-0.3905948 -375.4,229,4020,-1.087285,0.4037316,-0.3951554 -382.6,203.8,4021,-0.6474361,0.5857659,-0.1004909 -399,286,4022,-0.8986175,0.1016032,-0.6690618 -411.4,293.8,4023,-1.247814,0.3497589,-0.199028 -340.6,227.8,4025,-1.292133,0.3583224,-0.1167643 -490.6,286.6,4028,-0.9853388,-0.006636922,-0.5091766 -446,286,4029,-1.207828,0.3303531,-0.1964902 -88,418,4030,-1.311826,-0.1716621,0.08305449 -377.8,203.8,4031,-0.7573457,0.7550254,-0.1344195 -463,279.4,4032,-1.159639,0.08245729,-0.2024966 -456.04,222.76,4035,-0.9117638,0.3528968,-0.7004529 -467.56,278.92,4036,-0.9782872,0.4223986,-0.6389148 -337.96,281.8,4038,-1.006645,0.09014422,-0.4584655 -356.68,296.2,4039,-0.5043479,0.8508272,-1.358784 -353.8,296.2,4043,-1.214522,0.3689994,-0.1878247 -431.56,214.12,4044,-0.9686004,-0.01875758,-0.5787328 -473.32,293.32,4045,-0.3253795,0.8544216,-0.8518791 -212.5072,403.2784,4048,-0.7444895,0.7418016,-0.1188712 -469.2881,275.752,4049,-1.238134,0.2059245,-0.07812466 -407.08,396.712,4051,-1.205032,0.3339542,-0.1958642 -500.3921,270.568,4053,-0.9240561,0.3590938,-0.7135713 -464.104,282.664,4054,-0.190155,0.8542485,-0.9072898 -200.0656,376.3217,4055,-0.2554806,0.9331939,-1.081809 -337.96,282.664,4056,-0.7597291,0.4832106,-0.7233226 -177.256,407.4257,4057,-0.7908195,0.759068,-0.1505497 -506.9585,291.304,4062,-1.063756,0.3201711,-0.1028119 -397.0576,384.6161,4063,-1.328353,0.2066078,-0.09665721 -430.2353,191.7712,4064,-1.107499,0.1745308,0.06466677 -465.4865,280.936,4065,-1.648597,0.1993976,-0.1663607 -521.059,252.3204,4068,-0.8758864,0.6439196,-0.3112763 -501.1524,222.4605,4070,-1.183668,0.03266789,-0.371555 -391.6663,356.8298,4071,-1.12504,0.1749198,-0.3148122 -506.1291,292.1335,4072,-0.2289998,0.5719546,-1.698964 -431.4795,244.8554,4074,-1.233794,0.08732414,-0.04714493 -120.4394,314.5284,4075,-1.211373,0.1542332,-0.05160006 -496.6735,183.1451,4076,-0.8030052,0.5045863,-0.1326098 -499.6595,221.9629,4077,-1.207189,0.2011853,-0.01866437 -493.6875,239.8788,4078,-0.6570892,0.4659691,-0.05276959 -419.0379,329.4583,4079,-1.210685,-0.02849619,-0.138521 -499.6595,251.8227,4080,-1.152803,0.3798932,-0.4729148 -405.8995,327.0695,4081,-1.260951,-0.07882506,-0.4422739 -473.98,194.4918,4082,-1.12342,-0.02617977,-0.2965063 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0041.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0041.csv deleted file mode 100644 index 5756f54704ba5cffc1bd574d4809d00abdcc0f4e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0041.csv +++ /dev/null @@ -1,457 +0,0 @@ -249.8321,197.5773,3529,-0.8586195,-0.0375614,-0.6890352 -252.3204,299.5985,3533,-0.8670154,0.4106405,-0.6627305 -251.8227,299.5985,3545,-0.814027,0.3973639,-0.6138402 -328.6288,332.7761,3721,-0.02052501,-0.6898879,-1.976467 -344.3882,331.9466,3731,-0.9263068,0.8036999,-0.2943593 -266.7527,245.8508,3756,0.282706,0.4873518,-1.90872 -279.208,294.76,3908,-0.8832094,0.7597045,-0.3244089 -364.2948,389.178,3951,-1.171244,-0.03031923,-0.2170845 -329.32,405.3521,4033,-1.084311,0.3224273,-0.1015054 -282.1802,202.554,4046,-1.156653,0.3088093,-0.1319654 -330.7025,403.2784,4050,-1.299688,0.2925415,-0.06874644 -417.448,275.752,4052,-0.5001412,0.8595832,-1.31612 -381.16,284.392,4053,-0.9240561,0.3590938,-0.7135713 -221.9629,317.5144,4058,-1.181909,0.0882569,-0.009334033 -417.7937,227.0224,4060,-0.8143211,0.7462179,-0.2491727 -314.5284,394.1547,4062,-1.063756,0.3201711,-0.1028119 -413.6465,243.6112,4068,-0.8758864,0.6439196,-0.3112763 -347.3742,218.9769,4072,-0.2289998,0.5719546,-1.698964 -355.24,196.264,4183,-1.187702,0.2091238,-0.2968256 -220.456,318.952,4206,-0.8317741,0.6486664,-0.275212 -365.32,251.56,4210,-1.227382,0.3979303,-0.2270648 -305.8192,224.9488,4228,-1.246764,0.1423245,-0.05853553 -358.12,290.44,4240,-0.8965696,0.3648964,-0.589886 -161.704,393.256,4252,-1.212394,-0.02548436,-0.1717299 -109.864,424.36,4253,-0.8986028,0.4174754,-0.5513361 -90.85601,394.984,4264,-0.9577447,-0.0153395,-0.4997779 -376.84,201.16,4270,-1.021677,0.04138296,-0.3025454 -414.28,281.8,4273,-1.136002,0.3294203,-0.1657626 -85.672,394.984,4277,-1.160341,0.04503529,-0.3432321 -453.0449,168.9616,4282,-1.056402,0.03701625,-0.3334661 -322.408,329.32,4285,-0.9506183,0.7374164,-0.1278865 -85.6029,394.1547,4286,-1.180055,-0.02064646,-0.1506596 -419.176,260.2,4290,-0.4854857,0.8817317,-1.339612 -351.784,213.544,4296,-1.079777,0.3290424,-0.114266 -222.4605,317.0167,4300,-0.984363,0.3340591,-0.517667 -331.9466,210.0189,4301,-1.220796,-0.07793274,-0.04918739 -252.3204,294.6218,4304,-0.871434,-0.1113529,-0.9221633 -217.4839,182.6474,4306,-1.259858,0.1754946,-0.0719482 -251.9056,285.0833,4310,-1.284547,0.2922767,-0.07151328 -417.7937,274.7152,4312,-1.152606,0.3150673,-0.3439876 -353.5121,212.5072,4313,-0.6319125,0.8537413,-1.001519 -407.4257,193.8448,4320,-1.073426,0.009784608,-0.3089531 -326.4724,332.4443,4325,-1.249439,0.07688471,-0.3071607 -369.2715,224.9489,4327,-1.006787,0.1863612,-0.168955 -345.2177,258.1264,4328,-1.086838,0.05612216,-0.2534217 -364.2948,249.8321,4329,-1.149737,0.1941127,-0.1861028 -359.3182,218.9769,4330,-1.016024,-0.04053354,-0.2674529 -359.3182,244.6564,4341,-1.117769,-0.03063292,-0.5577064 -309.4,201.4,3326,-1.013249,-0.02560311,-0.4718189 -288,202,3327,-0.9282636,-0.02106616,-0.524232 -305,224,3328,-0.9689401,0.07457733,-0.4583478 -270,288,3335,-0.9675919,0.3648647,-0.6539505 -324,292,3336,-1.04984,0.3717888,-0.4074941 -316,200,3368,-1.034559,-0.03276409,-0.4515943 -303,204,3370,-1.032818,-0.01483248,-0.5221381 -292,232,3374,-0.9831847,0.1098182,-0.543495 -294,231,3389,-0.9983592,0.1048352,-0.5453176 -320,285,3392,-1.049977,0.3420644,-0.4309127 -305.8,289,3393,-1.001285,0.3603939,-0.4720708 -273.4,295,3394,-0.9328957,0.392015,-0.6022003 -279.4,205,3423,-0.9433829,-0.008025269,-0.587186 -250.12,196.84,3450,-0.8736408,-0.04555122,-0.7030168 -308.2,227.8,3476,-0.9954361,0.08983572,-0.4618321 -217,184.168,3500,-0.8329229,-0.1047868,-0.8784128 -304.84,224.2,3506,-0.9854535,0.07635849,-0.4725237 -249.832,195.9184,3518,-0.8866693,-0.0487065,-0.7170185 -314.1136,363.8801,3523,-0.7334439,0.6084514,-0.2085745 -272.296,301.672,3526,-0.9045516,0.414356,-0.5807428 -253.288,294.76,3527,-0.9061454,0.3963275,-0.70101 -223.1573,316.32,3543,-0.8239641,0.4964539,-0.807762 -254.8087,284.6685,3550,-0.9441333,0.3561915,-0.7317182 -255.4059,294.8209,3554,-0.896594,0.3944978,-0.6783653 -219.5741,183.7423,3555,-0.8471584,-0.1081968,-0.8768119 -348,200,3565,-1.103392,-0.03880496,-0.3168863 -337,208,3567,-1.080479,-0.003428881,-0.3590724 -352,214,3568,-1.092791,0.02386778,-0.2866282 -361.8065,237.3905,3570,-1.155647,0.1228039,-0.2746509 -363,251,3573,-1.13405,0.18231,-0.2528431 -285.4,251.8,3574,-0.9669023,0.1918588,-0.5567809 -382,283,3577,-1.159009,0.3170142,-0.1683962 -381,296,3580,-1.184011,0.376519,-0.1861076 -366,297,3581,-1.106751,0.3764678,-0.2146889 -343,199,3604,-1.089554,-0.04266339,-0.3341218 -373,204,3605,-1.174508,-0.02270213,-0.2318521 -378,225,3608,-1.166205,0.06991635,-0.1983444 -330,297,3613,0.2272944,0.7900828,-3.011118 -346,203,3620,-1.058562,0.1047999,-0.5156047 -305.8,232.6,3622,-1.117391,0.3245167,-0.2437347 -370,254,3623,-1.178849,0.3289365,-0.2378761 -362,284,3624,-1.000188,0.3307385,-0.361205 -324,285,3626,-1.025625,0.3675892,-0.4306971 -358,288,3627,0.3326783,1.384265,-3.120933 -340,204,3630,-0.9814857,0.2337144,-0.5631691 -339.4,209.8,3653,0.5536711,1.076904,-2.82509 -333.64,206.92,3682,-1.033518,0.3701002,-0.4400731 -360,251,3683,0.3573259,0.8725154,-2.958693 -314.2,292.6,3684,-0.4862419,0.8211868,-1.274091 -334.6,207.4,3688,-0.9287881,0.4249685,-0.7205926 -341.8,201.4,3693,0.5612152,-0.6412899,-2.094774 -346.6,330.76,3696,-0.9137252,-0.0501507,-0.7372645 -358.12,250.12,3699,-1.114099,-0.06868853,-0.309853 -277.48,301.672,3705,-0.444003,1.23931,-1.147505 -350.056,194.536,3711,-0.1196986,0.9435892,-0.8773284 -344.872,331.048,3712,0.5387895,-0.6561972,-2.00397 -358.696,249.832,3715,-0.9429371,0.4883527,-0.2000287 -253.9792,299.5984,3716,-0.9252375,0.811046,-0.3068065 -346.6,327.592,3717,-0.3077598,1.230619,-1.001936 -347.2913,326.5552,3728,-1.218745,0.02922265,-0.3870841 -349.3648,216.6544,3730,0.08074912,-0.7007042,-2.011817 -336.9233,336.9233,3739,0.339753,1.262666,-1.749804 -311.5424,362.3042,3745,0.113189,-0.6772326,-1.886571 -341.4023,334.2359,3749,-0.8443519,0.7774076,-0.2111339 -312.7368,362.9014,3757,0.255338,-0.6735535,-1.978986 -407,195,3761,-1.102929,-0.04893346,-0.4471498 -323,199,3763,-1.050453,0.1411195,-0.3639348 -331,241,3765,-0.9554647,0.3385471,-0.6106777 -317,286,3768,-1.229563,0.3838407,-0.1682108 -400,299,3771,-0.8452455,0.5569939,-0.2801596 -392,230,3787,-1.05763,0.1572111,-0.3688154 -308,227,3788,-1.181267,0.227552,-0.09201393 -331,245,3789,-1.333459,0.252409,-0.06770581 -401,262,3790,-1.010607,0.2903681,-0.4388818 -311,275,3792,-1.229074,0.3159449,-0.1665322 -413,283,3793,-0.9242722,0.3281753,-0.7007369 -387,283,3794,-1.138973,0.3298537,-0.3490101 -302,286,3797,-1.240625,0.3525174,-0.1553027 -385,299,3800,-0.775634,0.6168352,-0.2307586 -399,196,3808,-1.050618,0.07306025,-0.5184041 -386.2,203.8,3809,-1.170142,0.1966156,-0.2004589 -304,226,3810,-1.303438,0.2228644,-0.03870901 -377,255,3811,-1.293242,0.3787303,-0.0634737 -415,282,3817,-1.335388,0.3536637,-0.277732 -337,287,3818,-1.08055,0.3603192,-0.3477639 -355,247,3822,0.3027229,1.342225,-2.027406 -391,287,3827,0.1601562,1.012054,-2.975791 -414,290,3828,-0.8917437,0.224627,-0.6540759 -257,259,3830,-0.1862284,0.8961294,-1.909432 -371.8,291.4,3831,0.1675253,1.274403,-2.893742 -407.8,277,3841,-0.11471,1.145666,-1.904495 -353.8,217,3850,-1.097714,0.1653098,-0.2969804 -349.48,247.24,3852,0.2323364,0.839497,-3.080182 -391,201.4,3859,-1.108812,0.1602701,-0.2785901 -417.448,289.576,3864,-0.1472839,0.8516895,-1.677363 -343,199,3868,-1.260414,0.3090025,-0.06123412 -311.8,224.2,3869,-1.264341,0.3799596,-0.1877546 -415,281.8,3870,-0.9566674,0.4083492,-0.635978 -389.8,296.2,3871,0.168042,1.011748,-2.959238 -308,222,3877,-0.1245325,0.8543637,-1.54255 -320.2,291.4,3878,-0.370346,1.238542,-1.416799 -391,290.2,3885,-1.218546,0.3475703,-0.1372647 -394.6,290.2,3887,-1.308972,0.2233019,-0.04004905 -353.8,245.8,3890,-1.053869,0.3231633,-0.8305256 -310.6,224.2,3907,-0.8920406,0.4741409,-0.1555189 -348.04,326.44,3909,0.1167915,1.115541,-1.409602 -381.16,223.912,3925,-0.9821984,0.1550829,-0.1971248 -353.512,244.648,3927,-0.4253534,0.7701364,-1.20124 -350.056,248.104,3931,-1.055628,0.1586808,-0.215928 -359.7328,245.6848,3933,-0.9772177,0.7300435,-0.1538494 -411.5728,191.7712,3934,-1.160628,0.1744889,-0.2934416 -351.4384,247.7584,3937,-0.9056672,0.7043485,-0.0857489 -359.3182,247.3437,3943,-0.1865959,0.8042614,-1.835446 -362.3042,239.8788,3947,-1.041469,0.09594853,-0.762247 -262.5723,230.3236,3949,-0.938872,0.7169221,-0.1051316 -375,201,3953,-1.074963,-0.01599207,-0.3242604 -342,203,3955,-0.9172767,0.01445488,-0.6977782 -311.8,203.8,3956,-1.21407,0.04908022,-0.09404425 -255,210,3957,-1.076291,0.1171532,-0.3311963 -404,219,3958,-1.197241,0.197188,-0.2210692 -340,234,3959,-1.008687,0.2086822,-0.5269647 -376,253,3960,-1.066396,0.2409883,-0.3761802 -296,255,3961,-1.078253,0.2644717,-0.2977952 -330,262,3962,-1.234461,0.2832657,-0.01051185 -346,268,3963,-1.249206,0.2976108,-0.08790664 -408,277,3965,-1.124261,0.3317032,-0.06790158 -291,286,3966,-1.303563,0.381865,-0.03902393 -273,298,3969,-0.8771181,-0.01134966,-0.5902215 -317.8,205,3970,-1.195534,0.04586158,-0.1157643 -266.2,202.6,3971,-1.08553,0.07377584,-0.4999968 -312,225,3973,-0.9507558,0.3273337,-0.215419 -371,247,3974,-1.054979,0.3587326,-0.511238 -344,284,3975,-1.116322,-0.07084725,-0.2905605 -304,287,3976,-0.8815123,-0.112744,-0.9215932 -354,191,3977,-1.056776,-0.01242616,-0.4602507 -328,288,3981,-1.098807,0.007017903,-0.3569126 -391,291,3982,-1.117648,0.3240428,-0.2132898 -339,209,3983,-1.0963,0.366649,-0.2506807 -326,200,3986,-1.166495,0.06216474,-0.2518825 -367,222,3988,-0.9617878,0.1863634,-0.7439701 -309,230,3989,-1.069405,0.3695447,-0.3921184 -327,285,3993,-0.2247368,1.024363,-1.036073 -418,283,3994,-1.105298,0.1917426,-0.2705856 -355,251,3996,-0.9984368,-0.02366311,-0.603806 -274,295,3997,-1.120136,0.3628805,-0.2044874 -326,299,4001,-1.003921,-0.0256015,-0.4981634 -369,286,4002,-1.132475,-0.04262472,-0.3209471 -301,201,4003,-1.191709,0.3461143,-0.07776294 -350,198,4004,-0.8842993,0.004825737,-0.6653808 -255,207,4006,-1.240476,0.1013128,-0.0238192 -365,283,4007,-0.9645101,0.3061203,-0.7064922 -371.8,203.8,4011,-0.8755863,0.5126552,-0.8620105 -316.36,392.68,4016,-0.2105025,0.9556342,-0.988665 -293.8,231.4,4019,-1.001686,0.3572479,-0.3905948 -302.2,203.8,4020,-1.087285,0.4037316,-0.3951554 -317.8,289,4021,-0.6474361,0.5857659,-0.1004909 -328.6,298.6,4022,-0.8986175,0.1016032,-0.6690618 -385.48,287.56,4025,-1.292133,0.3583224,-0.1167643 -290.2,203.8,4026,-1.28259,0.3676199,-0.3433936 -406.6,290.2,4027,-0.1503518,1.199376,-2.06085 -296.2,205,4030,-1.311826,-0.1716621,0.08305449 -381.4,283,4031,-0.7573457,0.7550254,-0.1344195 -385.48,283.24,4035,-0.9117638,0.3528968,-0.7004529 -322.12,329.32,4036,-0.9782872,0.4223986,-0.6389148 -307.72,227.08,4040,-0.9132377,0.4162885,-0.594098 -88.09121,386.6897,4041,-1.081861,0.04613739,-0.2789592 -268.84,300.52,4042,-1.197968,0.3818091,-0.1467771 -350.92,217,4043,-1.214522,0.3689994,-0.1878247 -389.8,296.2,4044,-0.9686004,-0.01875758,-0.5787328 -349.3648,193.8448,4063,-1.328353,0.2066078,-0.09665721 -382.5424,283.0096,4064,-1.107499,0.1745308,0.06466677 -416.5495,227.4372,4069,-1.260426,0.3672446,-0.03234068 -312.0401,364.2948,4070,-1.183668,0.03266789,-0.371555 -421.5262,294.6218,4071,-1.12504,0.1749198,-0.3148122 -349.3649,247.3437,4073,-1.259593,-0.08235351,-0.06477749 -416.0519,189.117,4075,-1.211373,0.1542332,-0.05160006 -416.0519,227.9348,4076,-0.8030052,0.5045863,-0.1326098 -413.0659,245.8508,4077,-1.207189,0.2011853,-0.01866437 -338.4163,335.4303,4078,-0.6570892,0.4659691,-0.05276959 -395.15,201.6582,4081,-1.260951,-0.07882506,-0.4422739 -323.8,291.4,4082,-1.12342,-0.02617977,-0.2965063 -356,200,4084,-0.9337361,-0.004591328,-0.6041744 -272,203,4085,-0.9366242,0.1681231,-0.5961156 -275,204,4086,-1.050424,0.1725203,-0.3901647 -276,243,4087,-1.130391,0.1916442,-0.290396 -328,245,4088,-1.197554,0.2330337,-0.233496 -357,250,4089,-1.215205,0.241275,-0.1876575 -376,260,4090,-1.001572,0.2486419,-0.5922285 -387,262,4091,-0.9781121,0.3773437,-0.4053174 -286,261,4092,-1.127934,0.3808891,-0.3399066 -314,293,4093,-1.297764,0.39229,-0.09576377 -346.6,292.6,4094,-1.053336,0.4071847,-0.3750904 -414,297,4095,-1.08087,0.4110614,-0.3463372 -330,299,4096,-0.8725243,0.5043062,-0.2727381 -339,300,4097,-0.1006426,0.5993712,-0.9812136 -322,330,4098,-0.8234984,0.6028732,-0.2428545 -41.8,355,4099,-0.7965521,0.6375682,-0.24511 -320,356,4100,-0.8689263,0.8027233,-0.2236145 -315,366,4101,-0.8547418,-0.008988579,-0.558264 -330,406,4102,-0.9744987,-0.008740474,-0.5036649 -270,201,4103,-0.9575513,0.004273429,-0.5590921 -298,203,4104,-1.2676,0.06925403,-0.111693 -286,206,4105,-1.215511,0.1102289,-0.1555949 -409,223,4106,-0.9700254,0.1683649,-0.3611768 -394,232,4107,-0.9535505,0.2329521,-0.5482576 -322,245,4108,-1.014562,0.2728399,-0.3479626 -286,258,4109,-0.9241703,0.3100989,-0.6931772 -330,268,4110,-1.137847,0.344655,-0.2770073 -258,274,4111,-1.026729,0.4201681,-0.4796563 -360,285,4112,-0.8928874,0.5425611,-0.2186227 -308,300,4113,-0.8553364,0.7952935,-0.2229711 -336,339,4114,-1.163523,-0.01316392,-0.2078972 -328,405,4115,-1.197694,-0.0109346,-0.184228 -378,203,4116,-0.9628603,0.0007038219,-0.6769098 -387,204,4117,-0.955725,0.003337006,-0.6006033 -268,206,4118,-1.204804,0.06179898,-0.1346895 -279,206,4119,-1.093959,0.1153534,-0.3639745 -397,220.6,4120,-0.9375295,0.2038092,-0.5406765 -339,232,4121,-0.9735824,0.2237433,-0.5383661 -285,251,4122,-1.260027,0.3259816,-0.1111667 -291,256,4123,-1.156793,0.3410392,-0.3435149 -407,282,4124,-1.181083,0.3372508,-0.2403739 -350,283,4125,-1.14634,0.3620161,-0.2809892 -372,283,4126,-0.9596918,-0.01234034,-0.5142323 -360,289,4127,-0.9054323,0.005624386,-0.6088137 -294,202,4128,-0.8781996,0.08173606,-0.6654481 -270,206,4129,-0.9700949,0.1185386,-0.4503762 -256,223,4130,-1.259773,0.1729946,-0.3295452 -306,232,4131,-1.024008,0.2855161,-0.4559717 -366,246,4132,-0.8551806,0.3547211,-0.652822 -312,270,4133,-0.9089416,0.3694139,-0.6375082 -253,285,4134,-1.083893,0.3983606,-0.348907 -264,288,4135,-0.6206546,0.8444644,-0.9794067 -339,297,4136,-1.252739,0.04759031,-0.1537797 -162,393,4137,-1.183165,0.1804929,-0.2312865 -399,218,4138,-1.065355,0.2347672,-0.1248918 -375,248,4139,-1.008552,0.2879106,-0.5134832 -381,259,4140,-1.150956,0.3685602,-0.2209045 -300,270,4141,-0.8851398,0.438001,-0.6810123 -372,291,4142,-1.252008,-0.02946183,-0.09549558 -253,303,4143,-0.8978418,0.0714357,-0.6926689 -411,200,4144,-1.0478,0.3510237,-0.3497123 -255,221,4145,-1.198135,0.3514371,-0.170027 -334,287,4146,-1.078508,0.3928105,-0.5035515 -388,288,4147,-1.248186,0.3888224,-0.1361677 -311,293,4148,-1.172171,-0.02588288,-0.1831171 -399,297,4149,-0.9265267,0.1062633,-0.7136305 -384,200,4150,-1.129865,0.1255985,-0.244421 -256,229,4151,-0.9750789,0.174356,-0.4360452 -366,235,4152,-0.8613046,0.2270184,-0.6316454 -309,245,4153,-0.8887771,0.4073302,-0.6856414 -258,256,4154,-1.149107,0.4035891,-0.2501332 -253,296,4155,-0.974426,-0.01838541,-0.6434299 -366,299,4156,-1.179987,0.1674155,-0.1780811 -275,202,4157,-1.013453,0.3556499,-0.5572324 -385,245,4158,-1.124697,0.3758984,-0.3084436 -293,285,4159,-0.8687687,-0.0420304,-0.6784629 -352,292,4160,-1.010625,0.3479303,-0.4323197 -253,195,4161,-1.123645,0.08075399,-0.2766179 -314,285,4162,-1.13896,0.3751217,-0.2862542 -359,224,4163,-0.1996244,0.9484312,-1.009068 -358,292,4164,-0.9895728,0.2376151,-0.5393585 -63,441,4165,-1.290853,-0.06380191,-0.1178401 -293,259,4166,-0.8817905,-0.01246438,-0.690912 -411,193,4167,-1.258974,0.3267618,-0.125468 -253,202,4168,-1.210086,0.3432238,-0.1770741 -404,282,4169,-0.9346825,0.07032033,-0.7067127 -388,286,4170,-0.8894846,0.3386639,-0.6566743 -258,220,4171,-1.198022,0.3808383,-0.3391725 -258,281,4172,-1.036506,0.4358632,-0.7649024 -356,292,4173,-0.8997192,0.4249938,-0.6721511 -263,298,4174,-0.8992396,0.01919337,-0.6319607 -257,300,4175,-1.065178,0.04493005,-0.4607532 -265,209,4176,-1.187508,0.3452783,-0.193561 -318,216,4177,-1.226187,0.3586949,-0.1064897 -382,286,4178,-0.9634664,-0.0208699,-0.5002595 -404,290,4179,-1.027699,0.3403036,-0.3351511 -297,200,4180,-1.16953,0.3477347,-0.2177065 -334,284,4181,-0.9570253,-0.02348195,-0.1850327 -375,286,4182,-1.067175,0.01535407,-0.3304869 -342,209,4184,-1.075748,0.368873,-0.3710624 -363,254,4185,-1.187982,0.365591,-0.1730191 -334,290,4186,-1.053118,0.3708544,-0.2997536 -386,291,4187,-0.9975625,0.4044126,-0.6212498 -344,292,4188,-1.248783,0.3266113,-0.1296384 -280,295,4189,-1.077369,0.3747542,-0.3391126 -402,282,4190,-1.203075,0.3318613,-0.1033197 -340,292,4191,-1.106236,0.3901112,-0.4165325 -402,284,4192,-1.158569,0.3943891,-0.2357285 -330,293,4193,-1.104347,0.1225425,-0.2377972 -370,297,4194,-1.253846,0.3526711,-0.1119555 -364,234,4195,-0.9169974,0.3758183,-0.5166867 -406,288,4196,-1.22997,0.3693574,-0.2092812 -285,291,4197,-1.181612,0.3667169,-0.1944554 -384,291,4198,-1.092589,0.3545577,-0.2770835 -381,291,4199,-1.140499,0.1846044,-0.3408495 -354,288,4200,-0.8822198,0.6193174,-0.2886865 -349,248.2,4201,-0.4255517,0.946995,-1.069192 -320.2,356.2,4202,-0.2317031,0.9471633,-1.076042 -109,422.92,4203,-1.137827,0.3400219,-0.2704686 -62.92,434.44,4204,-0.7704844,0.5086305,-0.7652932 -361,284.2,4205,-0.8932499,0.513478,-0.2878185 -322.6,329.8,4207,-1.022001,0.1185081,-0.5830579 -314.92,365.32,4208,-1.06127,0.196864,-0.2004085 -291.4,232.6,4209,-1.015258,0.234083,-0.5881967 -289,257.32,4211,-0.9341748,0.4084662,-0.4547077 -380.2,296.2,4212,-0.9460663,0.5004008,-0.2002856 -298.6,298.6,4213,-0.8272374,0.5801488,-0.2693133 -347.8,327.4,4214,-0.90663,0.001655447,-0.6100457 -315.4,349,4215,-1.277138,0.2759957,-0.4607444 -269.8,205,4216,-0.9818072,0.3766175,-0.7078447 -345.4,267.4,4217,-0.8698817,0.425073,-0.6431678 -264.52,287.56,4218,-0.915875,0.4408708,-0.712718 -256.6,301,4219,-0.2552755,0.9443613,-1.132664 -253,302.2,4220,-0.9505959,0.1159588,-0.4825211 -62,429,4221,-0.9491684,0.1380198,-0.5376185 -297.4,231.4,4222,-0.9203487,0.425099,-0.6117874 -287.8,236.2,4223,-0.9883342,0.2059415,-0.5416474 -269.8,301,4224,-0.8658101,0.2920353,-0.6366407 -292.6,251.8,4225,-0.9091786,0.541517,-0.2198812 -257.32,270.28,4226,-0.7854459,0.09764772,-0.2968165 -338.2,338.2,4227,-1.282497,0.1835323,-0.081669 -416.2,249.4,4229,-1.104562,0.1633534,-0.2711365 -417.4,239.8,4230,-1.065343,0.04166888,-0.296857 -357.4,243.4,4231,-1.002913,0.07321776,-0.4658292 -347.8,214.6,4232,-1.14539,0.3701502,-0.1632942 -308.2,221.8,4233,-1.045691,-0.02408518,-0.4615803 -382.6,292.6,4234,-1.124301,0.3600389,-0.2670868 -315.4,200.2,4235,-1.291719,-0.05492688,-0.1707773 -359.8,289,4236,-1.228616,0.3829424,-0.3711256 -400.6,195.4,4237,-1.05914,0.03680329,-0.2680082 -353.8,291.4,4238,-1.17648,0.3729751,-0.3098131 -352.6,213.4,4239,-1.107435,0.3696777,-0.2615016 -358.6,291.4,4241,-0.9423375,-0.01008302,-0.5638186 -269.8,287.8,4242,-0.9996605,0.4060597,-0.6281388 -283,202.6,4243,-1.030954,0.3728172,-0.3730915 -279.4,295,4244,-0.9347093,0.006980523,-0.5420645 -327.4,291.4,4245,-1.186762,0.3315346,-0.09494852 -285.4,206.2,4246,-0.9501819,0.3518778,-0.510887 -401.8,284.2,4247,-1.122722,0.3582976,-0.05158207 -291.4,285.4,4248,-1.095878,0.354803,-0.115581 -403,292,4249,-1.061393,0.05332842,-0.261988 -386.2,290.2,4250,-0.5872734,0.8270956,-0.9277844 -353.8,217,4251,-0.4127934,0.9435925,-1.0404 -391.24,201.16,4254,-0.9239567,0.1175645,-0.458457 -276.04,300.52,4255,-1.315377,0.1807248,-0.1162327 -297.64,231.4,4256,-1.292395,0.3019638,-0.1295023 -412.84,248.68,4257,-1.066771,-0.05304374,-0.2844736 -407.08,276.04,4258,-0.9082397,0.5405171,-0.2204024 -350.92,192.52,4259,-0.9429086,0.1357022,-0.5330558 -337.96,337.96,4260,-0.8856688,0.163812,-0.698889 -287.56,235.72,4261,-1.088026,0.3285831,-0.8689458 -251.56,241.48,4262,-0.4671506,0.8800874,-1.299367 -255.88,274.6,4263,-0.9093175,0.123621,-0.4857842 -290.44,232.84,4265,-1.187882,-0.03562424,-0.1857768 -296.2,201.16,4266,-1.135609,0.3498549,-0.1649512 -385.48,198.28,4267,-1.102452,-0.002623138,-0.1322354 -381.16,287.56,4268,-1.117334,-0.01707809,-0.185118 -385.48,204.04,4269,-0.9167696,0.3938238,-0.5531881 -278.92,294.76,4271,-1.228483,0.3278034,-0.05747955 -340.84,214.12,4272,-0.8990518,-0.007695612,-0.5913431 -271.72,202.6,4274,-0.9821194,0.02046345,-0.317926 -381.16,283.24,4275,-0.4792588,0.8955263,-1.368472 -332.776,208.36,4276,-1.239212,-0.08007418,-0.05888937 -417.448,187.624,4278,-0.8587459,0.4238869,-0.6535112 -351.784,217,4279,-0.6688235,0.8647102,-1.050925 -253.288,301.672,4280,-1.333501,-0.1587852,0.05892931 -160.6672,392.9105,4281,-0.8728611,-0.03605511,-0.7007112 -249.832,196.264,4283,-0.8758813,0.5085578,-0.2765975 -339.688,213.544,4284,-0.3870098,0.8409485,-1.196545 -362.152,389.8,4287,-1.051519,0.05951219,-0.284327 -391.528,201.448,4288,-1.468389,0.2343519,-0.1649022 -348.328,218.728,4289,-0.9719265,0.08680969,-0.4592381 -305.128,225.64,4291,-0.9067043,0.111681,-0.3952636 -90.16481,392.9105,4292,-1.096675,0.1602341,-0.232019 -306.856,230.824,4293,-1.241678,0.340167,-0.1869175 -363.88,242.92,4294,-1.004053,0.04263567,-0.232507 -389.8,284.392,4295,-0.9198897,0.1225811,-0.4696375 -294.76,232.552,4297,-0.9945354,0.4269771,-0.6249703 -384.616,284.392,4298,-0.8852446,0.5201797,-0.8867133 -278.8624,299.5984,4299,-1.145666,0.01219651,-0.4450451 -295.4512,280.936,4302,-0.9155102,0.4049717,-0.7174813 -417.7937,187.624,4303,-0.9283023,0.7169459,-0.1052687 -363.8801,386.6897,4305,-1.145033,0.1360851,-0.265345 -363.8801,237.3904,4307,-1.032186,0.4400985,-0.7016186 -415.7201,247.7584,4308,-0.8538131,0.3575855,-0.654053 -272.6416,299.5984,4309,-1.219747,-0.02923049,-0.1775318 -390.8369,200.0656,4311,-1.154904,0.02314835,-0.3322404 -349.3649,277.2036,4314,-1.362582,-0.1629306,0.03772581 -160.2525,394.1547,4315,-1.238615,-0.07413942,-0.06476827 -451.386,170.2058,4316,-0.4003916,0.819667,-1.244411 -416.5495,187.624,4317,-1.094841,-0.05656248,-0.3126793 -83.11458,386.6897,4318,-1.194306,-0.0480932,-0.08137923 -349.3649,192.6007,4319,-1.119608,0.1998303,-0.1680482 -379.2247,252.3204,4321,-0.9284342,0.4306138,-0.6036645 -346.8766,207.5306,4322,-1.397053,0.4504153,0.06425853 -272.227,302.0868,4323,-0.8218076,0.5067271,-0.2120271 -457.8557,311.5424,4324,-1.164763,0.009078967,-0.4544635 -332.4443,210.0189,4326,-1.19932,0.2307086,-0.4029313 -380.2201,251.8227,4331,-1.18504,0.1775669,-0.3332128 -347.3742,195.089,4332,-1.267653,0.07519388,-0.07509658 -356.3322,245.8508,4333,-1.240001,0.2080253,-0.05246322 -416.6491,223.1573,4334,-1.410971,-0.09693248,-0.1538947 -416.6491,255.4059,4335,-1.029918,0.1769493,-0.7070232 -416.6491,187.3255,4336,-1.028275,0.03369684,-0.3046215 -269.7386,244.6564,4337,-1.326152,0.3832047,-0.07488132 -341.4023,212.4077,4338,-1.168418,-0.0562701,-0.3680192 -420.2323,294.8209,4339,-1.009205,0.1689148,-0.195941 -348.5686,194.4918,4340,-0.9068761,-0.05402093,-0.7542887 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0042.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0042.csv deleted file mode 100644 index 8852f67c0b5ac87e3dfca2c3163eba52bc785b52..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0042.csv +++ /dev/null @@ -1,442 +0,0 @@ -244.36,201.16,3409,-1.16511,-0.04165253,-0.5851055 -290.44,192.52,3701,-0.1804549,1.009228,-0.9515671 -287.1569,219.9722,3730,0.08074912,-0.7007042,-2.011817 -325,227.08,3840,-0.9765096,0.7394487,-0.167694 -294.76,218.44,3850,-1.097714,0.1653098,-0.2969804 -330.76,304.84,3871,0.168042,1.011748,-2.959238 -333.64,297.64,3913,-1.201391,0.116768,-0.01775122 -363.88,241.192,3915,-1.275034,-0.06942067,-0.03745447 -289.2304,218.728,3926,-1.251587,0.2244417,0.002099738 -297.5248,253.9792,3936,-0.250344,0.5516267,-1.730946 -190.9086,233.9068,3949,-0.938872,0.7169221,-0.1051316 -197.992,310.312,4042,-1.197968,0.3818091,-0.1467771 -291.304,218.728,4043,-1.214522,0.3689994,-0.1878247 -325,300.52,4045,-0.3253795,0.8544216,-0.8518791 -363.8801,231.1696,4060,-0.8143211,0.7462179,-0.2491727 -287.1569,192.6007,4063,-1.328353,0.2066078,-0.09665721 -359.3182,252.3204,4068,-0.8758864,0.6439196,-0.3112763 -287.6545,218.9769,4072,-0.2289998,0.5719546,-1.698964 -66.66401,420.9041,4137,-1.183165,0.1804929,-0.2312865 -257.32,372.52,4202,-0.2317031,0.9471633,-1.076042 -140.968,332.776,4206,-0.8317741,0.6486664,-0.275212 -251.56,384.616,4208,-1.06127,0.196864,-0.2004085 -320.68,306.28,4212,-0.9460663,0.5004008,-0.2002856 -280.36,273.16,4217,-0.8698817,0.425073,-0.6431678 -191.08,296.488,4218,-0.915875,0.4408708,-0.712718 -185.32,277.48,4226,-0.7854459,0.09764772,-0.2968165 -294.76,218.728,4251,-0.4127934,0.9435925,-1.0404 -206.632,310.312,4255,-1.315377,0.1807248,-0.1162327 -182.44,282.664,4263,-0.9093175,0.123621,-0.4857842 -223.912,234.28,4265,-1.187882,-0.03562424,-0.1857768 -327.88,198.28,4267,-1.102452,-0.002623138,-0.1322354 -270.568,208.36,4276,-1.239212,-0.08007418,-0.05888937 -398.44,170.344,4282,-1.056402,0.03701625,-0.3334661 -239.464,224.9488,4291,-0.9067043,0.111681,-0.3952636 -293.3777,214.5808,4296,-1.079777,0.3290424,-0.114266 -359.7328,251.9056,4308,-0.8538131,0.3575855,-0.654053 -200.0656,312.0401,4309,-1.219747,-0.02923049,-0.1775318 -180.1591,294.6218,4310,-1.284547,0.2922767,-0.07151328 -361.8065,280.936,4312,-1.152606,0.3150673,-0.3439876 -292.1335,212.5072,4313,-0.6319125,0.8537413,-1.001519 -359.3182,190.1124,4317,-1.094841,-0.05656248,-0.3126793 -351.8532,195.089,4320,-1.073426,0.009784608,-0.3089531 -299.5985,218.9769,4330,-1.016024,-0.04053354,-0.2674529 -320.5004,254.8087,4331,-1.18504,0.1775669,-0.3332128 -287.6545,192.103,4332,-1.267653,0.07519388,-0.07509658 -294.8209,251.8227,4333,-1.240001,0.2080253,-0.05246322 -359.3182,190.9086,4336,-1.028275,0.03369684,-0.3046215 -205.2414,248.2395,4337,-1.326152,0.3832047,-0.07488132 -301.96,293.32,4349,-1.247912,0.3848601,-0.6275969 -248.68,297.64,4351,-1.172113,0.3842609,-0.1798076 -358.12,247.24,4394,-1.259307,0.1818084,-0.0811891 -202.6,307.72,4427,-0.8933279,0.782815,-0.1541287 -251.56,384.04,4434,-1.221706,0.3904436,-0.6076241 -248.68,300.52,4436,-1.036796,0.3476375,-0.4527475 -329.32,294.76,4442,-1.256016,-0.03484483,-0.2478042 -202.6,291.88,4455,-1.119804,0.1784351,-0.2258483 -235.72,199.72,4456,-1.135102,0.3137108,-0.06429146 -272.296,222.184,4459,-1.191203,-0.05300004,-0.3587276 -183.88,281.8,4464,-1.045821,0.3438405,-0.4816 -367.336,303.4,4468,-0.8293612,0.3461959,-0.6501776 -178.12,293.32,4470,-1.493957,0.4635988,0.01996197 -201.448,293.032,4471,-1.293976,0.09154286,-0.08988915 -403.624,322.408,4472,-1.248066,0.1906613,-0.05368054 -362.152,232.552,4473,-1.245755,-0.0857489,-0.06663087 -365.32,257.32,4474,-1.123839,0.1816236,-0.1728291 -230.824,256.744,4479,-0.8718252,0.4235077,-0.6845139 -178.984,312.04,4481,-1.068512,0.004763219,-0.3728557 -286.12,192.808,4482,-1.361332,0.1586526,-0.3100135 -274.6,208.36,4483,-1.264052,0.1796314,-0.07842129 -359.56,254.44,4485,-1.331674,0.3522063,-0.1628801 -294.76,249.832,4486,-0.8700594,0.3950666,-0.6835667 -178.984,305.128,4488,-0.821361,0.3515842,-0.303401 -324.136,203.176,4489,-1.204792,0.05007649,-0.1167603 -248.104,299.944,4490,-1.175717,0.05686024,-0.1278281 -337.96,219.88,4493,-1.315693,0.2102613,-0.1138077 -178.984,294.76,4503,-1.150917,0.3163972,-0.076386 -348.04,289,4505,-0.8298029,0.5031419,-0.8413695 -286.12,344.872,4508,-1.613784,0.7698991,0.398146 -365.9536,256.0529,4509,-0.9504364,-0.1428506,-1.03445 -498.6641,401.6196,4510,-1.281381,0.2779494,-0.06281343 -137.8576,177.6708,4511,-0.8579147,0.3359863,-0.574541 -251.56,413.992,4515,-0.9495773,0.05178555,-0.2483577 -182.6474,282.1802,4516,-1.137463,0.2160258,-0.04173007 -282.1802,214.9956,4517,-1.127986,0.2224335,-0.3707672 -281.8,261.64,4519,-0.9417799,0.3312818,-0.7334062 -395.15,171.2011,4532,-1.329541,0.4347593,0.07603988 -321.9933,224.9489,4536,-0.9770634,-0.02956696,-0.5603853 -221,199,3327,-0.9282636,-0.02106616,-0.524232 -239.8,224.2,3328,-0.9689401,0.07457733,-0.4583478 -199,296,3335,-0.9675919,0.3648647,-0.6539505 -251.8,199,3368,-1.034559,-0.03276409,-0.4515943 -237.4,203.8,3370,-1.032818,-0.01483248,-0.5221381 -225,234,3374,-0.9831847,0.1098182,-0.543495 -226.6,232.6,3389,-0.9983592,0.1048352,-0.5453176 -255.4,292.6,3392,-1.049977,0.3420644,-0.4309127 -176.68,192.52,3450,-0.8736408,-0.04555122,-0.7030168 -242.92,228.52,3476,-0.9954361,0.08983572,-0.4618321 -202.1392,309.9664,3526,-0.9045516,0.414356,-0.5807428 -177.1731,195.089,3529,-0.8586195,-0.0375614,-0.6890352 -180.1591,308.5564,3533,-0.8670154,0.4106405,-0.6627305 -180.1591,305.5705,3545,-0.814027,0.3973639,-0.6138402 -180.1591,293.6265,3550,-0.9441333,0.3561915,-0.7317182 -292,215,3568,-1.092791,0.02386778,-0.2866282 -303.4,255.4,3573,-1.13405,0.18231,-0.2528431 -217,255.88,3574,-0.9669023,0.1918588,-0.5567809 -324,290,3577,-1.159009,0.3170142,-0.1683962 -323,305,3580,-1.184011,0.376519,-0.1861076 -307,305,3581,-1.106751,0.3764678,-0.2146889 -314,205,3605,-1.174508,-0.02270213,-0.2318521 -320,228,3608,-1.166205,0.06991635,-0.1983444 -310,259,3623,-1.178849,0.3289365,-0.2378761 -261,293,3626,-1.025625,0.3675892,-0.4306971 -298,296,3627,0.3326783,1.384265,-3.120933 -279,204,3630,-0.9814857,0.2337144,-0.5631691 -278.2,209.8,3653,0.5536711,1.076904,-2.82509 -300,255,3683,0.3573259,0.8725154,-2.958693 -287.56,343.72,3696,-0.9137252,-0.0501507,-0.7372645 -297.64,254.44,3699,-1.114099,-0.06868853,-0.309853 -298.216,253.288,3715,-0.9429371,0.4883527,-0.2000287 -287.1568,338.9969,3717,-0.3077598,1.230619,-1.001936 -278.6966,350.3602,3739,0.339753,1.262666,-1.749804 -198.075,248.2395,3756,0.282706,0.4873518,-1.90872 -351,196,3761,-1.102929,-0.04893346,-0.4471498 -260.2,197.8,3763,-1.050453,0.1411195,-0.3639348 -268,245,3765,-0.9554647,0.3385471,-0.6106777 -343,307,3771,-0.8452455,0.5569939,-0.2801596 -268,249,3789,-1.333459,0.252409,-0.06770581 -344,267,3790,-1.010607,0.2903681,-0.4388818 -246,282,3792,-1.229074,0.3159449,-0.1665322 -329,290,3794,-1.138973,0.3298537,-0.3490101 -327,307,3800,-0.775634,0.6168352,-0.2307586 -343,196,3808,-1.050618,0.07306025,-0.5184041 -237.4,227.8,3810,-1.303438,0.2228644,-0.03870901 -359,289,3817,-1.335388,0.3536637,-0.277732 -357,297,3828,-0.8917437,0.224627,-0.6540759 -185,264,3830,-0.1862284,0.8961294,-1.909432 -351.4,281.8,3841,-0.11471,1.145666,-1.904495 -281.8,197.8,3868,-1.260414,0.3090025,-0.06123412 -358.6,289,3870,-0.9566674,0.4083492,-0.635978 -255.88,299.08,3878,-0.370346,1.238542,-1.416799 -245.8,225.64,3907,-0.8920406,0.4741409,-0.1555189 -324.136,227.368,3925,-0.9821984,0.1550829,-0.1971248 -295.4512,247.7584,3927,-0.4253534,0.7701364,-1.20124 -302.5845,242.8648,3947,-1.041469,0.09594853,-0.762247 -316,201,3953,-1.074963,-0.01599207,-0.3242604 -281,203,3955,-0.9172767,0.01445488,-0.6977782 -247.24,202.6,3956,-1.21407,0.04908022,-0.09404425 -182.2,208.6,3957,-1.076291,0.1171532,-0.3311963 -279,236,3959,-1.008687,0.2086822,-0.5269647 -229,259,3961,-1.078253,0.2644717,-0.2977952 -222,294,3966,-1.303563,0.381865,-0.03902393 -202.6,308.2,3969,-0.8771181,-0.01134966,-0.5902215 -245.8,225.4,3973,-0.9507558,0.3273337,-0.215419 -285,293,3975,-1.116322,-0.07084725,-0.2905605 -237.4,295,3976,-0.8815123,-0.112744,-0.9215932 -294,190,3977,-1.056776,-0.01242616,-0.4602507 -265,296,3981,-1.098807,0.007017903,-0.3569126 -333.4,298.6,3982,-1.117648,0.3240428,-0.2132898 -264,199,3986,-1.166495,0.06216474,-0.2518825 -244,232,3989,-1.069405,0.3695447,-0.3921184 -264,293,3993,-0.2247368,1.024363,-1.036073 -362,290,3994,-1.105298,0.1917426,-0.2705856 -295,256,3996,-0.9984368,-0.02366311,-0.603806 -310,292,4002,-1.132475,-0.04262472,-0.3209471 -290,198,4004,-0.8842993,0.004825737,-0.6653808 -305,291,4007,-0.9645101,0.3061203,-0.7064922 -227.08,232.84,4019,-1.001686,0.3572479,-0.3905948 -237.16,202.6,4020,-1.087285,0.4037316,-0.3951554 -229.96,204.04,4030,-1.311826,-0.1716621,0.08305449 -322.6,291.4,4031,-0.7573457,0.7550254,-0.1344195 -329.32,291.88,4035,-0.9117638,0.3528968,-0.7004529 -144.3273,327.0695,4058,-1.181909,0.0882569,-0.009334033 -326.5552,291.304,4064,-1.107499,0.1745308,0.06466677 -361.8065,232.4138,4069,-1.260426,0.3672446,-0.03234068 -248.8367,380.2201,4070,-1.183668,0.03266789,-0.371555 -364.2948,304.5751,4071,-1.12504,0.1749198,-0.3148122 -359.3182,189.117,4075,-1.211373,0.1542332,-0.05160006 -359.3182,230.9208,4076,-0.8030052,0.5045863,-0.1326098 -356.3322,248.8367,4077,-1.207189,0.2011853,-0.01866437 -280.4882,348.5686,4078,-0.6570892,0.4659691,-0.05276959 -337.8191,201.6582,4081,-1.260951,-0.07882506,-0.4422739 -206.2,245.8,4087,-1.130391,0.1916442,-0.290396 -317,265,4090,-1.001572,0.2486419,-0.5922285 -249.4,301,4093,-1.297764,0.39229,-0.09576377 -261,341,4098,-0.8234984,0.6028732,-0.2428545 -268.6,428.2,4102,-0.9744987,-0.008740474,-0.5036649 -201,199,4103,-0.9575513,0.004273429,-0.5590921 -218.2,205,4105,-1.215511,0.1102289,-0.1555949 -259,246,4108,-1.014562,0.2728399,-0.3479626 -218.2,262.6,4109,-0.9241703,0.3100989,-0.6931772 -268,275,4110,-1.137847,0.344655,-0.2770073 -184.6,280.6,4111,-1.026729,0.4201681,-0.4796563 -299,293,4112,-0.8928874,0.5425611,-0.2186227 -241,310,4113,-0.8553364,0.7952935,-0.2229711 -329,205,4117,-0.955725,0.003337006,-0.6006033 -196.6,205,4118,-1.204804,0.06179898,-0.1346895 -209.8,205,4119,-1.093959,0.1153534,-0.3639745 -340.6,223,4120,-0.9375295,0.2038092,-0.5406765 -277,235,4121,-0.9735824,0.2237433,-0.5383661 -217,255.4,4122,-1.260027,0.3259816,-0.1111667 -223,260.2,4123,-1.156793,0.3410392,-0.3435149 -288,291,4125,-1.14634,0.3620161,-0.2809892 -313,291,4126,-0.9596918,-0.01234034,-0.5142323 -200.2,205,4129,-0.9700949,0.1185386,-0.4503762 -247,277,4133,-0.9089416,0.3694139,-0.6375082 -316,252,4139,-1.008552,0.2879106,-0.5134832 -324,267,4140,-1.150956,0.3685602,-0.2209045 -233,277,4141,-0.8851398,0.438001,-0.6810123 -313,299.8,4142,-1.252008,-0.02946183,-0.09549558 -355,201,4144,-1.0478,0.3510237,-0.3497123 -182,221,4145,-1.198135,0.3514371,-0.170027 -272,294,4146,-1.078508,0.3928105,-0.5035515 -329.8,295,4147,-1.248186,0.3888224,-0.1361677 -245,302,4148,-1.172171,-0.02588288,-0.1831171 -341,305,4149,-0.9265267,0.1062633,-0.7136305 -307,238,4152,-0.8613046,0.2270184,-0.6316454 -205,200.2,4157,-1.013453,0.3556499,-0.5572324 -299,226,4163,-0.1996244,0.9484312,-1.009068 -225.4,263.8,4166,-0.8817905,-0.01246438,-0.690912 -329.8,292.6,4170,-0.8894846,0.3386639,-0.6566743 -186,222,4171,-1.198022,0.3808383,-0.3391725 -293.8,299.8,4173,-0.8997192,0.4249938,-0.6721511 -190.6,308.2,4174,-0.8992396,0.01919337,-0.6319607 -183,310,4175,-1.065178,0.04493005,-0.4607532 -254,217,4177,-1.226187,0.3586949,-0.1064897 -347,298,4179,-1.027699,0.3403036,-0.3351511 -272,292,4181,-0.9570253,-0.02348195,-0.1850327 -316,293,4182,-1.067175,0.01535407,-0.3304869 -281,209,4184,-1.075748,0.368873,-0.3710624 -283,300,4188,-1.248783,0.3266113,-0.1296384 -278,300,4191,-1.106236,0.3901112,-0.4165325 -266,303,4193,-1.104347,0.1225425,-0.2377972 -349,296,4196,-1.22997,0.3693574,-0.2092812 -217,300,4197,-1.181612,0.3667169,-0.1944554 -325,298.6,4198,-1.092589,0.3545577,-0.2770835 -293,296,4200,-0.8822198,0.6193174,-0.2886865 -260.2,342.28,4207,-1.022001,0.1185081,-0.5830579 -222.76,234.28,4209,-1.015258,0.234083,-0.5881967 -219.88,263.08,4211,-0.9341748,0.4084662,-0.4547077 -231.4,308.2,4213,-0.8272374,0.5801488,-0.2693133 -253,364.6,4215,-1.277138,0.2759957,-0.4607444 -178.6,313,4220,-0.9505959,0.1159588,-0.4825211 -231.4,232.84,4222,-0.9203487,0.425099,-0.6117874 -219.88,238.6,4223,-0.9883342,0.2059415,-0.5416474 -198.28,310.6,4224,-0.8658101,0.2920353,-0.6366407 -361,242.92,4230,-1.065343,0.04166888,-0.296857 -297.64,247.24,4231,-1.002913,0.07321776,-0.4658292 -287.8,215.8,4232,-1.14539,0.3701502,-0.1632942 -243.4,223,4233,-1.045691,-0.02408518,-0.4615803 -325,301,4234,-1.124301,0.3600389,-0.2670868 -251.56,199.72,4235,-1.291719,-0.05492688,-0.1707773 -343,196.6,4237,-1.05914,0.03680329,-0.2680082 -297.64,299.08,4240,-0.8965696,0.3648964,-0.589886 -298.6,299.8,4241,-0.9423375,-0.01008302,-0.5638186 -208.6,304.6,4244,-0.9347093,0.006980523,-0.5420645 -348,300,4249,-1.061393,0.05332842,-0.261988 -329.8,298.6,4250,-0.5872734,0.8270956,-0.9277844 -333.64,201.16,4254,-0.9239567,0.1175645,-0.458457 -323.56,296.2,4268,-1.117334,-0.01707809,-0.185118 -329.32,204.04,4269,-0.9167696,0.3938238,-0.5531881 -319.24,201.16,4270,-1.021677,0.04138296,-0.3025454 -323.56,290.44,4275,-0.4792588,0.8955263,-1.368472 -362.152,187.624,4278,-0.8587459,0.4238869,-0.6535112 -179.3296,309.9664,4280,-1.333501,-0.1587852,0.05892931 -177.256,193.8448,4283,-0.8758813,0.5085578,-0.2765975 -278.8624,214.5808,4284,-0.3870098,0.8409485,-1.196545 -260.2,343.144,4285,-0.9506183,0.7374164,-0.1278865 -334.504,201.448,4288,-1.468389,0.2343519,-0.1649022 -242.92,232.552,4293,-1.241678,0.340167,-0.1869175 -305.128,246.376,4294,-1.004053,0.04263567,-0.232507 -229.096,234.28,4297,-0.9945354,0.4269771,-0.6249703 -208.36,309.9664,4299,-1.145666,0.01219651,-0.4450451 -141.3413,329.4583,4300,-0.984363,0.3340591,-0.517667 -361.8065,187.624,4303,-0.9283023,0.7169459,-0.1052687 -138.3553,177.1731,4306,-1.259858,0.1754946,-0.0719482 -287.6545,284.6685,4314,-1.362582,-0.1629306,0.03772581 -396.643,170.2058,4316,-0.4003916,0.819667,-1.244411 -321.9933,257.297,4321,-0.9284342,0.4306138,-0.6036645 -401.1219,320.5004,4324,-1.164763,0.009078967,-0.4544635 -266.1555,344.9855,4325,-1.249439,0.07688471,-0.3071607 -269.7386,210.0189,4326,-1.19932,0.2307086,-0.4029313 -307.0634,252.3204,4329,-1.149737,0.1941127,-0.1861028 -359.3182,226.7405,4334,-1.410971,-0.09693248,-0.1538947 -362.9014,258.9891,4335,-1.029918,0.1769493,-0.7070232 -366.4846,301.9873,4339,-1.009205,0.1689148,-0.195941 -287.6545,194.4918,4340,-0.9068761,-0.05402093,-0.7542887 -176.2,193,4342,-1.004672,-0.01456905,-0.5995848 -245.8,202.6,4343,-1.184236,0.1877213,-0.2121217 -220.6,203.8,4344,-0.9735356,0.2280337,-0.5642752 -322.6,255.4,4345,-0.9089309,0.2677588,-0.6634562 -220.6,262.6,4346,-0.9071472,0.3018872,-0.7061558 -190.6,272.2,4347,-1.12424,0.3462811,-0.2682802 -182.2,280.6,4348,-1.076497,0.3605282,-0.3462009 -279,298,4350,-0.9935907,0.3826211,-0.4590998 -243.4,303.4,4352,-0.9722019,0.7450209,-0.1577949 -327,305,4353,-0.9739595,0.7909646,-0.381119 -303,409,4354,-0.956594,-0.0232016,-0.5784166 -253,412.6,4355,-0.9799407,-0.007799309,-0.3944081 -217,200.2,4356,-1.07906,-0.01433731,-0.4885006 -257,203,4357,-0.8692402,0.07745857,-0.6914656 -252,204,4358,-0.9539056,0.09433126,-0.4492438 -179.8,224.2,4359,-0.9137709,0.1704637,-0.7301577 -241,229,4360,-0.9941873,0.1748075,-0.4533694 -180,248,4361,-1.20624,0.3550817,-0.1521355 -246,250,4362,-0.9503115,0.3824135,-0.5558935 -337,298,4363,-0.7915624,-0.1121442,-0.8527548 -217,302,4364,-1.083084,0.05442707,-0.2786302 -137.8,176.2,4365,-0.9397603,0.09112632,-0.7499266 -295,219.4,4366,-0.9681426,0.2208967,-0.5351198 -182,230,4367,-1.275837,0.3314356,-0.1175048 -225.4,261.4,4368,-1.077143,0.3414326,-0.370014 -353,292,4369,-1.380392,0.3551324,-0.252443 -274,293,4370,-0.9996999,0.3590474,-0.4128558 -336,295,4371,-0.9960888,0.3659038,-0.4955411 -254,298,4372,-1.064152,0.3600466,-0.3013082 -236,299,4373,-1.119445,0.06490497,-0.2545853 -287,298,4374,-0.9361102,0.1244405,-0.7390581 -306,224,4375,-1.068825,0.3770779,-0.4588012 -183,238,4376,-1.159509,0.3673854,-0.1822479 -255,301,4377,-0.8805353,0.1228239,-0.694719 -325,301,4378,-1.077253,-0.01205511,-0.3328734 -181,236,4379,-0.8714496,-0.001715843,-0.6266546 -285,204,4380,-0.9014993,0.1463741,-0.5496592 -193,203.8,4381,-1.115475,-0.02817312,-0.2175293 -212,243,4382,-1.081901,0.04808466,-0.2921816 -314,200,4383,-1.169909,0.1943722,-0.2176734 -293,219,4384,-1.287419,0.2576998,-0.05512046 -320,257,4385,-1.240584,0.3285605,-0.1727742 -367,274,4386,-1.246602,0.0651468,-0.09599589 -337,290,4387,-1.043121,0.09151509,-0.4439673 -356,226,4388,-0.8702585,0.1856855,-0.675033 -256,230,4389,-0.902959,0.3810858,-0.5385608 -182,251,4390,-0.9637304,-0.01961958,-0.5175847 -212,303,4391,-1.113589,-0.01656458,-0.3437885 -230,201,4392,-1.493005,0.1353749,-0.206262 -287,204,4393,-1.03533,0.1639695,-0.4876713 -245.8,248.2,4395,-0.9757444,0.2018078,-0.5384297 -360,255,4396,-1.111235,0.3813135,-0.3891195 -226,256,4397,-1.19946,0.353343,-0.08295947 -275,302,4398,-0.894642,-0.01380288,-0.6109215 -352,298,4399,-1.094501,0.3744715,-0.4274453 -200.2,201.4,4400,-0.9319026,0.4087978,-0.5508085 -265,301,4401,-1.071169,0.1884728,-0.1678583 -215,309,4402,-1.091698,0.3310783,-0.288831 -318,255,4403,-0.9528357,0.3570119,-0.5901283 -293,291,4404,-1.257617,0.210983,-0.08446243 -211,295,4405,-0.9379805,0.3901907,-0.3504286 -359,262,4406,-1.107504,0.1920895,-0.2292701 -257,308,4407,-1.120279,0.1558191,-0.290347 -310,255,4408,-1.138932,0.1468702,-0.2929384 -298,247,4409,-1.282189,0.2382824,-0.1084033 -300,245,4410,-0.8490377,0.256723,-0.6773294 -356,269,4411,-1.356553,-0.0390868,-0.1662512 -177.4,269.8,4412,-0.9912868,0.2603249,-0.7837498 -353,203,4413,-0.9238675,0.1420397,-0.7353964 -184,269,4414,-1.177182,-0.03634773,-0.3331389 -181,241,4415,-1.096668,0.1807668,-0.2418004 -297,201,4416,-0.929728,-0.02294256,-0.6640813 -305,253,4417,-1.104777,0.3411578,-0.3708499 -196,200,4418,-1.014377,0.3688516,-0.4771832 -277,293,4419,-1.045736,0.3660572,-0.4273178 -243,299,4420,-1.383261,-0.1749918,0.02775598 -258,299,4421,-1.300008,0.3528046,-0.07058756 -398.44,169.48,4422,-1.17105,-0.0316184,-0.2354488 -365.8,297.4,4423,-1.028929,0.06542684,-0.377898 -317.8,201.4,4424,-1.270186,0.1788521,-0.09823982 -267.4,222.76,4425,-0.9205353,0.4061458,-0.6051754 -357.4,254.2,4426,-0.9912803,0.8020785,-0.4033694 -251.56,412.84,4428,-1.217277,0.05112201,-0.1235056 -291.4,425.8,4429,-0.8649257,0.1581378,-0.6927546 -346.6,221.8,4430,-1.281568,0.1736428,-0.07669522 -178.12,244.36,4431,-0.9202139,0.2815392,-0.7401192 -362.2,253,4432,-0.8726478,0.6563536,-0.3160586 -178.6,275.8,4433,-0.800374,-0.112505,-0.8630905 -137.8,176.68,4435,-1.195613,0.04250125,-0.1343097 -341.8,219.4,4437,-0.7706403,0.5015965,-0.7839318 -251.56,293.32,4438,-1.091983,0.1699467,-0.291927 -140.68,332.2,4439,-0.956202,-0.002683211,-0.5393302 -293.8,250.6,4440,-1.074621,0.3404559,-0.1099775 -224.2,205,4441,-1.181822,-0.03775248,-0.1885654 -328.6,199,4443,-0.8779965,-0.01284734,-0.5454059 -325,202.6,4444,-0.9177028,-0.00878131,-0.2429514 -209.8,200.2,4445,-1.12596,0.2030617,-0.2332594 -280,199,4446,-1.207174,-0.02608875,-0.1446189 -310.6,259,4447,-0.950201,0.05261489,-0.7698015 -340.6,202.6,4448,-1.005431,0.3953094,-0.5674871 -181,219.88,4449,-1.309375,0.3401663,-0.1357957 -224,305,4450,-1.234748,-0.06207183,-0.1180042 -352.6,292.6,4451,-1.138246,0.02812658,-0.3489388 -350.2,194.2,4452,-0.9894871,0.3302507,-0.1266431 -289,215.56,4453,-0.9288203,0.3439045,-0.6150754 -315.4,293.8,4454,-1.177315,-0.05097141,-0.6593125 -309,252,4457,-1.077953,0.05826983,-0.3893961 -349,289,4458,-0.9220523,0.410268,-0.6677491 -191.08,307.72,4460,-1.04789,0.04998467,-0.2820534 -294,196,4461,-1.067241,0.1461086,-0.2490587 -290.44,218.44,4462,-0.8563793,0.3025498,-0.6480217 -299.8,244.6,4463,-1.027789,0.3500563,-0.1696845 -310.6,297.4,4465,-0.845449,0.3389338,-0.06187284 -247.24,291.88,4466,-1.274,0.3757872,-0.0518634 -310,299,4467,-0.9865972,0.2327371,-0.3425641 -267.4,265.96,4469,-0.981993,0.3519971,-0.6692914 -362.44,188.2,4475,-1.236995,0.1938248,-0.06197656 -323.56,253,4476,-1.183436,0.3375044,-0.1635774 -362.2,257.8,4477,-0.8657393,0.2028693,-0.4236604 -332.2,293.32,4478,-0.7607619,0.3248797,-0.2241404 -255.88,293.32,4480,-1.071988,-0.05567427,-0.3214421 -323.56,250.12,4484,-1.189292,0.1640689,-0.3437439 -349.48,294.76,4487,-1.151541,-0.0216619,-0.1928997 -346.6,221.32,4491,-1.354025,0.02966725,-0.236925 -340.84,222.76,4492,-1.118973,0.3447539,-0.2925902 -296.2,294.76,4494,-1.21004,0.1774106,-0.05566734 -358.696,261.928,4495,-1.227965,0.3716149,-0.03147839 -360.424,253.288,4496,-0.9290954,0.7781979,-0.3562295 -365.9536,303.7456,4497,-1.08632,0.06379861,-0.4335604 -251.9056,411.5728,4498,-1.112829,0.3402146,-0.1448498 -265.384,223.912,4499,-1.322258,-0.0732522,-0.1484278 -327.592,294.76,4500,-1.295087,0.1810823,-0.07733607 -353.512,194.536,4501,-0.7999256,0.3479878,-0.6183685 -365.608,256.744,4502,-1.06728,0.162091,-0.2489942 -299.5984,247.7584,4504,-1.31713,0.3862314,-0.6615852 -251.9056,297.5248,4506,-0.8990584,0.5061575,-0.1884174 -142.0048,330.7025,4507,-1.262738,0.1861376,-0.05729216 -365.9536,278.8624,4512,-1.083314,0.06892134,-0.1501655 -197.992,291.304,4513,-0.9403287,0.7829055,-0.3631397 -324.4817,224.9488,4514,-0.8514537,0.3056112,-0.6465929 -359.3182,259.7853,4518,-1.053594,0.0419689,-0.2415169 -299.5985,214.9956,4520,-1.406862,0.4490473,0.05382702 -183.1451,287.6545,4521,-0.8931082,0.4875203,-0.1881962 -404.1079,321.9933,4522,-1.196958,-0.003720004,-0.4732251 -284.6685,338.4163,4523,-1.22248,0.2851026,-0.0594684 -269.7386,210.0189,4524,-0.9851028,0.07473942,-0.8881186 -359.3182,282.1802,4525,-0.7465144,0.1897625,-0.6187825 -165.8264,226.7405,4526,-0.8563701,0.112863,-0.5229658 -169.4095,251.8227,4527,-0.8004894,-0.1098665,-0.8473554 -208.8246,230.3236,4528,-0.7787364,-0.02676177,-0.6232887 -140.7441,176.5759,4529,-1.026668,0.02797587,-0.314388 -176.5759,194.4918,4530,-1.310145,-0.1558153,0.04439207 -280.4882,212.4077,4531,-1.283608,0.09521843,-0.1473372 -348.5686,233.9068,4533,-1.071207,0.223019,-0.7346776 -402.3164,319.9032,4534,-1.230095,0.05749214,-0.2458984 -205.2414,262.5723,4535,-0.8138308,-0.1356418,-0.845119 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0043.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0043.csv deleted file mode 100644 index 8fb9a27d213050ffe2cb467cf4b07954127634cc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0043.csv +++ /dev/null @@ -1,386 +0,0 @@ -311.5424,186.1311,4076,-0.8030052,0.5045863,-0.1326098 -313.48,201.16,4230,-1.065343,0.04166888,-0.296857 -309.16,253,4273,-1.136002,0.3294203,-0.1657626 -315.496,258.472,4423,-1.028929,0.06542684,-0.377898 -280.936,258.472,4442,-1.256016,-0.03484483,-0.2478042 -301.96,145,4452,-0.9894871,0.3302507,-0.1266431 -315.496,139.24,4475,-1.236995,0.1938248,-0.06197656 -310.312,211.816,4485,-1.331674,0.3522063,-0.1628801 -296.488,258.472,4487,-1.151541,-0.0216619,-0.1928997 -312.04,210.4336,4496,-0.9290954,0.7781979,-0.3562295 -318.2608,264.3472,4497,-1.08632,0.06379861,-0.4335604 -314.5284,210.0189,4502,-1.06728,0.162091,-0.2489942 -311.5424,239.8788,4525,-0.7465144,0.1897625,-0.6187825 -232.84,303.4,4622,-0.9761811,-0.03028421,-0.5852675 -101.8,251.56,4681,-0.9546553,0.6165178,-0.3206266 -248.104,381.16,4684,-1.251553,0.1580876,-0.05307791 -310.6,211.24,4686,-1.070812,0.243712,-0.2946303 -158.248,218.728,4687,-1.034225,-0.03442803,-0.3070379 -227.08,231.4,4688,-1.029594,0.06819513,-0.4692876 -227.08,143.56,4697,-1.243268,-0.05044789,-0.08066647 -310.6,219.88,4701,-0.9248278,0.105514,-0.5046948 -284.68,260.2,4702,-0.9149387,0.3105624,-0.7038903 -113.32,270.28,4706,-1.211455,0.3243338,-0.2415283 -175.528,173.8,4713,-1.535551,0.7270494,0.4387782 -450.28,366.76,4715,-1.131845,0.1485799,-0.2861478 -315.496,189.352,4716,-0.9426069,0.3172456,-0.7097394 -238.6,205.48,4717,-1.235614,0.3536381,-0.01155085 -104.68,248.104,4718,-0.8768598,0.3915589,-0.5204334 -317.8,265.96,4719,-1.094491,0.05201816,-0.1996131 -135.784,272.296,4720,-1.029008,0.05993219,-0.4932743 -256.744,177.256,4721,-0.8254818,0.3997364,-0.6094049 -173.8,177.256,4722,-1.087994,0.1588443,-0.2860569 -102.952,274.024,4723,-0.9279057,0.257905,-0.7068912 -232.552,208.36,4724,-1.072741,-0.01965775,-0.3623241 -102.952,230.824,4725,-1.122543,0.1784286,-0.2654338 -213.544,156.52,4726,-1.227114,0.2590298,-0.01452783 -51.4,111.88,4729,-0.9823202,0.01098325,-0.2922326 -217,159.976,4731,-1.224909,0.1230777,-0.07106916 -131.6368,270.568,4735,-0.8273138,0.592198,-0.2411086 -231.1696,303.7456,4736,-0.9451603,0.06743752,-0.427311 -232.4138,140.3459,4742,-0.8623439,0.4883262,-0.1513973 -354.3415,120.4394,4743,-1.15864,0.1518734,-0.3226029 -231.1696,309.9664,4744,-0.9375408,0.6467822,-0.3395379 -232.4138,207.5306,4745,-1.481652,0.7141249,0.4463815 -190.1124,351.8532,4746,-0.9724109,0.1181871,-0.152385 -450.9713,365.9536,4747,-0.7728771,0.3655817,-0.554549 -251.9056,191.7712,4748,-0.9032435,0.3321717,-0.6810912 -105.5095,264.762,4749,-1.167077,0.1096818,-0.2588567 -103.0211,252.3204,4750,-0.9993324,0.53152,-0.2720833 -249.8321,195.089,4751,-0.9712489,0.4091323,-0.7389861 -307.0634,205.0423,4755,-0.9112588,0.4788038,-0.175765 -100.5328,135.3693,4756,-1.065011,0.1370491,-0.2523071 -229.9255,304.5751,4757,-1.119525,0.1556273,-0.2980209 -309.1536,208.8246,4761,-0.6078842,0.09742247,0.009659465 -248.2395,198.075,4762,-0.9940429,-0.02530115,-0.5669824 -153.4,143.8,3327,-0.9282636,-0.02106616,-0.524232 -172.6,151,3370,-1.032818,-0.01483248,-0.5221381 -158.2,184.6,3374,-0.9831847,0.1098182,-0.543495 -99.5375,135.3693,3529,-0.8586195,-0.0375614,-0.6890352 -147.88,208.36,3574,-0.9669023,0.1918588,-0.5567809 -268.6,266.2,3580,-1.184011,0.376519,-0.1861076 -261.4,155.8,3605,-1.174508,-0.02270213,-0.2318521 -256.6,215.8,3623,-1.178849,0.3289365,-0.2378761 -200.2,251.8,3626,-1.025625,0.3675892,-0.4306971 -241,256.6,3627,0.3326783,1.384265,-3.120933 -219.4,152.2,3630,-0.9814857,0.2337144,-0.5631691 -244.6,211,3683,0.3573259,0.8725154,-2.958693 -231.4,309.16,3696,-0.9137252,-0.0501507,-0.7372645 -243.6112,208.36,3715,-0.9429371,0.4883527,-0.2000287 -223.1573,316.32,3739,0.339753,1.262666,-1.749804 -302.2,147.4,3761,-1.102929,-0.04893346,-0.4471498 -199,147.4,3763,-1.050453,0.1411195,-0.3639348 -209,198,3765,-0.9554647,0.3385471,-0.6106777 -208.6,202.6,3789,-1.333459,0.252409,-0.06770581 -294,226,3790,-1.010607,0.2903681,-0.4388818 -277,251,3794,-1.138973,0.3298537,-0.3490101 -273.4,268.6,3800,-0.775634,0.6168352,-0.2307586 -293.8,147.4,3808,-1.050618,0.07306025,-0.5184041 -309,249,3817,-1.335388,0.3536637,-0.277732 -307,259,3828,-0.8917437,0.224627,-0.6540759 -109,217,3830,-0.1862284,0.8961294,-1.909432 -273.16,181,3840,-0.9765096,0.7394487,-0.167694 -316.1873,195.9184,3915,-1.275034,-0.06942067,-0.03745447 -272.296,180.712,3925,-0.9821984,0.1550829,-0.1971248 -233.2432,168.9616,3926,-1.251587,0.2244417,0.002099738 -115.6618,183.7423,3949,-0.938872,0.7169221,-0.1051316 -263.8,151,3953,-1.074963,-0.01599207,-0.3242604 -224,151,3955,-0.9172767,0.01445488,-0.6977782 -220.6,189.4,3959,-1.008687,0.2086822,-0.5269647 -161.8,212.2,3961,-1.078253,0.2644717,-0.2977952 -132.04,268.84,3969,-0.8771181,-0.01134966,-0.5902215 -171.4,255.4,3976,-0.8815123,-0.112744,-0.9215932 -205,254.2,3981,-1.098807,0.007017903,-0.3569126 -281.8,258.76,3982,-1.117648,0.3240428,-0.2132898 -204,146,3986,-1.166495,0.06216474,-0.2518825 -255.4,251.8,4002,-1.132475,-0.04262472,-0.3209471 -233,146,4004,-0.8842993,0.004825737,-0.6653808 -230.9208,141.3413,4063,-1.328353,0.2066078,-0.09665721 -309.5518,210.0189,4068,-0.8758864,0.6439196,-0.3112763 -187.3255,348.5686,4070,-1.183668,0.03266789,-0.371555 -317.0167,264.762,4071,-1.12504,0.1749198,-0.3148122 -224.9489,165.2292,4072,-0.2289998,0.5719546,-1.698964 -312.7368,140.7441,4075,-1.211373,0.1542332,-0.05160006 -308.5564,204.047,4077,-1.207189,0.2011853,-0.01866437 -187,261.4,4093,-1.297764,0.39229,-0.09576377 -202,306,4098,-0.8234984,0.6028732,-0.2428545 -149.32,217,4109,-0.9241703,0.3100989,-0.6931772 -243.4,253,4112,-0.8928874,0.5425611,-0.2186227 -177,272,4113,-0.8553364,0.7952935,-0.2229711 -278.2,155.8,4117,-0.955725,0.003337006,-0.6006033 -257.8,251.8,4126,-0.9596918,-0.01234034,-0.5142323 -127.72,147.88,4129,-0.9700949,0.1185386,-0.4503762 -183.4,233.8,4133,-0.9089416,0.3694139,-0.6375082 -274.6,225.4,4140,-1.150956,0.3685602,-0.2209045 -212.2,254.2,4146,-1.078508,0.3928105,-0.5035515 -180,263,4148,-1.172171,-0.02588288,-0.1831171 -289,267,4149,-0.9265267,0.1062633,-0.7136305 -253,191.8,4152,-0.8613046,0.2270184,-0.6316454 -244,178,4163,-0.1996244,0.9484312,-1.009068 -111,169,4171,-1.198022,0.3808383,-0.3391725 -114,271,4174,-0.8992396,0.01919337,-0.6319607 -108,271,4175,-1.065178,0.04493005,-0.4607532 -191.8,166.6,4177,-1.226187,0.3586949,-0.1064897 -296,259,4179,-1.027699,0.3403036,-0.3351511 -213,252,4181,-0.9570253,-0.02348195,-0.1850327 -262,256,4182,-1.067175,0.01535407,-0.3304869 -237,256,4200,-0.8822198,0.6193174,-0.2886865 -167,272,4213,-0.8272374,0.5801488,-0.2693133 -101.8,274.6,4220,-0.9505959,0.1159588,-0.4825211 -102.6064,239.464,4263,-0.9093175,0.123621,-0.4857842 -214.5808,156.52,4276,-1.239212,-0.08007418,-0.05888937 -355.5857,121.2688,4282,-1.056402,0.03701625,-0.3334661 -201.448,308.584,4285,-0.9506183,0.7374164,-0.1278865 -179.3296,179.3296,4293,-1.241678,0.340167,-0.1869175 -316.1873,137.8576,4303,-0.9283023,0.7169459,-0.1052687 -102.5235,251.8227,4310,-1.284547,0.2922767,-0.07151328 -314.5284,140.3459,4317,-1.094841,-0.05656248,-0.3126793 -304.5751,145.3226,4320,-1.073426,0.009784608,-0.3089531 -353.3462,284.6685,4324,-1.164763,0.009078967,-0.4544635 -269.7386,212.4077,4331,-1.18504,0.1775669,-0.3332128 -312.7368,183.7423,4334,-1.410971,-0.09693248,-0.1538947 -312.7368,219.5741,4335,-1.029918,0.1769493,-0.7070232 -126.4114,201.061,4337,-1.326152,0.3832047,-0.07488132 -312.7368,266.1555,4339,-1.009205,0.1689148,-0.195941 -98.92001,134.92,4342,-1.004672,-0.01456905,-0.5995848 -191.08,384.04,4355,-0.9799407,-0.007799309,-0.3944081 -197,150,4357,-0.8692402,0.07745857,-0.6914656 -189.4,152.2,4358,-0.9539056,0.09433126,-0.4492438 -285.4,259,4363,-0.7915624,-0.1121442,-0.8527548 -149.8,262.6,4364,-1.083084,0.05442707,-0.2786302 -239.8,171.4,4366,-0.9681426,0.2208967,-0.5351198 -105.4,177.4,4367,-1.275837,0.3314356,-0.1175048 -215,253,4370,-0.9996999,0.3590474,-0.4128558 -191.8,257.8,4372,-1.064152,0.3600466,-0.3013082 -171,259,4373,-1.119445,0.06490497,-0.2545853 -230,259,4374,-0.9361102,0.1244405,-0.7390581 -105,185,4379,-0.8714496,-0.001715843,-0.6266546 -229,153,4380,-0.9014993,0.1463741,-0.5496592 -119.8,147.4,4381,-1.115475,-0.02817312,-0.2175293 -142.6,191.8,4382,-1.081901,0.04808466,-0.2921816 -266.2,213.4,4385,-1.240584,0.3285605,-0.1727742 -318,234,4386,-1.246602,0.0651468,-0.09599589 -307,180,4388,-0.8702585,0.1856855,-0.675033 -107,204,4390,-0.9637304,-0.01961958,-0.5175847 -143.8,262.6,4391,-1.113589,-0.01656458,-0.3437885 -159,210,4397,-1.19946,0.353343,-0.08295947 -237,251,4404,-1.257617,0.210983,-0.08446243 -141,254,4405,-0.9379805,0.3901907,-0.3504286 -309.4,220.6,4406,-1.107504,0.1920895,-0.2292701 -256,212,4408,-1.138932,0.1468702,-0.2929384 -305.8,227.8,4411,-1.356553,-0.0390868,-0.1662512 -107,226,4414,-1.177182,-0.03634773,-0.3331389 -242.2,149.8,4416,-0.929728,-0.02294256,-0.6640813 -124,145,4418,-1.014377,0.3688516,-0.4771832 -218,253,4419,-1.045736,0.3660572,-0.4273178 -179,260,4420,-1.383261,-0.1749918,0.02775598 -196,260,4421,-1.300008,0.3528046,-0.07058756 -264.52,150.76,4424,-1.270186,0.1788521,-0.09823982 -313,211,4432,-0.8726478,0.6563536,-0.3160586 -291.88,153.64,4448,-1.005431,0.3953094,-0.5674871 -103,166.6,4449,-1.309375,0.3401663,-0.1357957 -257.8,207.4,4457,-1.077953,0.05826983,-0.3893961 -317.224,265.384,4468,-0.8293612,0.3461959,-0.6501776 -316.36,215.56,4474,-1.123839,0.1816236,-0.1728291 -313,215.8,4477,-0.8657393,0.2028693,-0.4236604 -102.6064,272.6416,4481,-1.068512,0.004763219,-0.3728557 -239.464,204.2128,4486,-0.8700594,0.3950666,-0.6835667 -297.64,175.24,4491,-1.354025,0.02966725,-0.236925 -204.2128,175.1824,4499,-1.322258,-0.0732522,-0.1484278 -102.6064,251.9056,4503,-1.150917,0.3163972,-0.076386 -316.1873,212.5072,4509,-0.9504364,-0.1428506,-1.03445 -448.8977,366.7831,4510,-1.281381,0.2779494,-0.06281343 -189.6976,384.6161,4515,-0.9495773,0.05178555,-0.2483577 -108.4955,239.8788,4516,-1.137463,0.2160258,-0.04173007 -230.9208,171.2011,4517,-1.127986,0.2224335,-0.3707672 -309.5518,217.4839,4518,-1.053594,0.0419689,-0.2415169 -354.3415,284.6685,4522,-1.196958,-0.003720004,-0.4732251 -230.9208,302.5845,4523,-1.22248,0.2851026,-0.0594684 -212.5072,157.7642,4524,-0.9851028,0.07473942,-0.8881186 -352.1518,122.8282,4532,-1.329541,0.4347593,0.07603988 -355.735,284.0714,4534,-1.230095,0.05749214,-0.2458984 -50.2,111.4,4537,-1.017576,-0.02900809,-0.5456989 -149.8,149.8,4538,-0.9784442,-0.01875124,-0.4759098 -160.6,152.2,4539,-0.8837726,-0.002057928,-0.571665 -170.2,152.2,4540,-1.065195,-0.01173272,-0.3393692 -129,153,4541,-1.082701,-0.008530732,-0.3384605 -217,157,4542,-1.164304,0.03536572,-0.1002189 -220.6,159.4,4543,-1.200606,0.04135685,-0.1025695 -291,175,4544,-1.0213,0.06715783,-0.4666165 -294,177,4545,-1.022558,0.1006391,-0.2941331 -179.8,179.8,4546,-0.9934266,0.0932866,-0.543529 -224,187,4547,-0.9824323,0.1201987,-0.4876909 -155.8,185.8,4548,-0.940486,0.1415502,-0.5842065 -166.6,193,4549,-0.9967334,0.173837,-0.5728949 -135.4,197.8,4550,-1.16672,0.1866977,-0.195112 -148.6,208.6,4551,-1.04317,0.2020713,-0.5650417 -265,217,4552,-0.9436686,0.2110407,-0.508612 -157,218,4553,-1.116883,0.2444046,-0.3208912 -153.4,218.2,4554,-1.232132,0.3255917,-0.2864137 -227,232,4555,-1.07375,0.3834184,-0.3740394 -248,256,4556,-0.841753,0.6278247,-0.2731406 -206.2,269.8,4557,-0.992961,0.7720721,-0.3690963 -190.6,353.8,4558,-0.927311,-0.04076937,-0.5816795 -190.6,385,4559,-1.08749,-0.04752768,-0.3176886 -135.4,143.8,4560,-0.931465,-0.02905687,-0.5744603 -227,149,4561,-0.931541,-0.02537097,-0.5844605 -137.8,147.4,4562,-0.9784785,-0.02467502,-0.530921 -135.4,148.6,4563,-1.047005,0.07372173,-0.4938872 -157,151,4564,-1.069765,0.1227854,-0.3807376 -177,182,4565,-1.09835,0.1753992,-0.2314156 -207,196,4566,-1.181281,0.1819343,-0.1875087 -249,212,4567,-1.031462,0.2166113,-0.5986194 -269,216,4568,-1.234927,0.2372159,-0.0632155 -147.4,221.8,4569,-1.079938,0.247736,-0.3114068 -306,233,4570,-0.9207956,0.3288872,-0.7011968 -224,232,4571,-1.174194,0.320852,-0.2173533 -101.8,250.6,4572,-1.076991,0.3285259,-0.4476406 -259,254,4573,-1.267711,0.3286567,-0.06506265 -189.4,253,4574,-1.016014,0.335342,-0.3032578 -306,257,4575,-0.9595048,0.3411038,-0.4225817 -215.8,257.8,4576,-0.8606666,0.4071578,-0.6443918 -176.2,257.8,4577,-0.9719127,0.5371432,-0.3129048 -101.8,274.6,4578,-0.8717512,0.5696707,-0.2926794 -204,318,4579,-1.168447,-0.07447033,-0.3765509 -191,333,4580,-1.109116,-0.04746168,-0.3036921 -224.2,146.2,4581,-0.9773104,-0.02908652,-0.5453432 -235,152,4582,-0.9763934,-0.02669832,-0.6007264 -153.4,149.8,4583,-1.240238,0.01791579,-0.1323694 -140.2,151,4584,-1.037473,0.04716108,-0.4913371 -291.4,173.8,4585,-0.9742654,0.09242424,-0.5075789 -176.2,173.8,4586,-1.029071,0.09141517,-0.4789385 -160.6,184.6,4587,-0.9693868,0.1544555,-0.6464868 -177.4,185.8,4588,-0.9749954,0.1937024,-0.5614406 -126,202,4589,-0.9267111,0.2085674,-0.7044683 -147.4,214.6,4590,-0.8831535,0.2811315,-0.6352289 -104,217,4591,-1.235994,0.2750476,-0.03355654 -110.2,237.4,4592,-1.094018,0.3300077,-0.2349416 -313,244,4593,-1.048959,0.3413865,-0.3817838 -244.6,256.6,4594,-1.019894,0.3558793,-0.4182401 -201,258,4595,-1.131349,0.356221,-0.3118492 -187,262,4596,-1.147959,0.3746991,-0.2312448 -230,263,4597,-0.9568221,0.5366284,-0.2845573 -252,269,4598,-0.9292281,0.7906643,-0.2433464 -209,319,4599,-0.9213586,-0.0337269,-0.4845728 -211,402,4600,-1.004491,-0.04402922,-0.4465562 -158.2,145,4601,-0.9308589,-0.02169987,-0.5989582 -182.2,146.2,4602,-1.003847,0.08194552,-0.5281537 -131.8,149.8,4603,-0.8656751,0.1613861,-0.6609127 -161.8,182.2,4604,-1.075895,0.3001788,0.002434995 -101.8,201.4,4605,-1.178864,0.3062006,-0.2156049 -306,251,4606,-1.184376,0.3379832,-0.1359373 -260.2,249.4,4607,-1.089471,-0.06117662,-0.4742568 -280.6,260.2,4608,-0.9913767,-0.05032251,-0.5775347 -189.4,146.2,4609,-0.9768268,-0.03183009,-0.677897 -150,145,4610,-0.9776837,0.1010386,-0.5462485 -122.2,149.8,4611,-0.9888889,0.1520891,-0.4370728 -152.2,187,4612,-1.13106,0.1435833,-0.2199846 -179.8,202.6,4613,-1.32063,0.1780592,-0.1782669 -255,204,4614,-0.9755107,0.2054522,-0.5474868 -283,219,4615,-1.04541,0.2265724,-0.1711213 -149.8,217,4616,-1.159305,0.2243817,-0.1740406 -256,228,4617,-0.9150284,0.3444065,-0.6194777 -268.6,227.8,4618,-1.037082,0.3327436,-0.2218732 -119.8,256.6,4619,-0.920051,0.3928108,-0.585985 -240,258,4620,-0.9473793,0.4797574,-0.1930652 -128.2,271,4621,-1.005362,-0.04406537,-0.3879836 -197,146,4623,-0.9402665,-0.01904102,-0.4769268 -143.8,149.8,4624,-0.9250719,-0.01431927,-0.6502091 -163,149.8,4625,-1.109184,0.0136719,-0.2984047 -118.6,152.2,4626,-0.9433149,0.06188384,-0.7132951 -234,167,4627,-1.158368,0.1524639,-0.2164215 -106.6,175,4628,-1.197189,0.3185545,-0.1425028 -259,207,4629,-1.006148,0.3433089,-0.4907213 -280.6,254.2,4630,-1.133834,0.3473952,-0.2976488 -168,258,4631,-0.9679672,0.06968045,-0.4498366 -233,261,4632,-1.0378,0.1412482,-0.4341287 -173.8,177.4,4633,-1.069502,0.350439,-0.2415033 -189,201,4634,-0.8833322,0.3986112,-0.6145813 -239,261,4635,-0.9811332,-0.04750625,-0.5802449 -113.8,272.2,4636,-0.9261702,-0.03724599,-0.6008478 -146,145,4637,-1.201983,0.128686,-0.2649838 -130.6,145,4638,-0.9227318,0.3297453,-0.3526446 -253,202,4639,-1.026029,-0.05573883,-0.398382 -188,256,4640,-1.201297,0.2985236,-0.06942276 -197.8,143.8,4641,-1.007098,0.3299528,-0.3873024 -301,251,4642,-1.135626,0.3491218,-0.3274412 -193,254.2,4643,-0.9029823,-0.07580512,-0.6887913 -228,262,4644,-0.8850422,0.1209599,-0.6496905 -105.4,133,4645,-1.000915,0.3288587,-0.5144662 -109,190,4646,-0.9623714,0.223806,-0.7243132 -161,253,4647,-1.204039,0.1790851,-0.2755005 -106,221,4648,-0.952611,0.3886809,-0.6306986 -250,215,4649,-1.010613,0.3300872,-0.5939165 -124,269,4650,-1.168706,0.3383986,-0.1721765 -145,253,4651,-1.019335,0.3515751,-0.3659174 -269,260,4652,-0.911164,0.3933844,-0.6036732 -200.2,261.4,4653,-0.9566311,-0.007078271,-0.7302477 -122.2,271,4654,-0.9276361,0.3229991,-0.3563107 -106,156,4655,-1.006942,0.3756263,-0.6420159 -188,254,4656,-1.04432,-0.05707045,-0.5568029 -131.8,265,4657,-1.236507,0.04091592,-0.09189846 -163,146,4658,-0.9426549,0.3720057,-0.5558202 -300,179,4659,-0.8672964,-0.01830937,-0.6639684 -140,265,4660,-0.9622284,0.3641323,-0.5720642 -103,147.4,4661,-1.15299,0.3771805,-0.221297 -140,263,4662,-0.8974344,-0.03555544,-0.6333172 -255,270,4663,-1.224216,-0.04821853,-0.09853711 -117,144,4664,-1.122378,0.1028203,-0.5725755 -299,155,4665,-0.8495585,0.188442,-0.6191612 -170,192,4666,-1.183679,0.2244965,-0.1784439 -108,209,4667,-0.8789673,0.3354275,-0.4698486 -271,227.8,4668,-1.221346,0.299855,-0.1009635 -149.8,255.4,4669,-1.247461,-0.1044487,-0.03981391 -294,250,4670,-1.060041,0.04456482,-0.3564489 -316.36,139.24,4671,-1.074087,0.1585107,-0.2772087 -212.2,173.8,4672,-0.9098295,0.4794152,-0.1728198 -232.84,206.92,4673,-1.056718,-0.02037995,-0.1120465 -233.8,303.4,4674,-1.253013,0.08192235,-0.03392402 -275.8,153.4,4675,-0.8884155,0.6423241,-0.3041569 -316.6,190.6,4676,-1.547467,0.7310681,0.4357959 -191.08,353.8,4677,-0.9807871,0.7235578,-0.1419819 -449.8,367,4678,-1.154224,0.06179487,-0.1865555 -249,379,4679,-0.9222297,0.3301791,-0.7032863 -267.4,181,4680,-0.9625099,0.5034099,-0.3249059 -199.72,307.72,4682,-0.9922279,0.7345622,-0.1514292 -198.28,342.28,4683,-1.083644,-0.01807253,-0.3527365 -217,156.52,4685,-0.804409,0.2191144,-0.3856575 -221.8,149.8,4689,-0.9251562,0.1008913,-0.4876022 -179.56,179.56,4690,-1.206522,0.236725,-0.05150846 -156.52,185.32,4691,-1.128903,0.1599761,-0.2549759 -305.8,232.6,4692,-0.8970798,0.3164344,-0.6684652 -245.8,208.6,4693,-0.9092746,0.3804544,-0.688985 -104.68,247.24,4694,-0.960167,0.3985908,-0.6266043 -101.8,265.96,4695,-1.056927,-0.06716149,-0.293279 -126.28,271.72,4696,-1.065462,-0.06491206,-0.4277833 -196.84,143.56,4698,-0.9981428,0.3241725,-0.3956313 -304.84,153.64,4699,-1.229464,0.1896585,-0.04323304 -189.64,253,4700,-1.224664,0.3388324,-0.1377016 -152.2,186.76,4703,-1.103876,0.3122941,-0.2355736 -100.36,245.8,4704,-0.9195938,0.3954322,-0.6475784 -245.8,251.8,4705,-1.229304,-0.08050589,-0.06887492 -307,145,4707,-0.8628892,0.0004636536,-0.3355761 -257.8,255.4,4708,-1.206299,0.3144522,-0.1268452 -185.8,151,4709,-1.303664,0.3068735,-0.06741402 -287,255,4710,-1.220988,0.3506956,-0.4928362 -310.6,253,4711,-1.101296,0.03261412,-0.5326141 -200.2,259,4712,-1.609092,0.6058599,0.6175073 -500.68,336.52,4714,-1.188864,0.09130736,-0.01995983 -241.48,212.68,4727,-0.7777377,-0.1220413,-0.800187 -317.224,239.464,4728,-0.9411576,-0.07845788,-0.7467539 -100.5328,135.784,4730,-1.145029,-0.09564208,-0.3350695 -232.552,140.968,4732,-1.081447,0.1563467,-0.2795333 -303.4,199.72,4733,-0.8384842,0.3831897,-0.5066649 -233.2432,206.2864,4734,-1.024663,0.4900448,-0.2417791 -197.992,343.144,4737,-1.129283,-0.04723642,-0.1397667 -175.1824,175.1824,4738,-0.8992433,0.05788942,-0.3738766 -277.48,149.608,4739,-1.297672,0.1815443,-0.06407595 -181.4032,171.0352,4740,-1.181134,-0.09741428,-0.3497654 -312.04,218.728,4741,-1.321946,-0.1824725,0.08139183 -218.9769,317.5144,4752,-0.8560486,0.0200435,-0.5220966 -102.5235,272.7246,4753,-1.248152,0.1351631,-0.06389847 -135.3693,157.7642,4754,-0.8362224,-0.0518507,-0.6481658 -236.8928,201.061,4758,-1.061537,0.1677894,-0.1955733 -233.9068,207.033,4759,-1.303171,0.1455199,-0.07892314 -251.8227,208.8246,4760,-1.049707,0.1312117,-0.2050769 -244.6564,169.4095,4763,-1.207219,-0.0225701,-0.1995036 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0044.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0044.csv deleted file mode 100644 index 53da94203d6ff23c56a663bec1f1349f45fbe8d5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0044.csv +++ /dev/null @@ -1,303 +0,0 @@ -251.56,83.08,4671,-1.074087,0.1585107,-0.2772087 -250.12,140.68,4676,-1.547467,0.7310681,0.4357959 -152.2,74.44,4697,-1.243268,-0.05044789,-0.08066647 -249.832,140.968,4716,-0.9426069,0.3172456,-0.7097394 -152.3728,73.57601,4732,-1.081447,0.1563467,-0.2795333 -293.3777,67.35521,4743,-1.15864,0.1518734,-0.3226029 -239.8788,156.2712,4755,-0.9112588,0.4788038,-0.175765 -106.408,353.512,4787,-1.041767,-0.032237,-0.4543672 -533.9153,407.4257,4806,-1.017684,-0.01761713,-0.5750856 -93.4,81.4,4822,-1.058563,0.06825441,-0.3728959 -207.4,221.8,4831,-1.066327,-0.03279246,-0.4295985 -195.4,221.8,4839,-1.106897,-0.04322273,-0.3494399 -189.64,156.52,4854,-1.001259,-0.03147646,-0.5490501 -161.704,71.84801,4866,-1.000202,-0.03156587,-0.6383029 -167.8,158.2,4881,-1.047635,0.391976,-0.615086 -47.8,214.6,4883,-1.20641,-0.02094928,-0.1577522 -481.384,299.944,4891,-1.124881,0.1842887,-0.284499 -290.44,245.8,4898,-0.8455083,0.7825831,-0.2131667 -208.36,94.31201,4906,-1.138802,0.06224502,-0.2456418 -159.976,158.248,4911,-1.070987,0.3640205,-0.3981215 -43,70.60001,4914,-0.8501721,0.7808995,-0.2273166 -127.144,372.5201,4915,-1.298402,0.4388846,0.1075892 -123.688,370.792,4916,-1.266266,0.7157046,0.8147359 -83.94401,109.864,4919,-1.22447,0.07131556,-0.233196 -192.808,96.04001,4920,-0.9690409,0.225592,-0.5469171 -194.536,127.144,4921,-1.172757,-0.01939303,-0.1479123 -54.568,158.248,4922,-0.8877796,0.5342324,-0.202765 -215.272,96.04001,4923,-0.9897449,0.08212746,-0.4431838 -94.31201,111.592,4925,-1.243591,0.1350758,-0.05755797 -245.6848,150.2992,4927,-1.113889,0.2591877,-0.3325267 -179.3296,341.0704,4931,-1.098713,0.168779,-0.2832955 -105.5095,354.3415,4932,-0.8332991,0.7737157,-0.2194275 -156.52,112.9744,4935,-0.926326,0.4931385,-0.1860843 -158.248,261.928,4937,-1.198751,-0.03066478,-0.1604667 -85.672,116.776,4938,-1.054226,-0.05098122,-0.2773553 -289.6452,244.8554,4941,-0.9056875,0.5139781,-0.2854384 -120.4394,266.7527,4943,-1.248774,0.2874215,-0.05095803 -127.9044,371.7598,4944,-1.195587,0.06460354,-0.20814 -243.6112,195.9184,4945,-0.8534114,0.5288284,-0.184764 -247.3437,137.8576,4949,-0.9370672,0.532708,-0.2837244 -249.8321,83.11458,4953,-0.8397672,0.6817234,-0.07051947 -241.0732,162.2432,4954,-1.293836,0.1713926,-0.05596672 -122.8282,266.1555,4957,-1.059135,0.05114347,-0.3637592 -61.48,119.08,3374,-0.9831847,0.1098182,-0.543495 -142,88,3630,-0.9814857,0.2337144,-0.5631691 -168.04,157.96,3683,0.3573259,0.8725154,-2.958693 -235,89.8,3761,-1.102929,-0.04893346,-0.4471498 -225,178,3790,-1.010607,0.2903681,-0.4388818 -205,205,3794,-1.138973,0.3298537,-0.3490101 -238.6,215.8,3828,-0.8917437,0.224627,-0.6540759 -140.68,130.6,3959,-1.008687,0.2086822,-0.5269647 -65.8,153.64,3961,-1.078253,0.2644717,-0.2977952 -120,79,3986,-1.166495,0.06216474,-0.2518825 -242.8648,162.2432,4068,-0.8758864,0.6439196,-0.3112763 -245.8508,221.9629,4071,-1.12504,0.1749198,-0.3148122 -245.8508,135.3693,4076,-0.8030052,0.5045863,-0.1326098 -241.0732,155.0768,4077,-1.207189,0.2011853,-0.01866437 -120,263,4098,-0.8234984,0.6028732,-0.2428545 -218,224,4149,-0.9265267,0.1062633,-0.7136305 -178.6,136.6,4152,-0.8613046,0.2270184,-0.6316454 -169,121,4163,-0.1996244,0.9484312,-1.009068 -119.1952,264.3472,4285,-0.9506183,0.7374164,-0.1278865 -103,86,4358,-0.9539056,0.09433126,-0.4492438 -49,212.2,4364,-1.083084,0.05442707,-0.2786302 -166,112,4366,-0.9681426,0.2208967,-0.5351198 -77.8,208.6,4373,-1.119445,0.06490497,-0.2545853 -149.8,212.2,4374,-0.9361102,0.1244405,-0.7390581 -149.8,88.60001,4380,-0.9014993,0.1463741,-0.5496592 -251,189,4386,-1.246602,0.0651468,-0.09599589 -63.4,151,4397,-1.19946,0.353343,-0.08295947 -39.4,202.6,4405,-0.9379805,0.3901907,-0.3504286 -182,160,4408,-1.138932,0.1468702,-0.2929384 -136,205,4419,-1.045736,0.3660572,-0.4273178 -245.8,163,4432,-0.8726478,0.6563536,-0.3160586 -184.6,155.8,4457,-1.077953,0.05826983,-0.3893961 -251.56,82.21601,4475,-1.236995,0.1938248,-0.06197656 -242.92,163.432,4485,-1.331674,0.3522063,-0.1628801 -119.1952,112.9744,4499,-1.322258,-0.0732522,-0.1484278 -249.832,166.888,4509,-0.9504364,-0.1428506,-1.03445 -242.3671,172.6941,4518,-1.053594,0.0419689,-0.2415169 -156.2712,260.7807,4523,-1.22248,0.2851026,-0.0594684 -287.6545,244.6564,4534,-1.230095,0.05749214,-0.2458984 -137.8,93.4,4542,-1.164304,0.03536572,-0.1002189 -140.68,96.04,4543,-1.200606,0.04135685,-0.1025695 -226,124,4545,-1.022558,0.1006391,-0.2941331 -88.84,114.76,4546,-0.9934266,0.0932866,-0.543529 -144,129,4547,-0.9824323,0.1201987,-0.4876909 -58.6,120.52,4548,-0.940486,0.1415502,-0.5842065 -48.52,147.88,4551,-1.04317,0.2020713,-0.5650417 -191.8,166.6,4552,-0.9436686,0.2110407,-0.508612 -60,160,4553,-1.116883,0.2444046,-0.3208912 -146.2,181,4555,-1.07375,0.3834184,-0.3740394 -171,210,4556,-0.841753,0.6278247,-0.2731406 -107.56,317.8,4558,-0.927311,-0.04076937,-0.5816795 -148.6,83.8,4561,-0.931541,-0.02537097,-0.5844605 -85,118.6,4565,-1.09835,0.1753992,-0.2314156 -123,138,4566,-1.181281,0.1819343,-0.1875087 -172.6,159.4,4567,-1.031462,0.2166113,-0.5986194 -196,166,4568,-1.234927,0.2372159,-0.0632155 -47.08,163.72,4569,-1.079938,0.247736,-0.3114068 -237,187,4570,-0.9207956,0.3288872,-0.7011968 -183.4,208.6,4573,-1.267711,0.3286567,-0.06506265 -237,215,4575,-0.9595048,0.3411038,-0.4225817 -107.8,293.8,4580,-1.109116,-0.04746168,-0.3036921 -156,86,4582,-0.9763934,-0.02669832,-0.6007264 -221.32,119.08,4585,-0.9742654,0.09242424,-0.5075789 -84.52,109,4586,-1.029071,0.09141517,-0.4789385 -85.96001,123.4,4588,-0.9749954,0.1937024,-0.5614406 -47.08,153.64,4590,-0.8831535,0.2811315,-0.6352289 -167.8,209.8,4594,-1.019894,0.3558793,-0.4182401 -115,209.8,4595,-1.131349,0.356221,-0.3118492 -98.2,213.4,4596,-1.147959,0.3746991,-0.2312448 -175,225,4598,-0.9292281,0.7906643,-0.2433464 -130.6,373,4600,-1.004491,-0.04402922,-0.4465562 -65.8,117.64,4604,-1.075895,0.3001788,0.002434995 -208.6,215.8,4608,-0.9913767,-0.05032251,-0.5775347 -50.2,70.60001,4610,-0.9776837,0.1010386,-0.5462485 -54.28,121.96,4612,-1.13106,0.1435833,-0.2199846 -213,170,4615,-1.04541,0.2265724,-0.1711213 -51.4,157.96,4616,-1.159305,0.2243817,-0.1740406 -196.6,178.6,4618,-1.037082,0.3327436,-0.2218732 -185,155,4629,-1.006148,0.3433089,-0.4907213 -73,207.4,4631,-0.9679672,0.06968045,-0.4498366 -154,215,4632,-1.0378,0.1412482,-0.4341287 -100.6,141.4,4634,-0.8833322,0.3986112,-0.6145813 -162,216,4635,-0.9811332,-0.04750625,-0.5802449 -231,205,4642,-1.135626,0.3491218,-0.3274412 -145,215,4644,-0.8850422,0.1209599,-0.6496905 -42,201,4651,-1.019335,0.3515751,-0.3659174 -196,215,4652,-0.911164,0.3933844,-0.6036732 -232,126,4659,-0.8672964,-0.01830937,-0.6639684 -53,202,4669,-1.247461,-0.1044487,-0.03981391 -158.2,262.6,4674,-1.253013,0.08192235,-0.03392402 -195.4,126.28,4680,-0.9625099,0.5034099,-0.3249059 -241,88.60001,4707,-0.8628892,0.0004636536,-0.3355761 -214,209,4710,-1.220988,0.3506956,-0.4928362 -83.94402,108.8272,4713,-1.535551,0.7270494,0.4387782 -154.4464,152.3728,4724,-1.072741,-0.01965775,-0.3623241 -165.16,160.84,4727,-0.7777377,-0.1220413,-0.800187 -117.1216,305.8192,4737,-1.129283,-0.04723642,-0.1397667 -153.2852,153.2852,4745,-1.481652,0.7141249,0.4463815 -174.1871,141.3413,4751,-0.9712489,0.4091323,-0.7389861 -157.7642,262.2737,4757,-1.119525,0.1556273,-0.2980209 -162.2432,144.3273,4758,-1.061537,0.1677894,-0.1955733 -58.6,73,4764,-1.184416,-0.02154,-0.1825948 -203.8,97,4765,-1.162043,0.05240366,-0.3042521 -206.2,95.8,4766,-1.154117,0.07644089,-0.08292036 -166,116,4767,-1.025224,0.09028417,-0.4909067 -230,126,4768,-1.156121,0.08070986,-0.1971739 -86.2,116.2,4769,-0.984349,0.1040296,-0.5290757 -195.4,125.8,4770,-0.9921619,0.121992,-0.572113 -65.8,117.4,4771,-0.9962312,0.1303145,-0.3028383 -53.8,123.4,4772,-1.15876,0.1949265,-0.1970813 -140.2,131.8,4773,-0.9394296,0.2543693,-0.5480656 -194.2,163,4774,-1.064356,0.2466843,-0.3824176 -47,167,4775,-1.026308,0.2811018,-0.5227497 -123.4,172.6,4776,-1.165847,0.3227125,-0.2143156 -73,179.8,4777,-1.272797,0.3194982,-0.05792937 -187,203,4778,-1.030893,0.3490453,-0.4191156 -244,207,4779,-0.9935014,0.3560609,-0.4923568 -104.2,205,4780,-1.117496,0.3490364,-0.2680221 -74.2,205,4781,-1.00755,0.3611941,-0.4740138 -164.2,209.8,4782,-1.173963,0.3512751,-0.1271242 -82.60001,207.4,4783,-1.031816,0.3683405,-0.437968 -213.4,214.6,4784,-1.000555,0.3919108,-0.5805073 -98.2,211,4785,-0.8515213,0.7411422,-0.2802982 -48,215,4786,-0.7006255,0.8009488,-0.08701324 -146,403,4788,-1.086284,-0.03413021,-0.3462315 -103,76.60001,4789,-0.9906158,-0.01374183,-0.5716282 -143.8,81.4,4790,-0.9723166,-0.007032823,-0.6161211 -56.2,76.60001,4791,-1.0281,0.08922276,-0.4810701 -38.2,76.60001,4792,-1.004164,0.1046868,-0.5542291 -89.8,116.2,4793,-1.023507,0.1117754,-0.4884414 -62.2,118.6,4794,-1.046604,0.1709951,-0.4146239 -86.2,123.4,4795,-0.9990897,0.1958335,-0.5921147 -112,146,4796,-1.188775,0.2467402,-0.1110516 -47.8,148.6,4797,-1.050175,0.3467348,-0.441301 -222,182,4798,-1.220047,0.3352161,-0.1676501 -101,204,4799,-1.055888,0.3679957,-0.4446874 -207,209,4800,-1.188778,0.3609379,-0.3527952 -100.6,211,4801,-1.243319,0.3561119,-0.1642915 -150,213,4802,-1.061082,0.3958246,-0.6548585 -210,215,4803,-1.169334,0.4017877,-0.395951 -39,215,4804,-1.349377,0.8915487,0.940962 -135.4,224.2,4805,-1.105254,-0.02916123,-0.3239276 -153.4,85,4807,-1.036681,-0.01890643,-0.4894794 -61,77.8,4808,-1.210474,-0.03236106,-0.1364193 -91,80.2,4809,-1.167412,-0.0165145,-0.2036746 -223,95,4810,-0.9750668,0.1370098,-0.5977837 -197.8,95.8,4811,-1.048442,0.163975,-0.4771436 -41.8,127,4812,-1.279739,0.2329285,-0.08224268 -93.4,142.6,4813,-1.041712,0.2732489,-0.4148362 -239,180,4814,-0.9788123,0.3541058,-0.455986 -109,180,4815,-1.14933,0.3530168,-0.2181362 -82.60001,205,4816,-1.195097,0.3864961,-0.1105044 -184,213,4817,-1.063916,0.4027598,-0.3757301 -220,226,4818,-0.8961045,-0.006650258,-0.5357719 -122.2,224.2,4819,-1.175223,-0.03472828,-0.1720623 -46,70,4820,-1.037531,-0.01586965,-0.4819824 -208.6,91,4821,-1.043319,-0.009040219,-0.4226241 -112.6,85,4823,-1.203989,0.05848954,-0.1406884 -129,113,4824,-1.079634,0.3354335,-0.3039647 -219,123,4825,-1.191306,0.3258756,-0.06951745 -148,204,4826,-0.9972807,0.3466241,-0.4863994 -233,208,4827,-1.112917,0.378707,-0.4461796 -77,202,4828,-0.9611344,0.3781185,-0.3824864 -110,215,4829,-1.222763,0.3774554,-0.1638876 -102,215,4830,-0.9924551,-0.03822452,-0.5821983 -53.8,68.2,4832,-0.9776951,-0.01915462,-0.6092053 -115,79,4833,-0.9939326,-0.0187549,-0.4589666 -41.8,73,4834,-1.128715,0.3371175,-0.2463596 -92.2,76.60001,4835,-1.214271,0.3524775,-0.1717266 -173,207,4836,-1.037459,0.388649,-0.4703473 -205,214,4837,-1.151287,0.3788004,-0.1769318 -89,217,4838,-1.068008,0.4002829,-0.3132319 -142,225,4840,-1.066596,-0.0225562,-0.4172772 -146.2,80.2,4841,-1.031276,-0.01399353,-0.5184094 -118.6,82.60001,4842,-0.9756262,-0.004226421,-0.5299098 -81,81,4843,-1.192391,-0.03009645,-0.160059 -65.8,79,4844,-1.164615,-0.007645231,-0.1646584 -214,94,4845,-0.9676317,0.3439814,-0.5500783 -209,99,4846,-1.064581,0.3309144,-0.1443318 -51,199,4847,-0.9583401,0.3472506,-0.4671308 -195,206,4848,-1.0215,0.3406807,-0.3792945 -75,202,4849,-0.9552841,0.4960529,-0.1975324 -115,203,4850,-0.8652073,0.5383852,-0.2251397 -159,262,4851,-1.026852,0.1071189,-0.479138 -133,279,4852,-1.137396,0.1779269,-0.2046574 -89.8,122.2,4853,-1.210635,0.3827931,-0.1060537 -223,225,4855,-1.106063,-0.02021683,-0.3250266 -65.8,71.8,4856,-1.202303,0.1594118,-0.1869316 -153,88,4857,-1.117346,0.1758824,-0.287904 -202.6,153.4,4858,-1.020686,0.2150938,-0.5468509 -161.8,153.4,4859,-1.083661,0.4054216,-0.4206527 -65.8,157,4860,-1.008921,0.1344143,-0.4977504 -112,224,4861,-1.207918,0.3330439,-0.3566307 -80,130,4862,-1.055016,0.3822343,-0.4718018 -151,203,4863,-0.8289316,0.7697563,-0.2169018 -92,215,4864,-1.057425,-0.05700146,-0.2760043 -123.4,368.2,4865,-0.9937296,-0.03536033,-0.5751496 -56.2,69.4,4867,-1.081071,0.02051386,-0.2447383 -38.2,70.60001,4868,-1.103303,0.12413,-0.2404399 -174,101,4869,-1.031909,0.3399335,-0.4177137 -176,137,4870,-0.8870085,0.5354177,-0.195386 -105,202,4871,-0.9947169,0.2141282,-0.5917735 -147.4,278.2,4872,-0.9950498,0.3416195,-0.4147691 -46.6,154.6,4873,-0.952509,0.3700082,-0.5792427 -99,202,4874,-1.240272,0.2933441,-0.09122677 -38,207,4875,-1.081026,0.3481565,-0.3962051 -231,198,4876,-1.117848,-0.04195908,-0.3157601 -120,206,4877,-1.171765,0.1983839,-0.2806291 -158,82,4878,-1.207404,0.1565549,-0.05554545 -171,163,4879,-1.128472,0.1869442,-0.2752433 -242,155,4880,-1.211496,0.3454699,-0.1090868 -223,213.4,4882,-0.9812722,-0.03403797,-0.6088526 -43,68.2,4884,-1.12314,0.18915,-0.2921174 -216,98,4885,-1.018669,0.3633907,-0.3251491 -161.8,158.2,4886,-1.161483,0.2098909,-0.2413917 -131,212,4887,-1.183434,0.3339258,-0.2182432 -181,167,4888,-1.052654,0.3453189,-0.2577225 -188,207,4889,-1.531271,0.5809576,0.7727051 -158,208,4890,-1.014421,0.1753022,-0.4561165 -93.16,145,4892,-0.9654402,0.7293794,-0.1347876 -163.72,156.52,4893,-1.063315,0.2373767,-0.3824598 -176.2,345.4,4894,-0.8381304,0.7778366,-0.2216686 -123.4,169.48,4895,-1.02,0.2545959,-0.4451336 -123.4,371.08,4896,-1.327713,0.4365268,0.09788038 -96.04,172.36,4897,-0.8389056,0.6099239,-0.2495431 -117.64,306.28,4899,-1.02015,-0.01500892,-0.2886941 -127.72,372.52,4900,-1.040082,0.262766,-0.4711197 -151,82.60001,4901,-0.9138663,0.410212,-0.5668933 -91.72,175.24,4902,-0.8970914,0.5401398,-0.2154579 -32,221,4903,-1.141805,-0.03165054,-0.2221722 -142.12,278.92,4904,-1.246459,-0.0407958,-0.2000952 -189.4,88.60001,4905,-0.9200115,0.002786833,-0.5402833 -49.96,75.88,4907,-1.268773,0.1798246,-0.06812331 -181,119.08,4908,-1.076867,0.1768146,-0.2713949 -242.92,163.72,4909,-0.991767,0.2044739,-0.2289717 -160.84,152.2,4910,-1.10554,0.3486405,-0.1267549 -205,212.2,4912,-0.8983496,-0.005301368,-0.5464568 -117.4,211,4913,-0.8559564,0.7862045,-0.2202663 -291.4,247,4917,-1.04918,0.06744158,-0.5150483 -503.56,355.24,4918,-1.166143,-0.01478909,-0.2196881 -145,277.48,4924,-1.216374,0.3798937,-0.1633066 -206.92,222.76,4926,-1.09975,0.1863578,-0.2622269 -166.888,156.52,4928,-0.8403655,0.780066,-0.2111835 -146.152,179.3296,4929,-0.8449582,0.6836369,-0.07566638 -127.4896,372.1744,4930,-0.8558411,0.744931,-0.2852046 -160.6672,150.2992,4933,-0.8991072,0.09554734,-0.2005465 -123.3424,370.1009,4934,-1.353127,0.43994,0.08968349 -289.576,246.376,4936,-1.081073,0.08226483,-0.5286743 -214.5808,94.31201,4939,-1.317733,0.4328739,0.09739248 -160.6672,73.57601,4940,-0.8990133,0.7153766,-0.1088707 -175.1824,347.2913,4942,-0.8340327,0.7767695,-0.206783 -198.075,123.4254,4946,-0.8224648,0.7324345,-0.2662315 -145.3226,277.2036,4947,-1.228227,0.1000831,-0.04574871 -105.5095,353.3462,4948,-1.11947,0.1838084,-0.2770008 -165.2292,156.2712,4950,-0.8363779,0.7767307,-0.2122711 -126.4114,272.7246,4951,-1.140735,-0.05562155,-0.02808359 -126.4114,371.2621,4952,-1.07356,0.1869221,-0.0223106 -180.1591,341.4023,4955,-0.9133062,0.512597,-0.2826938 -248.8367,162.2432,4956,-0.8201451,0.731783,-0.2613949 -106.7536,353.5121,4958,-1.132137,0.05636968,-0.2386652 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0045.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0045.csv deleted file mode 100644 index fd7b6ab7279c4ce56ef43a6ea5961c952b917ced..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0045.csv +++ /dev/null @@ -1,287 +0,0 @@ -162.28,67.24001,4768,-1.156121,0.08070986,-0.1971739 -100.36,55.72,4908,-1.076867,0.1768146,-0.2713949 -177.256,113.32,4909,-0.991767,0.2044739,-0.2289717 -78.76001,94.31201,4910,-1.10554,0.3486405,-0.1267549 -179.3296,96.38561,4927,-1.113889,0.2591877,-0.3325267 -75.4,44.2,4935,-0.926326,0.4931385,-0.1860843 -174.1871,105.5095,4954,-1.293836,0.1713926,-0.05596672 -89.8,161.8,4995,-1.140994,0.3461551,-0.2893587 -450.28,316.36,5000,-1.282946,0.0003350115,-0.09017498 -47.8,161.8,5007,-1.247841,0.3346583,-0.06405031 -51.4,350.92,5011,-1.235977,0.06182587,-0.07538096 -41.8,154.6,5016,-1.197773,0.3299118,-0.3124859 -523.72,214.12,5021,-1.148616,0.09922217,-0.1334923 -142.6,61,5028,-1.207949,0.3209385,-0.2350138 -129.4,182.2,5040,-1.592624,0.4402901,0.01544055 -83.8,103,5058,-1.256983,0.02729408,-0.1379057 -153.64,60.04,5061,-1.846069,0.9354947,0.9427708 -51.4,73,5062,-1.1519,0.1002982,-0.1326263 -452.0081,343.144,5064,-1.263871,0.3666538,-0.03311246 -142.12,77.32,5065,-1.939834,0.3637479,1.175936 -49,110.2,5066,-1.017274,0.7400476,-0.1600475 -513.64,206.92,5068,-1.133793,0.05521526,-0.2477684 -485.8,375.4,5073,-1.135734,0.1848914,-0.2836309 -477.4,206.2,5078,-1.576747,0.5873193,0.7730724 -62.92,241.48,5080,-1.861517,0.9974309,1.0128 -463,370.6,5084,-1.145533,0.1448383,-0.281381 -143.56,163.72,5086,-1.658739,0.3899456,1.0603 -85.96001,90.28001,5087,-1.806648,0.3971476,1.001126 -481,202.6,5094,-1.336965,0.363782,-0.05599725 -170.344,101.224,5095,-0.9625143,0.489162,-0.1984895 -61.48,109,5096,-1.777624,0.7151735,0.9490544 -184.168,180.712,5097,-1.613245,0.9569556,0.8584588 -82.21601,222.184,5098,-1.205623,0.05789555,-0.08875685 -164.8144,67.35521,5101,-1.137903,0.2089508,-0.3738427 -70.12001,94.31201,5102,-1.791954,0.9001199,1.005516 -49.96,111.88,5104,-1.905905,1.035386,1.098881 -450.28,356.968,5106,-1.798025,1.047953,1.072953 -484.8401,375.976,5109,-1.530979,0.3781422,1.087154 -163.432,149.608,5111,-1.850145,0.9298351,0.9736537 -529.7681,208.36,5112,-1.3145,0.01277611,-0.1639122 -435.88,312.04,5113,-2.029176,0.3940634,1.062506 -151.336,59.75201,5115,-1.251593,0.03639134,-0.1174648 -159.976,63.20801,5118,-1.213049,0.3432468,-0.02407918 -61.48001,128.872,5119,-1.321572,0.1939762,-0.08201551 -184.168,172.072,5121,-1.779561,0.6145713,0.8333262 -493.6875,213.0049,5123,-1.894389,0.7437236,0.9779293 -435.88,264.52,5124,-1.896126,1.106736,0.8738177 -461.3393,293.3777,5126,-1.972332,0.3648486,1.182331 -175.1824,122.9277,5128,-1.031757,0.1903806,-0.2236775 -512.488,206.632,5129,-1.565314,0.5052256,0.9900904 -526.0356,212.5072,5130,-1.805559,0.919392,0.9626381 -495.208,242.92,5133,-1.975839,1.051603,1.122005 -484.84,363.88,5137,-1.687439,0.7817959,0.8977074 -528.04,211.24,5139,-1.190161,0.1929479,-0.02057109 -63.20801,241.192,5140,-1.769179,1.013597,1.028879 -454.6,312.04,5141,-1.937512,0.3978397,1.033961 -461.8,369.64,5142,-1.972744,1.032841,1.044129 -477.64,368.2,5144,-2.064124,0.3977396,1.098205 -479.656,211.816,5145,-0.9706606,0.4905417,-0.2060426 -467.5601,358.696,5146,-1.816337,0.4101405,1.019463 -177.6708,110.4861,5147,-1.635013,0.5141726,1.009832 -80.62626,222.4605,5149,-1.273863,0.7598479,0.6361163 -494.5169,243.6112,5151,-2.092272,0.3717053,1.076459 -229.9255,205.0423,5152,-1.993254,0.3633875,1.191893 -132.881,152.7876,5154,-1.192122,0.3665202,-0.01480547 -185.1357,180.1591,5158,-1.222131,0.1740047,-0.05372547 -491.8959,248.2395,5160,-1.523214,0.7544857,0.8010036 -85.6029,100.5328,5161,-1.792173,0.9790817,1.001529 -438.5297,312.04,5164,-1.296123,0.3635823,-0.04829157 -469.6337,357.6592,5165,-1.193321,0.2090201,-0.03586606 -180.1591,122.8282,5169,-0.9607357,0.07677437,-0.2140244 -398.136,329.4583,5172,-1.521481,0.7572517,0.8334783 -80.2,45.4,5173,-1.83316,0.8220314,0.865043 -436.9538,314.5284,5177,-2.72611,0.3626314,1.865294 -83.94401,104.68,5178,-1.183333,0.4080543,1.170591 -155.8,128.2,3790,-1.010607,0.2903681,-0.4388818 -133,159.4,3794,-1.138973,0.3298537,-0.3490101 -148.6,181,4149,-0.9265267,0.1062633,-0.7136305 -185.8,141.4,4386,-1.246602,0.0651468,-0.09599589 -104.2,104.2,4408,-1.138932,0.1468702,-0.2929384 -49,157,4419,-1.045736,0.3660572,-0.4273178 -179.56,111.88,4432,-0.8726478,0.6563536,-0.3160586 -177.256,112.9744,4485,-1.331674,0.3522063,-0.1628801 -177.1731,120.4394,4518,-1.053594,0.0419689,-0.2415169 -56.2,64.60001,4547,-0.9824323,0.1201987,-0.4876909 -91,164.2,4556,-0.841753,0.6278247,-0.2731406 -93.16,103.24,4567,-1.031462,0.2166113,-0.5986194 -121,112.6,4568,-1.234927,0.2372159,-0.0632155 -107.56,162.28,4573,-1.267711,0.3286567,-0.06506265 -171,171,4575,-0.9595048,0.3411038,-0.4225817 -98.2,181,4598,-0.9292281,0.7906643,-0.2433464 -140.2,119.8,4615,-1.04541,0.2265724,-0.1711213 -107.8,99.4,4629,-1.006148,0.3433089,-0.4907213 -71.8,169,4632,-1.0378,0.1412482,-0.4341287 -61,169,4644,-0.8850422,0.1209599,-0.6496905 -163,68.2,4659,-0.8672964,-0.01830937,-0.6639684 -81.64,222.76,4674,-1.253013,0.08192235,-0.03392402 -183.4768,83.94402,4716,-0.9426069,0.3172456,-0.7097394 -82.60001,52.6,4767,-1.025224,0.09028417,-0.4909067 -120.52,65.8,4770,-0.9921619,0.121992,-0.572113 -51.4,67.24001,4773,-0.9394296,0.2543693,-0.5480656 -112,156,4778,-1.030893,0.3490453,-0.4191156 -178.6,161.8,4779,-0.9935014,0.3560609,-0.4923568 -143.8,169,4784,-1.000555,0.3919108,-0.5805073 -153,132,4798,-1.220047,0.3352161,-0.1676501 -65.8,166.6,4802,-1.061082,0.3958246,-0.6548585 -139,171,4803,-1.169334,0.4017877,-0.395951 -46.6,179.8,4805,-1.105254,-0.02916123,-0.3239276 -172.6,131.8,4814,-0.9788123,0.3541058,-0.455986 -107.8,166.6,4817,-1.063916,0.4027598,-0.3757301 -147.4,63.4,4825,-1.191306,0.3258756,-0.06951745 -166.6,161.8,4827,-1.112917,0.378707,-0.4461796 -136.36,178.12,4831,-1.066327,-0.03279246,-0.4295985 -94.60001,159.4,4836,-1.037459,0.388649,-0.4703473 -133,169,4837,-1.151287,0.3788004,-0.1769318 -135,34,4846,-1.064581,0.3309144,-0.1443318 -123.4,158.2,4848,-1.0215,0.3406807,-0.3792945 -129.16,98.92001,4858,-1.020686,0.2150938,-0.5468509 -68,157,4863,-0.8289316,0.7697563,-0.2169018 -43,347.8,4865,-0.9937296,-0.03536033,-0.5751496 -92,33,4869,-1.031909,0.3399335,-0.4177137 -95.8,76.60001,4870,-0.8870085,0.5354177,-0.195386 -164,152,4876,-1.117848,-0.04195908,-0.3157601 -176.2,101.8,4880,-1.211496,0.3454699,-0.1090868 -85.96001,101.8,4881,-1.047635,0.391976,-0.615086 -78.76,101.8,4886,-1.161483,0.2098909,-0.2413917 -105.4,319,4894,-0.8381304,0.7778366,-0.2216686 -79.79681,100.5328,4911,-1.070987,0.3640205,-0.3981215 -135.4,166.6,4912,-0.8983496,-0.005301368,-0.5464568 -117.1216,67.35521,4921,-1.172757,-0.01939303,-0.1479123 -230.9208,204.047,4941,-0.9056875,0.5139781,-0.2854384 -179.3296,150.2992,4945,-0.8534114,0.5288284,-0.184764 -182.6474,83.11458,4949,-0.9370672,0.532708,-0.2837244 -112.0786,312.7368,4955,-0.9133062,0.512597,-0.2826938 -183.7423,112.0786,4956,-0.8201451,0.731783,-0.2613949 -39.4,43,4959,-1.233807,0.03607602,-0.1376722 -100.6,56.2,4960,-1.184695,0.06583046,-0.2038197 -151,61,4961,-1.036252,0.113435,-0.3199928 -121,65.8,4962,-1.302798,0.09715243,-0.05285519 -51.4,67,4963,-1.033301,0.1631376,-0.366055 -186,90,4964,-1.116013,0.1587023,-0.2223345 -32,86,4965,-1.266235,0.1428011,-0.2559961 -103,94.60001,4966,-1.193325,0.1846988,-0.2064968 -113,99,4967,-1.18329,0.1888459,-0.2460794 -119.8,110.2,4968,-1.031182,0.219514,-0.320921 -104.2,110.2,4969,-0.931829,0.2516888,-0.3013989 -49,110,4970,-1.199293,0.2144796,-0.2241973 -35,117,4971,-1.1164,0.2525543,-0.3289042 -114,121,4972,-1.293441,0.278549,-0.06848551 -62.2,128.2,4973,-1.176958,0.3132083,-0.1281561 -177.4,151,4974,-1.278517,0.3049902,-0.07398827 -144,158,4975,-1.039896,0.3357195,-0.3380265 -173.8,159.4,4976,-1.29314,0.3117361,-0.08871333 -43,157,4977,-1.152205,0.3312347,-0.2188221 -170.2,161.8,4978,-1.127101,0.3414234,-0.299383 -107.8,161.8,4979,-1.174812,0.3338595,-0.1305788 -74.2,163,4980,-1.277544,0.3631761,-0.03481706 -142.6,165.4,4981,-1.151143,0.3745281,-0.03162863 -186,180,4982,-1.559971,0.6852517,0.488997 -175,182,4983,-1.759933,0.8153439,0.9062148 -350,285,4984,-1.932988,1.114961,0.8866745 -451,316.6,4985,-1.21191,-0.03307938,-0.06845241 -431.8,377.8,4986,-1.080787,0.06955507,-0.2259385 -174,35,4987,-1.245735,0.035907,-0.1311848 -97,56.2,4988,-1.073264,0.1106712,-0.3297771 -154.6,62.2,4989,-1.184981,0.1930998,-0.2130719 -55,69.4,4990,-1.17676,0.2382654,-0.1815923 -116.2,112.6,4991,-1.176377,0.2640767,-0.1297751 -125.8,129.4,4992,-1.13636,0.3241196,-0.3434936 -144,140,4993,-1.024928,0.3412124,-0.2119702 -59.8,155.8,4994,-1.104084,0.3404244,-0.202112 -106.6,164.2,4996,-1.133823,0.3585249,-0.3250035 -80.2,165.4,4997,-1.282401,0.3809451,-0.2306287 -65.8,169,4998,-2.018064,0.8612697,0.9653906 -121,182,4999,-2.060356,0.969065,1.061835 -466.6,339.4,5001,-1.260216,0.1240239,-0.1137003 -173,54,5002,-1.111579,0.1858009,-0.2451806 -161,95,5003,-1.169573,0.2273465,-0.1814981 -93.4,104.2,5004,-1.127777,0.3300286,-0.2707165 -125,125,5005,-1.134011,0.3422807,-0.3745992 -85,159.4,5006,-1.134962,0.3360161,-0.2737825 -85,161.8,5008,-0.8979537,0.7883045,-0.2555628 -173.8,169,5009,-0.9346712,0.7997655,-0.2515985 -41.8,350.2,5010,-1.199377,-0.03020309,-0.1428914 -146,33,5012,-1.113669,0.1897291,-0.2651602 -172.6,71.8,5013,-0.9984199,0.2618684,-0.300009 -86.2,105.4,5014,-1.033565,0.3303115,-0.3378426 -50.2,125.8,5015,-1.121491,0.3200898,-0.2552152 -89.8,155.8,5017,-1.049736,0.3472251,-0.3429768 -81.4,160.6,5018,-1.222439,0.3295932,-0.1747537 -43,161.8,5019,-2.068898,0.3974512,1.259665 -133,164.2,5020,-1.06566,0.0300552,-0.2895702 -70,37,5022,-1.115623,0.1900303,-0.2243999 -141.4,76.60001,5023,-1.20735,0.2197103,-0.1663821 -101.8,106.6,5024,-1.294081,0.3727775,-0.0393289 -135.4,124.6,5025,-1.085677,0.8472412,-0.3280178 -185.8,183.4,5026,-1.156645,0.05618339,-0.1345675 -51.4,351.4,5027,-1.105324,0.1771561,-0.236365 -95.8,100.6,5029,-1.2559,0.3340467,-0.3460345 -110.2,159.4,5030,-0.9850833,0.3875242,-0.1998957 -79,163,5031,-1.092429,0.156381,-0.2565958 -87,180,5032,-1.116285,0.3362345,-0.3041229 -86.2,91,5033,-1.575063,0.7752314,0.804464 -70.60001,160.6,5034,-1.190909,0.3192816,-0.2926726 -46.6,170.2,5035,-1.136793,0.3192894,-0.2129182 -436,315,5036,-1.330489,0.3527576,-0.3911016 -87.4,157,5037,-1.224445,0.3812342,-0.1840805 -107.8,157,5038,-1.199406,-0.03535522,-0.101251 -75.4,170.2,5039,-1.151178,0.1730808,-0.2092233 -161,32,5041,-1.129259,0.8422548,-0.3879127 -113,103,5042,-1.273258,0.2826841,-0.05498863 -222,207,5043,-1.053742,0.03857571,-0.2730085 -38,344,5044,-1.269741,0.1656803,-0.05601322 -180,152,5045,-1.109324,0.1824893,-0.2347389 -74.2,39.4,5046,-1.978378,0.3973286,1.054478 -181,111.4,5047,-0.940402,0.8079937,-0.2455954 -97,103,5048,-1.078781,0.360949,-0.3869402 -482,212,5049,-0.9936646,0.8199611,-0.2722969 -55,353.8,5050,-1.863613,0.9330704,0.9793422 -32,167,5051,-1.162133,-0.01852802,-0.1435511 -55,352,5052,-1.155844,0.3288107,-0.09418193 -460.6,341.8,5053,-1.277026,0.325489,-0.1766493 -141,33,5054,-1.213483,0.3723628,-0.1976213 -154,163,5055,-1.109785,0.1845233,-0.2699455 -139,164.2,5056,-1.579758,0.3288151,-0.2253801 -123.4,178.6,5057,-1.216033,0.03781015,-0.1324777 -155,171,5059,-1.150867,0.1038558,-0.379075 -150.76,60.04,5060,-1.850243,0.7298961,0.9699914 -464,295,5063,-1.062708,0.2154744,-0.3373456 -185.32,181,5067,-1.744634,1.024119,0.922224 -104.2,321.4,5069,-1.147482,0.3183136,-0.04411263 -453,370,5070,-1.862268,1.068244,1.093783 -97.48,55.72,5071,-1.246812,-0.04534395,-0.09036285 -170.92,160.84,5072,-1.104387,0.0571772,-0.2692148 -170,34,5074,-1.163017,0.3130549,-0.04097145 -84.52,52.84,5075,-2.044613,0.3728881,1.051424 -83.08,104.68,5076,-0.9090919,0.534614,-0.2559328 -173.8,159.4,5077,-0.9667953,0.5388767,-0.2461388 -46.6,241,5079,-1.93239,0.8429339,0.9513649 -431,262,5081,-1.881728,1.060864,1.002514 -452,316,5082,-1.271451,0.03473962,-0.1211498 -467.8,357.4,5083,-1.261981,0.3241089,-0.1579518 -160.84,64.36,5085,-0.9586878,0.8080317,-0.2779369 -45.64,350.92,5088,-1.855592,0.9955139,0.9785059 -509,211,5089,-1.628665,0.7689542,0.8165395 -481,212.2,5090,-1.462996,0.3001825,-0.190538 -460,357,5091,-2.03385,0.3552508,1.062166 -436.6,310.6,5092,-1.259818,0.1401392,-0.08559196 -154.6,160.6,5093,-1.000391,0.2197081,-0.274282 -463.24,291.88,5099,-1.073101,0.1707065,-0.2891175 -443.08,362.44,5100,-1.891527,0.9461887,0.95484 -453.16,342.28,5103,-1.741329,0.9691047,0.9105104 -472.6,338.2,5105,-1.623179,0.7840948,0.8146024 -484.6,364.6,5107,-2.035964,0.3698626,1.049777 -435.88,314.92,5108,-1.262679,0.2796345,-0.1011445 -477.64,205.48,5110,-1.627042,0.7741992,0.8146153 -460.36,340.84,5114,-0.8777396,0.5293379,-0.2385805 -480.52,211.24,5116,-1.120513,0.2539701,-0.3328327 -47.08,240.04,5117,-1.828919,0.9869027,0.9693506 -459.4,356.2,5120,-1.445693,0.4022428,0.9383622 -176.68,123.4,5122,-1.809681,0.5596536,1.04437 -488.2961,253.288,5125,-1.388454,0.1838323,-0.1058293 -429.544,379.432,5127,-1.784135,0.3900672,1.169775 -69.42881,94.31201,5131,-1.125238,0.1600449,-0.2883743 -88.09121,100.5328,5132,-1.58997,0.7863848,0.8195529 -460.648,341.416,5134,-1.920556,0.3746311,1.020014 -79.79681,94.31201,5135,-1.54163,0.3881446,1.086136 -438.1841,317.224,5136,-0.8066055,0.5228334,-0.1671341 -477.928,206.632,5138,-1.778483,1.027713,0.9704219 -185.5504,117.1216,5143,-1.218402,0.1717369,-0.05136427 -486.2225,212.5072,5148,-1.352551,0.4294932,0.08633835 -484.1489,216.6544,5150,-1.289706,0.2922816,-0.2006804 -401.2049,326.5552,5153,-1.845142,0.9926741,0.9382425 -480.0017,206.2864,5155,-1.90451,0.3980495,1.028525 -513.1793,206.2864,5156,-2.251755,0.5846593,1.186636 -450.9713,355.5857,5157,-1.016548,0.1932681,-0.2230107 -480.0017,212.5072,5159,-2.025573,0.3779151,1.06326 -177.1731,111.4814,5162,-1.966938,0.4095566,1.059582 -481.2459,207.5306,5163,-1.164793,0.7453794,0.6154355 -483.7342,214.9956,5166,-1.814453,0.5538318,1.04973 -399.1313,329.4583,5167,-1.962926,0.3766807,1.047131 -183.1451,180.1591,5168,-1.204869,0.7521911,0.6199874 -490.7015,248.8367,5170,-1.86888,0.7489259,0.9690468 -481.7436,207.033,5171,-1.612743,0.7708486,0.8226237 -460.8417,296.6125,5174,-1.111245,0.1886081,-0.270108 -438.9444,312.0401,5175,-1.184492,0.3227424,-0.04098018 -445.9117,314.5284,5176,-1.861095,0.3741014,1.145784 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0046.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0046.csv deleted file mode 100644 index 48e9602175872b6572cb768b965c687e2a6603b4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0046.csv +++ /dev/null @@ -1,147 +0,0 @@ -465.832,156.52,5021,-1.148616,0.09922217,-0.1334923 -407.08,238.6,5063,-1.062708,0.2154744,-0.3373456 -460.36,145,5068,-1.133793,0.05521526,-0.2477684 -374.248,208.36,5081,-1.881728,1.060864,1.002514 -407.08,322.408,5084,-1.145533,0.1448383,-0.281381 -404.2,307.72,5091,-2.03385,0.3552508,1.062166 -390.8369,316.1873,5100,-1.891527,0.9461887,0.95484 -424.36,153.064,5145,-0.9706606,0.4905417,-0.2060426 -415.7201,307.8929,5165,-1.193321,0.2090201,-0.03586606 -65.8,88.60001,5180,-1.884818,1.020308,0.7492456 -424.36,142.12,5196,-1.986711,0.8404028,1.024084 -431.8,326.2,5205,-1.093611,0.3812625,-0.05059309 -45.4,112.6,5210,-1.742864,1.016228,1.034113 -453.4,151,5225,-2.509053,1.093296,1.778807 -420.04,366.76,5232,-2.360314,1.040362,1.645507 -137.8576,142.0048,5233,-1.215238,0.7486703,0.6329626 -441.64,185.32,5234,-1.722905,1.198105,1.015631 -411.4,248.68,5235,-2.398771,0.3704412,1.722987 -341.416,279.208,5238,-1.583042,0.7920935,0.8216271 -417.16,368.2,5239,-1.325799,0.2456498,-0.1058942 -58.6,62.2,5244,-1.678773,1.069449,0.7217696 -407.08,237.736,5246,-2.192151,1.151685,1.567387 -453.7361,151.336,5248,-2.469701,1.084065,1.758706 -505.576,322.408,5251,-1.197724,0.7434608,0.6282976 -137.512,146.152,5252,-1.601546,0.9746684,0.8925191 -519.4,293.32,5253,-1.596498,0.9594405,0.8526753 -509.032,289.576,5255,-1.566528,0.9607122,0.9710609 -422.92,319.24,5260,-2.170701,1.138955,1.555616 -403.624,306.856,5261,-2.014512,1.050333,0.9788306 -36,47,3790,-1.010607,0.2903681,-0.4388818 -52,76,4876,-1.117848,-0.04195908,-0.3157601 -395.8,267.4,4985,-1.21191,-0.03307938,-0.06845241 -411.4,289,5001,-1.260216,0.1240239,-0.1137003 -405.4,291.4,5053,-1.277026,0.325489,-0.1766493 -35,92,5055,-1.109785,0.1845233,-0.2699455 -396.712,293.032,5064,-1.263871,0.3666538,-0.03311246 -396,323,5070,-1.862268,1.068244,1.093783 -61.48,85.96001,5077,-0.9667953,0.5388767,-0.2461388 -425.8,152.2,5090,-1.462996,0.3001825,-0.190538 -379.72,260.2,5092,-1.259818,0.1401392,-0.08559196 -424.6,142.6,5094,-1.336965,0.363782,-0.05599725 -397,293.32,5103,-1.741329,0.9691047,0.9105104 -394.984,308.584,5106,-1.798025,1.047953,1.072953 -404.2,308.2,5120,-1.445693,0.4022428,0.9383622 -407.4257,243.6112,5126,-1.972332,0.3648486,1.182331 -374.248,331.048,5127,-1.784135,0.3900672,1.169775 -458.92,146.152,5129,-1.565314,0.5052256,0.9900904 -382.888,268.84,5136,-0.8066055,0.5228334,-0.1671341 -422.632,146.152,5138,-1.778483,1.027713,0.9704219 -398.44,261.64,5141,-1.937512,0.3978397,1.033961 -407.08,322.12,5142,-1.972744,1.032841,1.044129 -430.2353,154.4464,5150,-1.289706,0.2922816,-0.2006804 -440.6033,187.624,5151,-2.092272,0.3717053,1.076459 -459.2657,146.152,5156,-2.251755,0.5846593,1.186636 -394.9841,307.8929,5157,-1.016548,0.1932681,-0.2230107 -426.0881,152.3728,5159,-2.025573,0.3779151,1.06326 -430.9818,201.061,5160,-1.523214,0.7544857,0.8010036 -341.8999,282.1802,5167,-1.962926,0.3766807,1.047131 -431.4795,202.554,5170,-1.86888,0.7489259,0.9690468 -341.4023,281.6826,5172,-1.521481,0.7572517,0.8334783 -406.5963,244.8554,5174,-1.111245,0.1886081,-0.270108 -392.164,263.7667,5176,-1.861095,0.3741014,1.145784 -552,36,5179,-1.200822,0.7470347,0.6341283 -460.6,146.2,5181,-2.282729,1.150527,1.831561 -532,153,5182,-2.173916,1.152538,1.567917 -561.4,158.2,5183,-2.309465,1.190417,1.832143 -343,280,5184,-1.86983,1.139511,0.7502025 -344,308,5185,-2.333829,1.217421,1.86144 -549,318,5186,-2.085524,-0.06404925,1.561337 -507,323,5187,-2.144334,-0.06836011,1.545068 -546,323,5188,-1.220341,0.2641672,-0.07625072 -343,338.2,5189,-1.393956,0.313833,-0.1301719 -548,327,5190,-1.191775,0.3767953,-0.1053987 -550.6,44.2,5191,-1.89961,0.3668669,1.017109 -539.8,45.4,5192,-1.580941,0.3777217,1.101192 -54,65,5193,-2.063806,0.8221068,1.05052 -60,92,5194,-1.871863,-0.05134889,1.425089 -38,112,5195,-1.873335,0.3816312,0.9965437 -477.4,146.2,5197,-1.799762,0.9392476,0.9882286 -411.4,250.6,5198,-2.377404,1.099033,1.712932 -544,33,5199,-1.717816,1.023015,0.9605529 -421,146,5200,-1.719905,1.032666,1.055175 -410,260,5201,-2.268564,1.184617,1.509851 -411,295,5202,-1.222071,0.3766043,-0.1269376 -519,301,5203,-1.748421,0.8645394,0.9352723 -406.6,323.8,5204,-1.262981,0.3307039,-0.1205992 -487,323,5206,-2.116709,0.829129,1.042112 -34,112,5207,-1.693627,0.8317565,0.9153683 -402,278,5208,-1.252747,0.3792886,-0.1359321 -43,94.60001,5209,-2.063344,0.916597,1.020072 -406.6,251.8,5211,-1.314289,0.3366392,-0.1662929 -401,273,5212,-1.233284,0.3389248,-0.1224844 -36,113,5213,-2.399677,1.053014,1.666887 -403,274,5214,-1.675187,1.171929,1.016018 -424.6,320.2,5215,-1.501821,0.7759473,0.8033866 -33,97,5216,-2.396464,1.105213,1.724344 -37,97,5217,-2.249391,1.17366,1.5993 -509.8,290.2,5218,-1.354577,0.6600758,0.4849468 -421,367,5219,-1.815306,0.9958019,0.9363719 -382.6,268.6,5220,-1.94898,0.3917796,1.150245 -519.4,301,5221,-1.94161,0.3947305,1.029797 -506.2,322.6,5222,-1.168362,0.3791031,-0.02578685 -284.2,235,5223,-1.981126,0.8622625,0.8938058 -395.56,307.72,5224,-2.234349,1.198082,1.582233 -424.6,149.8,5226,-1.895412,1.022405,0.7497542 -70,115,5227,-1.737549,1.196846,1.032427 -379,265,5228,-1.110875,0.4290221,0.1392578 -503.8,328.6,5229,-1.791063,0.5172319,1.063817 -519.4,293.8,5230,-1.719509,0.7472742,0.953573 -343.72,307.72,5231,-2.646944,1.108547,1.721935 -497.8,289,5236,-1.677329,1.004322,0.9098617 -509.32,289,5237,-1.879312,0.3925937,1.124979 -538.12,155.08,5240,-1.906941,0.3887587,1.101742 -395.56,322.12,5241,-1.930082,0.735017,0.9872447 -453.16,150.76,5242,-1.819719,0.7617379,0.980954 -382.6,268.84,5243,-1.905345,0.391334,1.13361 -444.52,149.32,5245,-1.640951,0.7757115,0.8842941 -412.264,248.104,5247,-1.122485,0.4374149,0.136162 -343.144,337.96,5249,-1.557615,0.7661895,0.8055299 -397.0576,260.2,5250,-2.363086,1.034289,1.650526 -379.432,261.928,5254,-2.033242,0.3883792,1.142873 -341.0704,278.8624,5256,-1.777093,0.9740132,0.9585817 -397.0576,320.3344,5257,-2.508984,1.059844,1.715818 -386.344,315.496,5258,-2.330565,1.174774,1.501591 -445.096,149.608,5259,-1.979446,1.144333,0.89688 -509.0321,287.1568,5262,-2.693682,1.124039,1.736164 -480.0017,316.1873,5263,-1.81044,1.033041,0.9395835 -374.248,330.7025,5264,-1.960847,1.033183,1.049834 -504.8849,320.3344,5265,-1.939199,0.5335835,1.10354 -394.1547,307.0634,5266,-2.008231,1.158496,0.8939695 -496.1758,289.6452,5267,-1.777447,0.3759858,1.101267 -395.15,317.5144,5268,-1.912559,0.4063616,1.019456 -414.0612,307.0634,5269,-2.217582,1.14607,1.445806 -441.4327,185.1357,5270,-1.816106,1.103848,0.8509659 -371.7598,331.9466,5271,-1.713348,0.9998705,0.9172781 -456.3627,145.3226,5272,-1.93308,1.146617,0.7636198 -424.0145,152.7876,5273,-1.834201,0.3784021,1.113157 -478.7576,317.5144,5274,-1.926841,0.3740753,1.039237 -371.2621,335.4303,5275,-1.778665,0.370253,1.098077 -395.15,316.32,5276,-1.780093,1.024304,1.003466 -344.9855,334.2359,5277,-1.18622,0.7545916,0.626281 -454.8697,147.3133,5278,-1.605751,0.7774071,0.8329725 -427.3987,144.3273,5279,-1.575751,0.6973926,0.4849803 -456.0641,144.3273,5280,-1.988106,0.9427421,1.068498 -413.0659,319.9032,5281,-1.663475,1.012382,1.037124 -341.4023,284.0714,5282,-1.807822,1.117526,0.7389304 -384.4005,262.5723,5283,-2.109408,0.7777364,1.045241 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0047.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0047.csv deleted file mode 100644 index b1bc2d9126bf272dc0d9fd75ec43dbdfbc7dbd8f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0047.csv +++ /dev/null @@ -1,123 +0,0 @@ -424.0145,229.096,5108,-1.262679,0.2796345,-0.1011445 -394.984,194.536,5113,-2.029176,0.3940634,1.062506 -394.12,211.24,5119,-1.321572,0.1939762,-0.08201551 -503.56,188.2,5217,-2.249391,1.17366,1.5993 -402.76,149.32,5234,-1.722905,1.198105,1.015631 -503.8481,189.352,5236,-1.677329,1.004322,0.9098617 -386.92,227.08,5240,-1.906941,0.3887587,1.101742 -330.7025,245.6848,5248,-2.469701,1.084065,1.758706 -473.7809,218.728,5262,-2.693682,1.124039,1.736164 -431.4795,78.13794,5269,-2.217582,1.14607,1.445806 -329.32,247.24,5286,-2.136836,0.8209963,1.073333 -490.6,188.2,5304,-2.294371,1.179917,1.620287 -405.3521,213.544,5307,-1.728555,0.5308813,1.034217 -500.68,222.76,5308,-2.125823,1.096595,1.731543 -363.88,237.16,5310,-1.772326,0.9872605,0.7309253 -431.272,80.48801,5311,-1.680327,1.178972,1.005085 -329.32,215.272,5314,-2.224255,1.181858,1.785554 -362.3042,102.5235,5316,-2.533456,1.090087,1.787475 -540.136,227.368,5318,-2.209995,1.126154,1.193688 -514.2161,191.08,5320,-1.386927,0.6402146,0.8226701 -388.7632,127.4896,5324,-2.189991,1.115317,1.198689 -409.4993,274.7152,5326,-1.727024,1.017823,0.9628729 -388.7632,195.9184,5327,-2.234904,1.174116,1.799346 -421.9409,216.6544,5328,-1.610054,0.9688311,0.8705895 -540.136,220.8016,5329,-2.223751,1.135971,1.443689 -331.9466,244.8554,5334,-2.128189,1.127865,1.524621 -384.2014,162.7408,5339,-2.224962,1.154765,1.570389 -403,192,5000,-1.282946,0.0003350115,-0.09017498 -388.072,196.264,5063,-1.062708,0.2154744,-0.3373456 -387,228,5069,-1.147482,0.3183136,-0.04411263 -359.7328,100.5328,5080,-1.861517,0.9974309,1.0128 -418,35,5089,-1.628665,0.7689542,0.8165395 -378.3953,220.8016,5099,-1.073101,0.1707065,-0.2891175 -384.616,213.544,5105,-1.623179,0.7840948,0.8146024 -363.88,237.736,5126,-1.972332,0.3648486,1.182331 -372.1744,168.9616,5135,-1.54163,0.3881446,1.086136 -384.6161,212.5072,5156,-2.251755,0.5846593,1.186636 -405.3521,212.5072,5164,-1.296123,0.3635823,-0.04829157 -323.4864,189.117,5166,-1.814453,0.5538318,1.04973 -428.9911,83.11458,5169,-0.9607357,0.07677437,-0.2140244 -383.2061,162.2432,5175,-1.184492,0.3227424,-0.04098018 -545,216,5185,-2.333829,1.217421,1.86144 -541,222,5187,-2.144334,-0.06836011,1.545068 -543,226,5189,-1.393956,0.313833,-0.1301719 -401,160,5200,-1.719905,1.032666,1.055175 -401.8,197.8,5201,-2.268564,1.184617,1.509851 -514,200,5202,-1.222071,0.3766043,-0.1269376 -423.4,231.4,5204,-1.262981,0.3307039,-0.1205992 -480,224,5205,-1.093611,0.3812625,-0.05059309 -393,177,5213,-2.399677,1.053014,1.666887 -370.6,170.2,5219,-1.815306,0.9958019,0.9363719 -501.4,223,5221,-1.94161,0.3947305,1.029797 -260.2,136.6,5222,-1.168362,0.3791031,-0.02578685 -367,166.6,5227,-1.737549,1.196846,1.032427 -497.8,229,5228,-1.110875,0.4290221,0.1392578 -412.84,271.72,5231,-2.646944,1.108547,1.721935 -408.52,274.6,5238,-1.583042,0.7920935,0.8216271 -371.08,169.48,5242,-1.819719,0.7617379,0.980954 -397.0576,133.7104,5245,-1.640951,0.7757115,0.8842941 -401.896,147.88,5246,-2.192151,1.151685,1.567387 -386.6897,160.6672,5249,-1.557615,0.7661895,0.8055299 -500.3921,222.184,5250,-2.363086,1.034289,1.650526 -515.08,192.52,5252,-1.601546,0.9746684,0.8925191 -368.0273,162.7408,5253,-1.596498,0.9594405,0.8526753 -504.8849,187.624,5254,-2.033242,0.3883792,1.142873 -388.7632,224.9488,5256,-1.777093,0.9740132,0.9585817 -375.976,222.184,5257,-2.508984,1.059844,1.715818 -415.72,224.2,5259,-1.979446,1.144333,0.89688 -394.9841,208.36,5260,-2.170701,1.138955,1.555616 -363.8801,237.3904,5263,-1.81044,1.033041,0.9395835 -500.7377,220.8016,5264,-1.960847,1.033183,1.049834 -386.192,224.9489,5267,-1.777447,0.3759858,1.101267 -404.1079,212.5072,5268,-1.912559,0.4063616,1.019456 -387.9836,223.1573,5275,-1.778665,0.370253,1.098077 -259,139,5283,-2.109408,0.7777364,1.045241 -409,189.4,5284,-2.524259,1.079888,1.73963 -424,231,5285,-2.176593,1.114562,1.17723 -399,140,5287,-1.930548,1.118734,0.8958657 -506,190,5288,-2.241784,1.159212,1.579548 -418.6,217,5289,-1.7418,0.9751728,0.9852905 -403,149.8,5290,-1.507527,0.7480252,0.8638227 -366,236,5291,-1.763622,1.039248,0.9557179 -499,222,5292,-2.1162,1.002803,1.052847 -404,214,5293,-2.457293,1.069584,1.749813 -391,161,5294,-1.981977,0.9710286,0.9886762 -393,229,5295,-2.089837,1.123192,1.424584 -396,195,5296,-1.995413,1.057155,1.118694 -514.6,190.6,5297,-2.298588,1.153444,1.833837 -388.6,196.6,5298,-1.516411,0.7516758,0.8619462 -479.8,224.2,5299,-1.736141,0.9711316,0.9832362 -418.6,215.56,5300,-2.842493,1.14584,1.804331 -544.6,215.8,5301,-1.522689,0.7506252,0.7997128 -389.8,161.8,5302,-1.702039,0.8786439,0.981817 -404.2,212.68,5303,-1.708758,0.9635194,0.9785134 -368.2,160.6,5305,-2.182949,1.139952,1.745969 -408.52,189.64,5306,-1.801997,1.08036,0.8625541 -539.56,221.32,5309,-1.762501,1.042256,1.064651 -543.88,215.56,5312,-1.332114,0.5730065,0.737314 -422.92,229.96,5313,-1.757346,1.017698,1.030021 -410.536,274.024,5315,-1.853437,0.5317639,1.078058 -413.992,223.912,5317,-2.21065,1.145483,1.76488 -432.3089,79.79681,5319,-1.652067,1.009441,1.026648 -540.136,220.456,5321,-1.301548,0.8452297,0.6649773 -419.176,217,5322,-1.684369,1.176664,1.010294 -422.632,230.824,5323,-2.127941,1.011451,1.01876 -330.7025,214.5808,5325,-2.238909,1.152464,1.787308 -399.1313,224.9488,5330,-1.240778,0.9044988,0.6585892 -542.2097,224.9488,5331,-1.952167,1.099031,1.611462 -379.2247,224.9489,5332,-1.768669,1.025463,0.9323479 -471.2926,217.4839,5333,-1.265577,0.86679,0.8448182 -538.4772,227.4372,5335,-1.503526,0.7476256,0.84241 -386.6897,224.9489,5336,-2.215903,1.120207,1.208874 -398.136,224.9489,5337,-1.976807,1.108068,1.626814 -498.6641,222.4605,5338,-1.723911,1.199733,1.016078 -422.0239,215.9909,5340,-2.400352,1.046488,1.728801 -538.4773,227.9348,5341,-1.731677,0.9587904,0.9852942 -407.0939,275.7106,5342,-2.438889,1.061314,1.767515 -499.6595,221.9629,5343,-2.463957,1.035321,1.681284 -517.5754,189.117,5344,-1.79818,1.083174,0.8473778 -404.1079,213.0049,5345,-2.791123,1.142432,1.779863 -520.5613,190.9086,5346,-1.263144,1.174188,0.6593212 -502.6454,183.7423,5347,-0.9067139,1.235624,1.103021 -359.3182,241.0732,5348,-2.409438,1.069979,1.731155 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0048.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0048.csv deleted file mode 100644 index d5561d4657ff5f97c999bba41dc455af91143a80..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0048.csv +++ /dev/null @@ -1,99 +0,0 @@ -412.84,97.48,5196,-1.986711,0.8404028,1.024084 -515.944,135.784,5216,-2.396464,1.105213,1.724344 -526.6,146.2,5219,-1.815306,0.9958019,0.9363719 -513.1793,168.9616,5249,-1.557615,0.7661895,0.8055299 -517,135.4,5287,-1.930548,1.118734,0.8958657 -508.6,167.8,5291,-1.763622,1.039248,0.9557179 -526.6,137.8,5296,-1.995413,1.057155,1.118694 -415.72,160.84,5302,-1.702039,0.8786439,0.981817 -498.6641,134.056,5303,-1.708758,0.9635194,0.9785134 -421.48,133.48,5305,-2.182949,1.139952,1.745969 -512.488,170.344,5307,-1.728555,0.5308813,1.034217 -372.5201,187.624,5309,-1.762501,1.042256,1.064651 -434.728,178.984,5312,-1.332114,0.5730065,0.737314 -419.176,227.368,5314,-2.224255,1.181858,1.785554 -421.9409,224.9488,5325,-2.238909,1.152464,1.787308 -379,107.8,5358,-0.8853748,1.082113,0.2973336 -383.8,169,5359,-0.9084015,1.23666,1.103493 -575.56,394.12,5362,-2.445813,1.06369,1.697539 -340.84,195.4,5364,-1.843777,1.041696,0.9104733 -409.96,73,5368,-1.905567,0.8537414,0.9496686 -394.984,111.592,5371,-1.667712,1.00693,0.9412977 -550.504,175.528,5372,-1.63976,0.767593,0.922281 -412.264,99.49601,5375,-1.57247,0.7691532,0.8089688 -338.9969,129.5632,5377,-1.485683,0.7731879,0.8001253 -396.712,175.528,5379,-1.209468,1.185235,0.5998447 -382.888,111.592,5380,-1.684413,1.182863,1.006464 -397,177,5068,-1.133793,0.05521526,-0.2477684 -394.9841,160.6672,5104,-1.905905,1.035386,1.098881 -405.3521,140.968,5112,-1.3145,0.01277611,-0.1639122 -382.5424,110.9008,5134,-1.920556,0.3746311,1.020014 -559,161,5184,-1.86983,1.139511,0.7502025 -556,173,5188,-1.220341,0.2641672,-0.07625072 -412.84,146.44,5200,-1.719905,1.032666,1.055175 -526,146,5201,-2.268564,1.184617,1.509851 -512.2,170.2,5220,-1.94898,0.3917796,1.150245 -509.32,176.68,5227,-1.737549,1.196846,1.032427 -422.92,224.2,5230,-1.719509,0.7472742,0.953573 -415.72,87.4,5233,-1.215238,0.7486703,0.6329626 -515.2529,133.7104,5235,-2.398771,0.3704412,1.722987 -382.6,111.88,5241,-1.930082,0.735017,0.9872447 -380.4688,104.68,5252,-1.601546,0.9746684,0.8925191 -395.15,169.4095,5266,-2.008231,1.158496,0.8939695 -259,76.60001,5282,-1.807822,1.117526,0.7389304 -373,185.8,5290,-1.507527,0.7480252,0.8638227 -403,178,5294,-1.981977,0.9710286,0.9886762 -397,142.12,5297,-2.298588,1.153444,1.833837 -428.2,163,5299,-1.736141,0.9711316,0.9832362 -557.8,163,5300,-2.842493,1.14584,1.804331 -417.7937,160.6672,5306,-1.801997,1.08036,0.8625541 -553.96,168.04,5308,-2.125823,1.096595,1.731543 -426.088,172.072,5316,-2.533456,1.090087,1.787475 -553.9601,166.888,5320,-1.386927,0.6402146,0.8226701 -343.144,160.6672,5324,-2.189991,1.115317,1.198689 -554.6513,166.888,5328,-1.610054,0.9688311,0.8705895 -407.4257,175.1824,5329,-2.223751,1.135971,1.443689 -556.7249,171.0352,5330,-1.240778,0.9044988,0.6585892 -344.3882,192.6007,5333,-1.265577,0.86679,0.8448182 -396.643,172.6941,5335,-1.503526,0.7476256,0.84241 -422.0239,174.1871,5336,-2.215903,1.120207,1.208874 -511.1057,170.2058,5337,-1.976807,1.108068,1.626814 -419.0379,227.9348,5341,-1.731677,0.9587904,0.9852942 -508.6174,168.2151,5342,-2.438889,1.061314,1.767515 -529.5193,132.3833,5343,-2.463957,1.035321,1.681284 -416.0519,159.2572,5344,-1.79818,1.083174,0.8473778 -513.395,129.9946,5346,-1.263144,1.174188,0.6593212 -366.4846,190.9086,5347,-0.9067139,1.235624,1.103021 -499,134.2,5348,-2.409438,1.069979,1.731155 -338,293,5349,-0.8817913,1.237203,1.131639 -575.8,394.6,5350,-2.223068,1.162741,1.604994 -527,138,5351,-0.8486906,1.221915,1.079877 -596,402,5352,-1.770302,0.9856969,0.9291032 -516,170,5353,-1.827011,1.052421,1.088431 -583,409,5354,-1.848455,1.046829,1.089086 -396,162,5355,-1.67224,0.7951884,0.8334845 -435,175,5356,-1.792551,1.019171,0.8962417 -433,171.4,5357,-1.761672,0.9494576,0.9807013 -413,150,5360,-1.674183,1.00648,0.9043782 -169,364.6,5361,-1.254004,0.9178951,0.6535258 -395.8,176.2,5363,-1.698361,1.019394,0.9542027 -516.52,134.92,5365,-1.681834,0.7008687,0.9220573 -409,177.4,5366,-1.536108,0.7596918,0.8701124 -383.8,171.4,5367,-1.816243,1.03273,0.9059933 -405.4,105.4,5369,-2.244877,1.196265,1.78854 -384.04,170.92,5370,-1.677253,0.7937351,0.8312518 -378.28,107.56,5373,-1.44803,0.9866233,0.6876072 -408.52,176.68,5374,-1.223745,0.7542855,0.6377637 -341.416,194.536,5376,-1.731137,1.021239,0.9236981 -379.432,104.68,5378,-1.625644,0.9323832,0.9143315 -405.3521,156.52,5381,-1.263412,0.7571952,0.639157 -317.0167,309.5518,5382,-1.166949,1.160541,0.5925086 -419.0379,227.4372,5383,-1.537443,0.7661634,0.8034264 -336.9233,125.416,5384,-1.747029,1.071777,0.83522 -317.5144,308.5564,5385,-1.616433,0.9728212,0.9296383 -380.2201,105.5095,5386,-1.197773,0.7463452,0.6290289 -368.2761,189.117,5387,-1.15784,0.8656558,0.6435698 -409.4827,172.9927,5388,-1.587607,0.9262252,0.9467314 -337.8191,126.4114,5389,-1.545512,0.7552048,0.7989314 -344.9855,187.3255,5390,-2.023787,0.9748603,1.014397 -420.2323,158.66,5391,-2.069202,1.114136,1.503342 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0049.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0049.csv deleted file mode 100644 index 6df5eaa76c076e6b86a6a56e69332a10f8029c4e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0049.csv +++ /dev/null @@ -1,110 +0,0 @@ -480.0017,135.784,5249,-1.557615,0.7661895,0.8055299 -386.6897,100.5328,5283,-2.109408,0.7777364,1.045241 -476.2,135.4,5291,-1.763622,1.039248,0.9557179 -519.4,132.04,5308,-2.125823,1.096595,1.731543 -592.6,376.6,5352,-1.770302,0.9856969,0.9291032 -350.2,74.2,5358,-0.8853748,1.082113,0.2973336 -355.24,142.696,5370,-1.677253,0.7937351,0.8312518 -515.944,140.968,5372,-1.63976,0.767593,0.922281 -379.432,147.88,5374,-1.223745,0.7542855,0.6377637 -368.0273,146.152,5379,-1.209468,1.185235,0.5998447 -357.6592,79.79681,5380,-1.684413,1.182863,1.006464 -394.1547,200.0656,5383,-1.537443,0.7661634,0.8034264 -350.2,68.2,5392,-0.819409,1.038422,0.3046635 -369.4,107.8,5393,-0.8107105,1.17892,1.023793 -517,141.4,5406,-0.818292,1.242193,1.058719 -575.56,405.64,5409,-2.206816,1.150289,1.768003 -377.8,105.4,5411,-1.101358,1.10453,0.5994191 -305.8192,289.2304,5414,-1.434172,0.7621768,0.784043 -368.2,109,5415,-1.685252,1.183817,1.008838 -382.888,58.02401,5416,-0.8057501,1.223739,1.075472 -394.12,199.72,5418,-2.149142,0.9001464,1.053516 -383.8,122.2,5422,-2.162016,1.140063,1.550643 -386.2,101.8,5423,-2.351831,1.051509,1.69483 -479.08,136.36,5425,-0.7726308,1.199099,0.9651433 -492.04,103.24,5426,-1.722871,0.8154966,0.9044265 -551.08,414.28,5428,-1.702001,0.8920681,0.9329745 -367.336,78.76001,5429,-1.664318,1.168244,0.8846068 -376.84,104.68,5431,-2.209815,1.176612,1.774508 -572.9681,372.5201,5433,-1.645509,0.8666065,0.9404491 -343.72,156.52,5439,-2.216607,1.002829,1.560743 -399.1313,144.0784,5441,-2.346371,1.042854,1.701137 -341.0704,156.52,5449,-2.187037,1.126033,1.410921 -376.3217,129.5632,5450,-1.635268,0.9806575,0.8846598 -368,149,5068,-1.133793,0.05521526,-0.2477684 -365.9536,131.6368,5104,-1.905905,1.035386,1.098881 -520.6,139,5188,-1.220341,0.2641672,-0.07625072 -491,111,5201,-2.268564,1.184617,1.509851 -481.384,101.224,5216,-2.396464,1.105213,1.724344 -490.6,111.4,5219,-1.815306,0.9958019,0.9363719 -476.2,143.56,5227,-1.737549,1.196846,1.032427 -482.0753,100.5328,5235,-2.398771,0.3704412,1.722987 -351.4384,69.42881,5252,-1.601546,0.9746684,0.8925191 -482.2,101.8,5287,-1.930548,1.118734,0.8958657 -374,149,5294,-1.981977,0.9710286,0.9886762 -461.3393,98.45921,5303,-1.708758,0.9635194,0.9785134 -388.7632,129.5632,5306,-1.801997,1.08036,0.8625541 -477.928,135.784,5307,-1.728555,0.5308813,1.034217 -394.9841,200.0656,5314,-2.224255,1.181858,1.785554 -519.4,132.328,5320,-1.386927,0.6402146,0.8226701 -380.4688,148.2256,5329,-2.223751,1.135971,1.443689 -366.7831,145.3226,5335,-1.503526,0.7476256,0.84241 -478.7576,135.3693,5337,-1.976807,1.108068,1.626814 -392.164,201.061,5341,-1.731677,0.9587904,0.9852942 -475.7716,135.3693,5342,-2.438889,1.061314,1.767515 -493.6875,99.5375,5343,-2.463957,1.035321,1.681284 -389.178,126.4114,5344,-1.79818,1.083174,0.8473778 -338.4163,159.2572,5347,-0.9067139,1.235624,1.103021 -492,104,5351,-0.8486906,1.221915,1.079877 -583,387,5354,-1.848455,1.046829,1.089086 -353.8,139.24,5359,-0.9084015,1.23666,1.103493 -384,123,5360,-1.674183,1.00648,0.9043782 -481.96,101.8,5365,-1.681834,0.7008687,0.9220573 -380.2,149.8,5366,-1.536108,0.7596918,0.8701124 -316.1873,96.38561,5377,-1.485683,0.7731879,0.8001253 -296.6125,296.6125,5385,-1.616433,0.9728212,0.9296383 -314.5284,96.55151,5389,-1.545512,0.7552048,0.7989314 -480,137,5394,-0.7878876,1.21384,0.979096 -142,376,5395,-0.7649262,1.216908,1.044125 -567,386,5396,-1.68086,0.7112575,0.4816256 -551,413,5397,-2.226501,1.194409,1.586045 -591,418,5398,-0.7774562,1.234481,1.056879 -217,43,5399,-2.258811,1.134,1.474251 -477.4,143.8,5400,-0.8012959,1.21808,0.9956091 -590.2,418.6,5401,-0.7798882,1.217566,1.087446 -452,129,5402,-2.171805,1.13791,1.541324 -554.2,407.8,5403,-2.309888,1.216695,1.833369 -606,409,5404,-2.345616,1.043826,1.645984 -476,135,5405,-0.7932518,1.212631,1.066607 -483,102,5407,-0.7461135,1.214965,1.008005 -592,403,5408,-1.917576,0.9414882,1.009147 -580,429,5410,-1.65085,1.013745,1.024722 -520.6,133,5412,-1.802802,0.9265731,0.939979 -407.8,151,5413,-1.608074,0.7460324,0.9090264 -356.2,80.2,5417,-1.882143,1.017081,0.9626902 -590.2,401.8,5419,-1.642022,0.9186662,0.9367011 -365.32,132.04,5420,-1.643832,0.8698675,0.9397328 -369.4,77.8,5421,-2.208048,1.169778,1.778804 -520.84,137.8,5424,-1.724972,1.019198,0.9189134 -366.76,146.44,5427,-0.798793,1.213325,1.066977 -589.96,401.32,5430,-0.8738591,1.213047,1.086422 -358.696,201.448,5432,-2.265738,1.030321,1.64451 -519.4,139.24,5434,-1.679375,1.174646,0.8906185 -491.752,102.952,5435,-2.217217,1.01456,1.623569 -386.344,101.224,5436,-1.70433,1.044734,0.8385931 -359.7328,200.0656,5437,-1.724044,0.9055036,0.9131116 -494.5169,102.6064,5438,-1.67892,0.9981996,1.003426 -368.0273,108.8272,5440,-1.959647,1.071746,0.9592578 -481.2459,100.5328,5442,-1.683928,0.957714,0.970148 -356.8298,140.3459,5443,-1.802892,0.9891182,0.9327094 -493.6875,100.5328,5444,-1.400112,0.7501676,0.7735518 -389.178,130.3927,5445,-1.658952,0.9998028,0.934964 -364.2948,130.3927,5446,-1.677621,1.035216,0.8226418 -356.8298,78.13794,5447,-1.795792,0.9805081,0.9666058 -379.2247,147.8109,5448,-2.370209,1.032855,1.633179 -478.7576,99.5375,5451,-1.632726,0.9314189,0.8782579 -445.9117,132.3833,5452,-1.720006,1.016903,0.9544196 -365.2902,144.3273,5453,-1.71365,1.201768,1.01485 -365.2902,126.4114,5454,-2.083756,1.110358,1.689293 -377.2341,147.3133,5455,-0.8672041,1.210827,1.08854 -391.5668,201.6582,5456,-2.164102,0.9863315,1.135895 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0050.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0050.csv deleted file mode 100644 index 8bd690c60b8171316ed604b552f3a7546390f0bf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0050.csv +++ /dev/null @@ -1,113 +0,0 @@ -430.2353,144.0784,5253,-1.596498,0.9594405,0.8526753 -318.2608,162.7408,5297,-2.298588,1.153444,1.833837 -322.4081,125.416,5338,-1.723911,1.199733,1.016078 -466.12,183.88,5372,-1.63976,0.767593,0.922281 -332.7761,121.2688,5375,-1.57247,0.7691532,0.8089688 -354.3415,252.3204,5383,-1.537443,0.7661634,0.8034264 -363.88,205.48,5413,-1.608074,0.7460324,0.9090264 -320.68,185.32,5420,-1.643832,0.8698675,0.9397328 -322.408,203.176,5427,-0.798793,1.213325,1.066977 -320.3344,183.4768,5454,-2.083756,1.110358,1.689293 -320.68,140.68,5465,-1.80143,1.07417,1.092677 -277.48,219.88,5482,-1.577464,0.7804621,0.8796371 -299.944,130.6,5488,-1.736592,0.9465321,0.971686 -337.96,142.12,5496,-1.699138,0.8156218,0.9027698 -329.32,157.96,5498,-2.116092,1.154085,1.703624 -363.8801,204.2128,5505,-1.539604,0.9530201,0.8932661 -439.912,147.88,5512,-2.080862,1.129669,1.692883 -324,205,5068,-1.133793,0.05521526,-0.2477684 -439,157,5219,-1.815306,0.9958019,0.9363719 -430.2353,181.4032,5249,-1.557615,0.7661895,0.8055299 -338.9969,152.3728,5283,-2.109408,0.7777364,1.045241 -429.4,147.4,5287,-1.930548,1.118734,0.8958657 -427,181,5291,-1.763622,1.039248,0.9557179 -330,206,5294,-1.981977,0.9710286,0.9886762 -467.56,176.68,5308,-2.125823,1.096595,1.731543 -336.9232,202.1392,5329,-2.223751,1.135971,1.443689 -321.9933,202.554,5335,-1.503526,0.7476256,0.84241 -428.9911,182.6474,5337,-1.976807,1.108068,1.626814 -427.9958,183.1451,5342,-2.438889,1.061314,1.767515 -439.9398,147.3133,5343,-2.463957,1.035321,1.681284 -344.3882,174.1871,5344,-1.79818,1.083174,0.8473778 -296.6125,213.0049,5347,-0.9067139,1.235624,1.103021 -439,149,5351,-0.8486906,1.221915,1.079877 -567,427,5352,-1.770302,0.9856969,0.9291032 -559,438,5354,-1.848455,1.046829,1.089086 -338,176,5360,-1.674183,1.00648,0.9043782 -428.68,146.44,5365,-1.681834,0.7008687,0.9220573 -310.312,199.72,5370,-1.677253,0.7937351,0.8312518 -336.232,203.176,5374,-1.223745,0.7542855,0.6377637 -299.8,130.6,5392,-0.819409,1.038422,0.3046635 -323,162,5393,-0.8107105,1.17892,1.023793 -431,183,5394,-0.7878876,1.21384,0.979096 -551,437,5396,-1.68086,0.7112575,0.4816256 -165,113,5399,-2.258811,1.134,1.474251 -427,181,5405,-0.7932518,1.212631,1.066607 -329.8,158.2,5411,-1.101358,1.10453,0.5994191 -467.8,176.2,5412,-1.802802,0.9265731,0.939979 -331.048,118.504,5416,-0.8057501,1.223739,1.075472 -308.2,142.6,5417,-1.882143,1.017081,0.9626902 -353.8,253,5418,-2.149142,0.9001464,1.053516 -337,180,5422,-2.162016,1.140063,1.550643 -438.76,147.88,5426,-1.722871,0.8154966,0.9044265 -318.952,256.744,5432,-2.265738,1.030321,1.64451 -548.7761,422.632,5433,-1.645509,0.8666065,0.9404491 -440.6033,148.2256,5438,-1.67892,0.9981996,1.003426 -353.5121,197.992,5441,-2.346371,1.042854,1.701137 -441.4327,147.8109,5444,-1.400112,0.7501676,0.7735518 -319.505,185.1357,5446,-1.677621,1.035216,0.8226418 -334.435,202.554,5448,-2.370209,1.032855,1.633179 -330.7025,183.4768,5450,-1.635268,0.9806575,0.8846598 -425.0098,144.3273,5451,-1.632726,0.9314189,0.8782579 -320.5004,201.061,5453,-1.71365,1.201768,1.01485 -335.4303,201.061,5455,-0.8672041,1.210827,1.08854 -352.1518,255.4059,5456,-2.164102,0.9863315,1.135895 -469,176,5457,-1.457091,0.767041,0.7948771 -548,422,5458,-1.789164,0.9923539,0.9360334 -339,154,5459,-2.090211,1.124657,1.408581 -309,143,5460,-1.764292,0.9897717,1.000323 -321,188,5461,-0.8275641,1.210571,1.095518 -408,186,5462,-1.518123,0.7760516,0.8509316 -343,187,5463,-2.01745,1.120304,1.635094 -566,435,5464,-1.616514,0.9948716,0.9249042 -467,184,5466,-2.088208,1.142598,1.205089 -336,206,5467,-1.538242,0.6851648,0.4746629 -364,205,5468,-1.651639,1.000586,0.8974837 -361,196,5469,-1.898528,1.125475,0.8127826 -165.4,111.4,5470,-0.7794154,1.166273,0.9878057 -322.6,205,5471,-2.525766,1.098464,1.800914 -277,220.6,5472,-1.760111,0.7883301,0.9406852 -539,449,5473,-2.101847,1.128067,1.413841 -439,148.6,5474,-1.759908,0.8156646,0.9396443 -325,125.8,5475,-1.577689,0.7305087,0.8989352 -407.8,185.8,5476,-1.689414,0.770314,0.9616249 -325,135,5477,-2.121022,1.135411,1.42923 -332.2,116.2,5478,-1.750346,0.9832795,0.9949402 -339.4,122.2,5479,-1.895415,1.121898,0.8137481 -408.52,185.32,5480,-2.045917,0.9432104,1.113658 -342.28,186.76,5481,-0.8572646,1.198235,1.078186 -345.4,149.8,5483,-1.714128,1.033285,1.054246 -548.2,421.48,5484,-1.771354,0.800334,0.8681476 -325,135.4,5485,-1.662796,0.7758356,0.8387157 -363.88,202.6,5486,-1.582574,0.8021935,0.9183475 -300.52,130.6,5487,-2.164273,0.9842234,1.13356 -338.2,141.4,5489,-1.643075,1.166483,0.9931904 -337.96,153.64,5490,-2.241509,0.9923277,1.197502 -337,178.6,5491,-1.696837,1.006901,1.016564 -353.512,253.288,5492,-2.073514,1.165661,0.9404086 -346.6,149.608,5493,-1.979731,0.8927752,1.065155 -355.24,197.992,5494,-1.663268,1.019793,1.03097 -299.5984,210.4336,5495,-2.162901,0.9984643,1.097056 -363.88,204.904,5497,-2.009839,1.155677,0.8471757 -320.3344,139.9312,5499,-1.695206,0.8175911,0.8991774 -278.8624,216.6544,5500,-1.930397,1.126898,0.8240766 -467.5601,183.4768,5501,-2.049702,1.127258,1.652183 -317.5144,141.3413,5502,-1.584731,0.9885229,0.9951448 -277.2036,217.4839,5503,-1.499123,0.9419619,0.9217533 -466.3159,182.6474,5504,-2.093587,1.144697,1.672987 -350.3602,201.061,5506,-2.011946,1.082614,1.452119 -463.8276,183.1451,5507,-1.822173,0.9858074,0.9443427 -334.2359,201.6582,5508,-2.012772,1.117845,1.630892 -427.3987,180.1591,5509,-2.47795,1.085415,1.772479 -319.9032,183.7423,5510,-1.243565,0.7296187,1.469884 -466.8136,183.7423,5511,-1.514395,0.7237538,0.3857934 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0051.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0051.csv deleted file mode 100644 index 20e5b8d193b0be224157ad6e151479135ed8af19..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0051.csv +++ /dev/null @@ -1,97 +0,0 @@ -435.88,241.48,5300,-2.842493,1.14584,1.804331 -373.96,215.56,5348,-2.409438,1.069979,1.731155 -257.8,219.4,5358,-0.8853748,1.082113,0.2973336 -286.12,290.44,5363,-1.698361,1.019394,0.9542027 -300.52,289,5366,-1.536108,0.7596918,0.8701124 -291.4,205,5416,-0.8057501,1.223739,1.075472 -284.392,343.144,5437,-1.724044,0.9055036,0.9131116 -306.856,268.84,5481,-0.8572646,1.198235,1.078186 -284.68,222.76,5485,-1.662796,0.7758356,0.8387157 -329.32,284.68,5486,-1.582574,0.8021935,0.9183475 -263.08,215.56,5488,-1.736592,0.9465321,0.971686 -404.2,218.2,5512,-2.080862,1.129669,1.692883 -306.856,227.368,5518,-2.130316,0.8282704,1.090623 -569.8,325,5525,-1.329583,1.062219,1.529802 -541,312.04,5528,-2.107722,1.156148,1.687017 -431.8,256.6,5531,-1.963323,1.02497,1.073836 -258.76,225.64,5532,-2.118687,1.125876,1.517329 -293.32,267.4,5533,-1.571402,0.6913658,0.4746891 -395.56,254.44,5535,-1.664309,1.001879,0.8982066 -286.12,289.576,5538,-1.954746,1.016967,1.071735 -261.928,294.76,5547,-1.513419,0.5956353,0.7850796 -299.08,228.52,5548,-1.263326,1.022879,1.466871 -291.88,237.16,5549,-1.623233,1.153593,0.9902178 -251.56,156.52,5550,-1.982522,1.021541,1.083458 -541.8641,312.04,5551,-1.609437,0.6759117,0.8887125 -284.392,180.712,5554,-1.514129,0.7514244,0.7964706 -397.0576,253.9792,5249,-1.557615,0.7661895,0.8055299 -394.9841,214.5808,5253,-1.596498,0.9594405,0.8526753 -394.6,217,5287,-1.930548,1.118734,0.8958657 -394.6,254.2,5291,-1.763622,1.039248,0.9557179 -396.643,254.8087,5337,-1.976807,1.108068,1.626814 -272.6416,280.936,5370,-1.677253,0.7937351,0.8312518 -435.88,253,5372,-1.63976,0.767593,0.922281 -299.944,289.576,5374,-1.223745,0.7542855,0.6377637 -293.3777,210.4336,5375,-1.57247,0.7691532,0.8089688 -285,241,5393,-0.8107105,1.17892,1.023793 -399,256,5394,-0.7878876,1.21384,0.979096 -394,254,5405,-0.7932518,1.212631,1.066607 -435.4,247,5412,-1.802802,0.9265731,0.939979 -322.12,336.52,5418,-2.149142,0.9001464,1.053516 -300,262,5422,-2.162016,1.140063,1.550643 -287.1568,287.1568,5427,-0.798793,1.213325,1.066977 -285.0833,343.144,5432,-2.265738,1.030321,1.64451 -299.5985,287.6545,5448,-2.370209,1.032855,1.633179 -293.3777,266.4208,5450,-1.635268,0.9806575,0.8846598 -284.6685,287.6545,5453,-1.71365,1.201768,1.01485 -319.9032,337.8191,5456,-2.164102,0.9863315,1.135895 -436,247,5457,-1.457091,0.767041,0.7948771 -266,233,5460,-1.764292,0.9897717,1.000323 -285,271,5461,-0.8275641,1.210571,1.095518 -280.36,227.08,5465,-1.80143,1.07417,1.092677 -433,256,5466,-2.088208,1.142598,1.205089 -405.64,217,5474,-1.759908,0.8156646,0.9396443 -306,228,5483,-1.714128,1.033285,1.054246 -298.6,227.8,5489,-1.643075,1.166483,0.9931904 -320.68,337.96,5492,-2.073514,1.165661,0.9404086 -329.32,287.848,5497,-2.009839,1.155677,0.8471757 -560,202,5513,-1.230457,1.059406,1.533767 -74,232,5514,-2.63438,1.098113,1.682405 -437,252,5515,-2.074697,0.9476513,1.123502 -571,325,5516,-1.191127,1.046203,1.513847 -374,216,5517,-1.506071,0.6799389,0.4742843 -578,328,5519,-1.269532,1.025485,1.47131 -115,208,5520,-1.699543,0.956077,0.9285159 -291.4,193,5521,-1.800771,0.9951996,0.9722965 -542.2,311.8,5522,-1.239676,1.064321,1.540073 -291,269,5523,-1.223629,1.188135,1.550337 -293.8,268.6,5524,-2.665916,1.106613,1.698296 -573,369,5526,-1.625107,0.9934236,0.9097806 -374.2,215.8,5527,-1.831427,1.070496,0.87287 -293.8,290.2,5529,-1.523039,0.765739,0.7950482 -262,293,5530,-1.819252,0.9975123,0.9779116 -307,259,5534,-1.4243,0.6643919,0.4716811 -114.76,206.92,5536,-1.856547,0.9855399,1.013734 -113.8,209.8,5537,-2.607635,1.102187,1.785365 -300.52,258.76,5539,-1.339406,1.064814,1.543236 -394.984,215.272,5540,-2.103621,1.122592,1.513973 -308.584,256.744,5541,-1.576704,0.691689,0.4752208 -542.2097,309.9664,5542,-1.353444,1.084953,1.563808 -396.712,255.016,5543,-1.83049,1.012795,1.028066 -115.048,206.632,5544,-1.889617,1.094812,0.8875544 -544.2833,314.1136,5545,-1.662472,0.8272085,0.9466757 -307.8929,268.4944,5546,-2.016342,0.958116,1.042643 -322.4081,336.9232,5552,-1.953817,0.9118477,1.084403 -307.8929,256.0529,5553,-1.573354,0.7626776,0.8098396 -307.8929,227.0224,5555,-2.567368,1.08312,1.75146 -258.1264,218.728,5556,-1.661188,0.9984585,0.9937685 -259.7853,219.9722,5557,-2.617019,1.090896,1.683619 -391.6663,214.9956,5558,-1.975942,1.018956,1.082263 -317.0167,282.1802,5559,-1.846597,1.054708,0.9349158 -376.7364,214.9956,5560,-1.890992,0.7234772,0.5008524 -309.5518,254.8087,5561,-1.286238,0.7814679,0.6515468 -280.4882,284.0714,5562,-2.436923,1.058359,1.77204 -122.8282,194.4918,5563,-1.422614,0.7404597,0.7814654 -219.5741,269.7386,5564,-1.8961,0.3394588,1.411825 -409.4827,215.9909,5565,-1.168269,0.7495134,1.532192 -266.1555,226.7405,5566,-1.61647,0.991494,0.8874177 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0052.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0052.csv deleted file mode 100644 index 9b75075b80ce1d372f0ad13d36347b6d86535dfa..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0052.csv +++ /dev/null @@ -1,98 +0,0 @@ -398.44,331.048,5307,-1.728555,0.5308813,1.034217 -336.52,297.64,5347,-0.9067139,1.235624,1.103021 -206.92,325,5391,-2.069202,1.114136,1.503342 -248.104,363.88,5449,-2.187037,1.126033,1.410921 -242.92,396.712,5470,-0.7794154,1.166273,0.9878057 -263.08,352.36,5533,-1.571402,0.6913658,0.4746891 -355.24,296.488,5539,-1.339406,1.064814,1.543236 -217,394.6,5546,-2.016342,0.958116,1.042643 -280.936,147.88,5569,-1.544943,0.7722052,0.7962356 -289,386.2,5577,-1.803231,0.3627429,1.119381 -156.52,400.168,5583,-1.950751,0.3841234,1.146075 -234.28,330.76,5584,-1.45615,0.6702399,0.4723362 -556.6,424.6,5587,-1.883455,1.003116,1.017586 -548.2,427,5588,-1.789433,0.3642447,1.111309 -231.4,152.2,5593,-1.966173,0.3827972,1.150113 -235.72,146.44,5594,-1.262469,1.102237,1.584848 -263.08,368.2,5598,-1.861399,0.882619,0.9615078 -240.04,327.88,5600,-1.273754,1.041603,1.482835 -515.944,412.264,5602,-1.923763,0.379251,1.137477 -519.4,293.32,5605,-2.513188,1.085165,1.796064 -367.336,298.216,5607,-1.793094,0.398317,0.9907782 -261.928,154.792,5608,-2.070258,1.167444,2.2892 -513.64,317.8,5610,-2.585049,1.075576,1.673641 -548.7761,426.088,5611,-1.968388,0.9520542,0.9898236 -239.464,298.216,5616,-1.986507,0.9584476,0.9893116 -247.24,296.2,5627,-1.825166,0.3807541,1.068708 -356.2,297.4,5286,-2.136836,0.8209963,1.073333 -359.3182,341.8999,5336,-2.215903,1.120207,1.208874 -401.32,335.08,5371,-1.667712,1.00693,0.9412977 -245.6848,309.9664,5374,-1.223745,0.7542855,0.6377637 -363,343,5393,-0.8107105,1.17892,1.023793 -246,307,5415,-1.685252,1.183817,1.008838 -400,331,5456,-2.164102,0.9863315,1.135895 -366.76,297.64,5473,-2.101847,1.128067,1.413841 -263.656,369.064,5480,-2.045917,0.9432104,1.113658 -238.6,325,5484,-1.771354,0.800334,0.8681476 -289,385.48,5485,-1.662796,0.7758356,0.8387157 -254.2,331,5488,-1.736592,0.9465321,0.971686 -402,336,5514,-2.63438,1.098113,1.682405 -545,422,5515,-2.074697,0.9476513,1.123502 -543.88,421.48,5524,-2.665916,1.106613,1.698296 -250.6,397,5528,-2.107722,1.156148,1.687017 -41,329,5536,-1.856547,0.9855399,1.013734 -263.656,351.784,5540,-2.103621,1.122592,1.513973 -515.2529,405.3521,5541,-1.576704,0.691689,0.4752208 -264.3472,349.3648,5552,-1.953817,0.9118477,1.084403 -207.5306,326.97,5556,-1.661188,0.9984585,0.9937685 -354.3415,294.6218,5557,-2.617019,1.090896,1.683619 -275.7106,386.192,5558,-1.975942,1.018956,1.082263 -336.9233,297.1101,5559,-1.846597,1.054708,0.9349158 -264.762,349.3649,5560,-1.890992,0.7234772,0.5008524 -370.0677,294.8209,5564,-1.8961,0.3394588,1.411825 -355,136.6,5566,-1.61647,0.991494,0.8874177 -568,305,5567,-1.784682,0.3633004,1.108094 -243,399,5568,-1.395955,0.3688614,1.042274 -321,146,5570,-1.221288,1.072407,1.565999 -207.4,333.4,5571,-1.857846,0.3563268,0.9976776 -556,424,5572,-1.546591,0.7500083,0.8092622 -236.2,147.4,5573,-1.239094,1.087201,1.559172 -210,322,5574,-1.207322,1.053091,1.529827 -549,427,5575,-1.72262,1.044828,1.057343 -551,423,5576,-1.724753,1.209535,1.033905 -287,441,5578,-1.663888,1.009199,0.9011925 -283,147,5579,-1.977059,1.121781,2.19864 -242.92,397,5580,-1.84965,0.3443716,1.384806 -514.6,317.8,5581,-1.165806,0.7373906,0.6253312 -355,138,5582,-1.559169,0.7878892,0.8640174 -274,155,5585,-1.192932,1.051049,1.531227 -43,326,5586,-1.241058,1.088025,1.558936 -256.6,359.8,5589,-1.208259,1.063328,1.551593 -281.8,147.4,5590,-2.023124,0.9325143,1.092492 -556.84,424.36,5591,-1.824565,0.3689778,0.9721853 -260.2,320.68,5592,-1.898717,0.3536355,1.009934 -272.2,154.6,5595,-1.957531,0.3780642,1.119311 -548.2,425.8,5596,-1.730272,0.9741648,0.9868336 -265.96,153.64,5597,-1.851108,0.3686318,0.9853361 -232.552,151.336,5599,-2.604781,1.084372,1.678056 -336.232,298.216,5601,-1.850345,0.384858,0.999529 -237.736,158.248,5603,-1.372605,0.7778188,1.596968 -274.024,153.064,5604,-1.204431,1.059055,1.542958 -555.688,424.36,5606,-1.820558,0.3815547,1.060608 -241.5376,162.7408,5609,-1.207043,1.059053,1.52353 -336.9232,297.5248,5612,-1.613054,0.9610937,0.8498552 -237.3904,336.9232,5613,-2.046893,0.9367692,1.106386 -227.4372,391.6663,5614,-2.332124,0.9297205,1.11116 -262.2737,319.505,5615,-2.591585,1.107873,1.849059 -368.2761,296.6125,5617,-2.142638,0.5037186,1.242573 -234.9021,336.9233,5618,-1.54085,0.7619525,0.8023878 -281.6826,189.117,5619,-2.592579,1.077012,1.76596 -208.8246,327.0695,5620,-1.654661,0.9298111,0.8880452 -353.3462,293.6265,5621,-1.966325,0.9142529,1.077761 -236.8928,371.2621,5622,-1.533288,0.6406044,0.8665149 -260.7807,320.5004,5623,-2.672269,1.09249,1.795517 -233.9068,273.3218,5624,-2.13639,1.159283,1.719552 -352.1518,291.2377,5625,-1.63546,0.7320124,0.929087 -398.7332,337.8191,5626,-1.739685,0.9705825,0.920996 -239.8,371.8,5628,-1.869725,0.3676798,0.9891919 -266.2,154.6,5629,-1.081752,0.5952281,1.532786 diff --git a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0053.csv b/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0053.csv deleted file mode 100644 index a5be3b03d0b47852e071c9afbe2102677054de9b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/imperial_london/KeyFramePoints/KeyFramePoints_0053.csv +++ /dev/null @@ -1,94 +0,0 @@ -211,388.6,5391,-2.069202,1.114136,1.503342 -316.36,395.56,5478,-1.750346,0.9832795,0.9949402 -336.9232,388.7632,5541,-1.576704,0.691689,0.4752208 -181,381.4,5573,-1.239094,1.087201,1.559172 -236.008,426.088,5597,-1.851108,0.3686318,0.9853361 -343.144,339.688,5606,-1.820558,0.3815547,1.060608 -178.6,383.8,5637,-1.977388,0.3697498,1.464898 -175.24,386.92,5641,-2.137889,1.150854,1.735678 -314.2,339.4,5646,-1.51396,0.7721253,0.8529673 -210.088,343.144,5648,-1.557385,0.7393456,0.8966936 -405.3521,214.5808,5653,-2.019346,1.075844,1.643951 -332.2,339.4,5655,-1.94031,0.3792295,1.147768 -204.904,393.256,5658,-1.483706,0.771737,0.8566176 -243.4,202.6,5662,-1.487115,0.756644,0.7813905 -175,395.8,5663,-1.841446,0.3642198,0.9875168 -206.2864,200.0656,5664,-2.512112,1.07845,1.804633 -218.728,417.448,5666,-2.132572,1.155436,1.726078 -208.36,375.976,5687,-2.139337,-0.1171244,1.595574 -333.4,339.4,5285,-2.176593,1.114562,1.17723 -336.9233,389.178,5335,-1.503526,0.7476256,0.84241 -339.4,391,5392,-0.819409,1.038422,0.3046635 -378,377,5455,-0.8672041,1.210827,1.08854 -343.72,340.84,5472,-1.760111,0.7883301,0.9406852 -209.8,385.48,5483,-1.714128,1.033285,1.054246 -332.776,337.96,5538,-1.954746,1.016967,1.071735 -236.008,403.624,5539,-1.339406,1.064814,1.543236 -237.3904,401.2049,5551,-1.609437,0.6759117,0.8887125 -331.9466,336.9233,5556,-1.661188,0.9984585,0.9937685 -312.0401,339.4116,5558,-1.975942,1.018956,1.082263 -237.3905,401.6196,5559,-1.846597,1.054708,0.9349158 -546,362,5566,-1.61647,0.991494,0.8874177 -253.9792,195.9184,5568,-1.395955,0.3688614,1.042274 -175,392.2,5570,-1.221288,1.072407,1.565999 -263,445,5576,-1.724753,1.209535,1.033905 -205.48,391.24,5583,-1.950751,0.3841234,1.146075 -228,412,5588,-1.789433,0.3642447,1.111309 -208.36,195.4,5593,-1.966173,0.3827972,1.150113 -248,202,5594,-1.262469,1.102237,1.584848 -204.904,201.448,5598,-1.861399,0.882619,0.9615078 -313.768,339.688,5600,-1.273754,1.041603,1.482835 -210.4336,206.2864,5602,-1.923763,0.379251,1.137477 -248.104,201.448,5603,-1.372605,0.7778188,1.596968 -314.1136,338.9969,5611,-1.968388,0.9520542,0.9898236 -344.3882,338.4163,5616,-1.986507,0.9584476,0.9893116 -329.4583,335.4303,5620,-1.654661,0.9298111,0.8880452 -205.2414,330.6527,5623,-2.672269,1.09249,1.795517 -327.0695,334.2359,5624,-2.13639,1.159283,1.719552 -204,201,5629,-1.081752,0.5952281,1.532786 -581,297,5630,-1.125145,0.6250705,1.474008 -544,312,5631,-1.122399,0.7008348,1.491752 -551,346,5632,-2.514782,1.085162,1.796803 -343,340.6,5633,-1.995228,1.117453,1.586261 -368,393,5634,-2.606501,1.079501,1.685965 -314,340,5635,-1.908359,0.3829233,1.125569 -244,203,5636,-1.677573,0.8023114,0.8297305 -331,193,5638,-1.732543,0.9711596,0.9456946 -220.6,428.2,5639,-1.72775,0.9686149,0.9165057 -211,431,5640,-1.770012,0.8414298,0.8448054 -380.2,381.4,5642,-2.002437,1.113721,1.613013 -373,389.8,5643,-1.737813,0.9785625,0.9891306 -235.72,425.8,5644,-1.986989,1.113578,1.522706 -355,397,5645,-2.628757,1.08629,1.697967 -206.2,391,5647,-2.225939,0.8868616,1.078749 -217,367,5649,-2.010208,1.069171,1.028334 -219.88,418.6,5650,-2.104193,0.9826154,1.059644 -218.2,381.4,5651,-1.972371,1.06898,1.45259 -339.4,391.24,5652,-1.234098,0.4046544,1.208907 -376.84,376.84,5654,-2.522367,1.067418,1.743837 -248.68,201.16,5656,-1.547715,0.7353592,0.8938617 -217,366.76,5657,-1.907852,0.9324164,0.9604927 -211.816,394.984,5659,-1.521544,0.7916468,0.8059547 -183.4768,403.2784,5660,-1.901916,0.3561285,1.013898 -208.36,196.264,5661,-2.157188,0.3855436,1.207062 -345.2177,338.9969,5665,-1.676276,0.9145576,0.92592 -379.2247,381.713,5667,-1.987058,0.4041264,1.048926 -212.5072,212.5072,5668,-1.884032,0.361629,1.139571 -252.3204,195.089,5669,-1.833295,0.3644127,0.9891744 -207.5306,200.0656,5670,-1.246778,0.4018864,1.208517 -401.1219,213.0049,5671,-1.774566,0.7629024,0.9687085 -217.4839,349.3649,5672,-1.98289,0.3883844,1.041003 -210.0189,207.5306,5673,-2.217321,0.9779547,1.625644 -344.3882,339.4116,5674,-2.615272,1.090116,1.678893 -311.5424,341.4023,5675,-2.139374,0.347937,1.596058 -338.4163,189.117,5676,-1.215613,0.3975639,1.181507 -402.3164,212.4077,5677,-1.798837,0.3653981,0.9764086 -207.033,201.061,5678,-2.058023,1.121061,1.668798 -377.2341,383.2061,5679,-1.904848,0.9327151,0.9565541 -205.0423,394.1547,5680,-1.946473,0.3643058,1.029984 -208.8246,198.075,5681,-1.910019,0.3609251,1.148624 -251.8227,194.4918,5682,-2.499142,0.3872709,1.819684 -341.4023,190.9086,5683,-2.595301,1.080724,1.668981 -312.7368,341.4023,5684,-1.518691,0.6511339,0.8647043 -207.5306,336.9233,5685,-1.554695,0.6694704,0.8813213 -208.36,338.9969,5686,-1.48899,0.7300531,0.8538296 diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0002.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0002.png deleted file mode 100644 index c46aa66fffe114dd71e44984ce7073acc65a3210..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0002.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0003.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0003.png deleted file mode 100644 index 9d85bc43c446fe5d6a476657dd01794f4838acc6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0003.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0004.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0004.png deleted file mode 100644 index 075e1de1d3adc6f74b9d35949d1071b99bc55724..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0004.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0005.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0005.png deleted file mode 100644 index 6d0a013c8836de1eaafd8a276ac82985722022cf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0005.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0006.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0006.png deleted file mode 100644 index 6aed0d9bc70cb9852c43ac5f084d60724dda9270..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0006.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0007.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0007.png deleted file mode 100644 index deb37825e0a99d97f12f92cc9a8c6b5f3bede77b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0007.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0008.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0008.png deleted file mode 100644 index 364e37a723b4bb08cf80f15802ba4d92e4f31302..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0008.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0009.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0009.png deleted file mode 100644 index b48142418486377d7e7a61b87e0b8e1e0f47075a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0009.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0010.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0010.png deleted file mode 100644 index cbf16c86122ee053261a9e3a1f946a1705fda7d9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0010.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0011.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0011.png deleted file mode 100644 index 33ee6338ebe68d2933a1d3f10c5ae807d2aaff7e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0011.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0012.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0012.png deleted file mode 100644 index b20429b62659d806c43604ff5a7aa530b27d0203..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0012.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0013.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0013.png deleted file mode 100644 index 819acc4cbb12ad6315017eb9b15c20ae563590bc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0013.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0014.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0014.png deleted file mode 100644 index befcdca0c8b4bddf33af9329e2d25e4902368393..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0014.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0015.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0015.png deleted file mode 100644 index c9ecfb1c39e4729fcd5cf568950af7504d075b86..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0015.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0016.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0016.png deleted file mode 100644 index 94612d29da8c029442c525b5836bfcb2827f888a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0016.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0017.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0017.png deleted file mode 100644 index e613bbb8e3ddaa3872c4b83d6fc829f0110702a9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0017.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0018.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0018.png deleted file mode 100644 index 9df6843e959437a774362e0460372feb127f062e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0018.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0019.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0019.png deleted file mode 100644 index 3833661af62eace6acaebc20d327ae1025c33f02..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0019.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0020.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0020.png deleted file mode 100644 index 100acfcf09862a656c64e0a025feee2d2cb6634d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0020.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0021.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0021.png deleted file mode 100644 index 7c808ccc2706a7e9f529d933e77f685cf90d1a93..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0021.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0022.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0022.png deleted file mode 100644 index b447ee0a3fd5a6831ac9683844a571ce603dcac3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0022.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0023.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0023.png deleted file mode 100644 index 8596bd2ca8172cc7dcac1bbbd57fb428ea8732e1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0023.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0024.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0024.png deleted file mode 100644 index 3404bb7b1e6fd049ef3ca428dba5375ee8bbefb9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0024.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0025.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0025.png deleted file mode 100644 index a3d7c801b1094a2339b4c14391254cb118929067..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0025.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0026.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0026.png deleted file mode 100644 index 9af13bb14d20ac49df6646edf5df5914c30a4fcf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0026.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0027.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0027.png deleted file mode 100644 index b4a13add5ce2cc01dcea711fe3b1b3df0649f775..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0027.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0028.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0028.png deleted file mode 100644 index 6f77ab7f20f23b2bc14103f05cf927b0d63faa8e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0028.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0029.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0029.png deleted file mode 100644 index aa59e93886bdd611b00761037368bee8777d0048..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0029.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0030.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0030.png deleted file mode 100644 index ba02f3b22985618721f546b4bc84059e063988cd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0030.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0031.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0031.png deleted file mode 100644 index a733cbfe48c21401d55d1b4349f0c6bfb994e86b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0031.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0032.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0032.png deleted file mode 100644 index 7fdb0f6c84d216ad8f556011c85670ea57bbadcc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0032.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0033.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0033.png deleted file mode 100644 index 6447fc18e5b9af4898dfc408a465e7c0557f3224..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0033.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0034.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0034.png deleted file mode 100644 index adf04ee333cd57ad612123a0cc0f65ac8589c54c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0034.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0035.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0035.png deleted file mode 100644 index d804885ff63c41d0920e0d907a852677528d9759..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0035.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0036.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0036.png deleted file mode 100644 index de7574348dca96214e369af6ec861a5d06f96b65..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0036.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0037.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0037.png deleted file mode 100644 index 399236ac0319a966a31e31dbe6db19cdd38d8d79..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0037.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0038.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0038.png deleted file mode 100644 index f64779bab7f2d5648f3e7eb006c765db5296ad6c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0038.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0039.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0039.png deleted file mode 100644 index 87763b06b4b4e8dcee1fbc4666bdba5fbdea2667..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0039.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0040.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0040.png deleted file mode 100644 index df5510a35ee7c40e6398c18328cce4e52103e4a2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0040.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0041.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0041.png deleted file mode 100644 index 2286325f73f5bef5607e3c7dd10cbf5b07469ee2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0041.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0042.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0042.png deleted file mode 100644 index 7275339119e10c018c4a8131d6195091f1296ce3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0042.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0043.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0043.png deleted file mode 100644 index d87c9f0c675d297848aa1070067d0c25a4b5616f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0043.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0044.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0044.png deleted file mode 100644 index 2ef19f975e7fd0690a41783a286315033902e48a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0044.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0045.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0045.png deleted file mode 100644 index db4bf1192151e1fb43505d99b7456764d9d4b784..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0045.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0046.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0046.png deleted file mode 100644 index 117ccc523ce5586f85881714bc6f0bbac26f63f3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0046.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0047.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0047.png deleted file mode 100644 index 49d7d2e5a7575429b15e0486157b6647ff66db11..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0047.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0048.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0048.png deleted file mode 100644 index 3b4934580adfb5b87d74deaf629719ea22f3d15b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0048.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0049.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0049.png deleted file mode 100644 index f15abefc0dd1b4040447d8bb8b9d79c21051f24b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0049.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0050.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0050.png deleted file mode 100644 index d060485fe080646433b2517f33f65b20b054e72b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0050.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0051.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0051.png deleted file mode 100644 index 0dee37927b32b16eca00974fcc37eac02ad8c4ab..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0051.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0052.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0052.png deleted file mode 100644 index 9dfae6e43dbc96740ffbb836a6cd7adb5b89caf0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0052.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0053.png b/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0053.png deleted file mode 100644 index 882fdd98028f8205c2cc56ea39a4c1a95be168ed..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/KeyFrames/KeyFrame_0053.png and /dev/null differ diff --git a/target/classes/vslam/imperial_london/pointcloud.csv b/target/classes/vslam/imperial_london/pointcloud.csv deleted file mode 100644 index d81a95cacab48a7d3468c5f75aeb2d596f1b1873..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/imperial_london/pointcloud.csv and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/.DS_Store b/target/classes/vslam/self_made_dataset/.DS_Store deleted file mode 100644 index d6a451d24b42eec6f6cff22ec5bc474c0b385cda..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/.DS_Store and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0003.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0003.csv deleted file mode 100644 index 308aeb8541b4aab9bb363cbab963acaa9cf3bd02..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0003.csv +++ /dev/null @@ -1,28 +0,0 @@ -500.2,112.6,5 -489,114,12 -500,82,26 -505,81.4,1 -495,94,2 -500.2,81.4,3 -500,113,4 -1047,187,7 -1055,157,8 -493,112.6,9 -495.4,94.60001,10 -1047.4,187,11 -493.48,111.88,13 -494.92,94.60001,14 -499.24,111.88,15 -1055.08,157.96,16 -1046.44,186.76,17 -487.72,113.32,18 -641.7425,175.1824,19 -1046.44,185.896,20 -488.2961,88.09121,23 -486.2225,110.9008,25 -1053.56,157.7642,27 -1049.081,186.1311,28 -638.8064,172.9927,29 -814.3823,187.3255,30 -493.6875,96.55151,31 -810.7991,155.0768,32 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0004.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0004.csv deleted file mode 100644 index bcdc12a4175e72832dda0837fc326b66fe162770..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0004.csv +++ /dev/null @@ -1,36 +0,0 @@ -1046.2,184.6,10 -505,82.60001,1 -495,95,2 -500.2,82.60001,3 -500,114,4 -1045,185,6 -1054,155,7 -493,115,8 -495.4,95.8,9 -493.48,114.76,12 -494.92,96.04,13 -499.24,113.32,14 -1053.64,155.08,15 -1045,183.88,16 -639.6689,175.1824,18 -486.2225,112.9744,21 -1053.56,155.2759,23 -1046.095,183.1451,24 -638.8064,172.9927,25 -814.3823,187.3255,26 -493.6875,99.5375,27 -810.7991,151.4936,28 -362,238,29 -360.424,237.736,30 -498.6641,113.32,31 -488.2961,115.048,32 -867.7649,237.3904,33 -869.4239,232.4138,34 -866.9355,237.3905,35 -941.5852,263.7667,36 -409.4827,273.3218,37 -819.6575,90.57954,38 -907.545,262.5723,39 -950.5432,248.2395,40 -939.7936,262.5723,41 -911.1282,280.4882,42 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0005.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0005.csv deleted file mode 100644 index 1021a13a1720c05cc45ed6420927e17a325c29cd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0005.csv +++ /dev/null @@ -1,48 +0,0 @@ -493,116.2,8 -1043.8,182.2,10 -493.48,114.76,12 -497.8,114.76,14 -1043.56,182.44,16 -483.4,85.96001,20 -947.9441,261.928,53 -503.8,83.8,1 -494,96,2 -499,83.8,3 -500,116,4 -1043,183,6 -1052,153,7 -494.2,97,9 -1052.2,153.64,15 -635.5217,175.1824,18 -486.2225,115.048,21 -1051.071,152.7876,23 -1046.095,180.1591,24 -635.2232,172.9927,25 -814.3823,183.7423,26 -493.6875,99.5375,27 -810.7991,151.4936,28 -358,239,29 -498.6641,115.048,31 -486.5681,115.048,32 -867.7649,237.3904,33 -869.4239,232.4138,34 -866.9355,237.3905,35 -941.5852,263.7667,36 -405.8995,276.905,37 -819.6575,90.57954,38 -907.545,262.5723,39 -939.7936,262.5723,41 -911.1282,280.4882,42 -911,256,43 -499,115,44 -499.24,83.08,47 -868.4561,239.464,48 -493.48,97.76801,50 -871.9121,232.552,51 -406.5963,277.2036,52 -493.6875,98.0445,54 -947.5572,260.7807,55 -869.9216,233.9068,56 -878.8795,425.0098,57 -567.1428,269.7386,58 -552.81,269.7386,59 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0006.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0006.csv deleted file mode 100644 index 955e1b64ddc147b80879d3d9a5103a8df283dbb5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0006.csv +++ /dev/null @@ -1,77 +0,0 @@ -491.752,116.776,12 -492.04,98.92001,13 -497.8,85,22 -449.8,287.8,63 -872.2,232.84,68 -831.88,54.28,70 -909.64,255.88,75 -501.4,85,1 -492,98,2 -498,118,4 -1040,181,6 -1049,151,7 -490.6,117.4,8 -491.8,98.2,9 -1041.4,181,10 -1049.32,150.76,15 -1040.68,181,16 -484.1489,117.1216,21 -1048.583,150.2992,23 -1043.109,180.1591,24 -631.64,172.9927,25 -810.7991,183.7423,26 -490.7015,102.5235,27 -810.7991,151.4936,28 -353,240,29 -484.8401,116.776,32 -867.7649,237.3904,33 -869.4239,232.4138,34 -866.9355,237.3905,35 -941.5852,263.7667,36 -402.3164,280.4882,37 -817.1691,88.09122,38 -907.545,262.5723,39 -939.7936,262.5723,41 -911.1282,280.4882,42 -497.8,117.4,44 -868.4561,239.464,46 -491.752,99.49601,47 -871.9121,232.552,48 -404.1079,282.1802,49 -947.9441,261.928,50 -947.5572,260.7807,52 -866.9356,236.8928,53 -881.8655,422.0239,54 -567.1428,269.7386,55 -508,268,57 -490,118,58 -562,266,59 -352.36,240.04,60 -520.6,285.4,61 -500.68,85.96001,62 -566.2,267.4,64 -553,275.8,65 -867.88,240.04,66 -492.04,290.44,67 -436.4561,305.8192,69 -815.9249,183.4768,71 -351.4384,239.464,72 -448.552,294.76,73 -587.08,265.96,74 -446.824,287.848,76 -904.7441,265.384,77 -492.4433,115.048,78 -562.9457,268.4944,79 -587.8289,262.2737,80 -446.8241,289.2304,82 -581.6081,266.4208,83 -936.6085,264.762,84 -588.2437,259.7853,86 -859.4706,424.0145,88 -911.7253,257.7947,89 -813.1879,410.0799,90 -586.2531,263.7667,91 -871.7132,427.3987,93 -875.2964,534.8941,95 -853.7973,409.4827,96 -764.2177,445.3145,97 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0007.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0007.csv deleted file mode 100644 index 3b46d9341ec5c2c8bda2a3dc1e381742cd43663d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0007.csv +++ /dev/null @@ -1,72 +0,0 @@ -480.52,134.92,12 -469.2881,102.952,20 -441.4,319,63 -563.8,289,64 -441.4,329.8,108 -490.6,99.4,1 -481,113,2 -487,134,4 -1005,154,6 -479.8,135.4,8 -1005.4,153.4,10 -1013.32,120.52,15 -1004.68,153.64,16 -1013.746,120.4394,23 -1007.277,150.2992,24 -792.8832,129.9946,28 -857.9777,224.9489,34 -391.5668,312.7368,37 -900.3787,251.8227,39 -936.2104,255.4059,41 -856.3601,230.824,46 -859.8161,223.912,48 -392.164,314.5284,49 -853.7973,226.7405,53 -875.8936,416.0519,54 -563.5596,294.8209,55 -504,294,57 -561,289,59 -518,313,61 -550.6,299.8,65 -856.36,231.4,66 -430.2353,338.9969,69 -441.64,327.592,73 -439.912,320.68,76 -897.8321,256.744,77 -482.0753,133.7104,78 -585.7553,283.0096,80 -579.5345,289.2304,82 -852.0056,419.0379,85 -864.5468,423.8155,89 -878.8796,534.8941,90 -843.0477,405.8995,91 -760.6346,448.8977,92 -517,311,93 -489,317,94 -488,320,95 -878,499,99 -861,223,100 -452,319,101 -815,36,102 -488.2,320.2,103 -860.6801,222.76,104 -452.2,325,105 -873.64,502.12,109 -441.64,320.68,110 -438.5297,324.4817,111 -806.248,408.808,112 -840.8081,421.9409,115 -892.6481,527.6945,116 -869.8385,502.8113,117 -847.0289,401.2049,119 -863.6177,504.8849,122 -578.2904,287.1569,125 -846.0337,404.1079,126 -872.9076,496.6735,127 -783.328,374.2481,128 -843.0477,422.0239,129 -762.4261,448.8977,130 -852.0057,419.0379,132 -562.3651,293.6265,133 -864.5468,531.3109,137 -753.4682,362.9014,140 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0008.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0008.csv deleted file mode 100644 index 56b05a0ddc5c467e15e050ca39bed96927a7c78d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0008.csv +++ /dev/null @@ -1,57 +0,0 @@ -728.2,386.92,216 -821.8,371.8,265 -819.1599,365.2902,91 -873,461,96 -787.2401,372.5201,107 -890.5745,488.2961,109 -865.6913,463.4129,110 -859.4705,467.5601,112 -866.9356,457.8557,115 -860.9636,495.4791,121 -731.9691,334.2359,122 -870.1841,460.648,127 -787.3093,371.7598,136 -762.4261,341.8999,137 -884.8515,493.6875,138 -856.9823,466.3159,139 -857.3805,470.3968,145 -717.6364,524.1445,146 -774.9673,352.1518,150 -872.2,460.6,156 -700.6,511,159 -870.76,460.36,164 -699.8033,509.0321,169 -693.928,514.2161,173 -786.8945,370.1009,181 -689.4353,540.136,184 -708.6784,511.6034,185 -864.5468,459.6473,192 -724.8027,481.1464,201 -889.6291,488.3127,202 -821.5486,377.2341,204 -700,512,210 -819.4,362.2,212 -695.8,513.4,213 -818.92,362.44,218 -715.2401,513.64,220 -705.6924,350.3602,233 -735.5522,332.4443,238 -886.0459,219.5741,245 -688.9709,542.0605,247 -710.47,545.6436,249 -692.5541,516.9782,250 -724.8027,391.5668,251 -688.7441,541.8641,269 -697.7297,508.6174,273 -726.5943,386.192,282 -719.8481,521.1281,302 -892.6481,457.192,306 -726.7601,386.6897,307 -820.0721,370.1009,313 -764.0849,341.0704,314 -757.0514,395.15,315 -710.1714,545.9422,316 -735.5523,456.0641,319 -890.8235,457.8557,320 -716.2,514.6,326 -869.8385,459.2657,332 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0009.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0009.csv deleted file mode 100644 index 201e5da22926c97886298835085efbb5579e796b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0009.csv +++ /dev/null @@ -1,75 +0,0 @@ -863.5601,456.04,104 -697,511,132 -712.6,514.6,169 -869,454,96 -778.6001,363.88,107 -886.4273,482.0753,109 -861.5441,457.1921,110 -855.3233,461.3393,112 -863.9496,451.8837,115 -857.3805,488.3127,121 -872.9076,490.7015,126 -854.494,458.851,127 -853.7973,466.8136,128 -764.2177,344.9855,130 -868.6,453.4,131 -867.88,453.16,133 -695.6561,509.0321,134 -690.472,515.944,135 -778.6001,363.8801,136 -685.2881,542.2097,137 -705.6924,514.5894,138 -860.9636,452.4809,139 -721.2195,477.5632,140 -807.2159,370.0677,142 -696,512,143 -807.4,353.8,144 -692.2,513.4,145 -805.96,353.8,147 -712.36,513.64,148 -696.7344,347.3742,149 -726.5943,326.4724,150 -685.3878,542.0605,152 -717.6364,384.4005,155 -811.0001,362.2,156 -695.2415,508.6174,158 -807.6305,359.7328,163 -753.7169,334.8496,164 -746.3018,387.9836,165 -707.683,548.4305,166 -867.7649,453.0449,170 -705.1947,513.5941,173 -702.7064,553.4072,176 -712.2449,511.1057,179 -818.92,162.28,180 -690.76,515.08,181 -712.9361,512.488,182 -813.8513,168.9616,183 -298.4041,348.5686,184 -852.0056,463.8276,185 -696.1373,509.8118,186 -803.6328,355.735,187 -835.8813,362.9014,188 -716.2,518.2,189 -695.6561,510.76,190 -814.8881,170.344,191 -685.2881,540.9656,193 -816.1738,368.2761,194 -816,172,197 -696.52,510.76,201 -716,518,202 -661.0961,313.768,204 -863.2721,457.192,205 -851.1761,465.4865,207 -837.0757,487.7155,208 -696.7344,508.6174,210 -667.72,304.84,216 -811,362,218 -715.2401,517.96,219 -812.1925,366.7831,223 -825.1318,370.0677,224 -807,353,225 -866.4401,456.04,226 -814.6808,167.7175,229 -690.2648,513.5941,230 -780.342,362.3042,231 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0010.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0010.csv deleted file mode 100644 index 4aa3a5275168a8e1bbda9dc3eeaced341c805c2b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0010.csv +++ /dev/null @@ -1,77 +0,0 @@ -674.92,510.76,132 -774.28,346.6,147 -692.2,513.64,148 -631.72,299.08,196 -780.04,160.84,217 -725.32,329.32,246 -843,444,96 -837.64,447.4,104 -749.2241,356.968,107 -861.5441,471.7073,109 -830.4401,450.9713,112 -843.0477,481.7436,126 -829.6108,451.386,127 -828.715,456.0641,128 -842.2,443.8,131 -841.96,444.52,133 -674.9201,509.0321,134 -669.7361,515.944,135 -666.6257,542.2097,137 -835.8813,441.7314,139 -699.7205,473.98,140 -675,512,143 -775.0001,345.4,144 -671.8,513.4,145 -666.8746,344.3882,149 -667.4718,542.0605,152 -778,352,156 -669.8606,514.5894,158 -726.7601,328.6288,164 -717.6364,384.4005,165 -692.2,514.6,169 -842.8817,444.7505,170 -681.8046,553.4072,172 -782.92,153.64,174 -670.6,515.08,175 -692.2001,512.488,176 -778.6001,160.6672,177 -827.1224,456.3627,179 -771.3841,348.5686,181 -803.6328,352.1518,182 -695.8,517,183 -674.92,510.76,184 -780.3281,161.704,185 -783.328,359.3182,187 -781,163,188 -695,517,190 -626.5361,308.584,191 -837.3521,448.552,192 -826.2929,457.1921,193 -675.8326,508.6174,195 -695.08,516.52,198 -792.8832,362.9014,200 -840.52,447.4,202 -777.356,157.7642,203 -750.4822,356.3322,205 -847,447,206 -849.4481,484.8401,208 -846.6309,481.1464,210 -666.8746,541.4633,212 -826.9841,457.192,219 -792.2859,362.3042,224 -784,153,225 -725.032,329.32,228 -744.0401,353.512,229 -668.6993,515.2529,230 -693.7485,544.4492,234 -674.6382,502.6454,235 -773.4161,346.6,237 -625.1537,307.8929,239 -772.3793,347.2913,240 -838.7345,442.6768,241 -837.0757,177.1731,243 -703.72,317.8,248 -707.683,414.0612,250 -681.8046,513.395,251 -725.1013,326.97,252 -674.6382,298.4041,253 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0011.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0011.csv deleted file mode 100644 index 9569f414d4a0d6bf73268b668044ee88cbaa9ae0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0011.csv +++ /dev/null @@ -1,77 +0,0 @@ -674.92,509.032,189 -697.96,312.04,225 -774.28,143.56,233 -862.6,431.8,261 -840,436,96 -838.6,439,104 -742.3121,350.056,107 -859.4705,463.4129,109 -828.3665,442.6768,112 -825.1318,448.8977,128 -839.8,436.6,131 -676.36,507.88,132 -839.08,435.88,133 -674.9201,506.9585,134 -671.4641,512.488,135 -676,509,143 -766.6,339.4,144 -692.2,510.76,148 -667.4718,542.0605,152 -770,345,156 -720.5393,322.4081,164 -714.0532,377.2341,165 -840.8081,436.4561,170 -684.7905,550.4212,172 -672.04,512.2,175 -692.2001,510.76,176 -824.6341,448.8977,179 -760.6346,341.4023,181 -796.4664,344.9855,182 -697,514.6,183 -769.9601,151.336,185 -777.3561,350.3602,187 -697,514,190 -835.6241,439.912,192 -824.2193,448.8977,193 -675.8326,505.6314,195 -696.52,515.08,198 -782.1337,355.735,200 -769.8911,150.2992,203 -744.5102,350.3602,205 -845,439,206 -843.0477,473.98,208 -666.8746,541.4633,209 -771.4,152.2,210 -823.5281,450.28,211 -775.0001,143.8,213 -719.8481,324.136,214 -670.7729,513.1793,216 -693.7485,541.4633,217 -764.7761,339.688,219 -836.6609,434.3824,222 -828.1178,165.2292,223 -719.5601,323.56,224 -681.8046,509.8118,227 -720.1246,321.9933,228 -834.5874,433.9678,230 -693,512,232 -773.4161,144.424,235 -224.9489,305.5704,237 -765.4121,341.4023,239 -691.5089,509.0321,245 -676.6,508.6,246 -832.2982,434.565,248 -824.2,175,250 -695.6561,545.3201,252 -824.6801,461.8,255 -631.64,387.9836,256 -823,175,257 -826,463,258 -827.8,164.2,260 -825.2561,462.376,263 -825.2561,173.8,264 -859.8161,208.36,266 -824.2193,461.3393,268 -839.564,436.4561,269 -771.3841,147.3133,270 -767.8009,147.9105,274 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0012.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0012.csv deleted file mode 100644 index 65c0dfd2e09487095e437ff5ff4733a35e51a6ed..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0012.csv +++ /dev/null @@ -1,77 +0,0 @@ -761.8,333.4,144 -764.2,336.52,156 -827.5601,454.6,247 -820.36,165.16,258 -685,510.76,273 -842,428,96 -742.3121,343.144,107 -828.715,441.7314,128 -842.2,428.2,131 -682.1201,506.44,132 -841.96,428.68,133 -681.1409,506.9585,134 -678.376,512.488,135 -683,508,143 -699.4,509.32,148 -674.6382,538.4773,152 -718.4657,316.1873,164 -690.7625,550.4212,172 -677.8,510.76,175 -699.1121,509.032,176 -827.1224,441.4327,179 -757.0514,334.2359,181 -789.3,337.8191,182 -764.7761,142.696,185 -681.8321,507.304,189 -837.3521,433,192 -826.2929,440.6033,193 -681.8046,505.6314,195 -778.5505,344.9855,200 -762.4261,140.3459,203 -744.5102,344.3882,205 -847,431,206 -846.6309,466.8136,208 -675.8326,538.4773,209 -765.64,143.56,210 -676.9937,511.1057,216 -702.7064,541.4633,217 -761.3201,332.776,219 -718.6,319,224 -697,308.2,225 -688.9709,509.8118,227 -837.0757,426.5028,230 -699,509,231 -768.52,134.92,232 -768.2321,135.784,233 -759.4401,335.4303,235 -697.7297,506.9585,236 -682.6,507.4,237 -835.8813,427.3987,238 -823.0001,154.6,245 -820.0721,164.8144,248 -826.2929,453.0449,250 -765.4121,138.3553,252 -764.2177,137.1609,253 -766.1585,135.784,254 -828.1178,439.9398,255 -786.314,344.3882,256 -764.9144,135.3693,259 -831.1038,460.8417,262 -831.1038,433.9678,264 -677.8,511,265 -844.2641,429.544,266 -690.7625,508.6174,268 -840.8081,427.816,269 -836.6609,432.3089,270 -827.8,454.6,277 -670.7729,529.7681,279 -714.3185,372.1744,280 -703.9505,448.8977,281 -869.4239,165.2292,284 -687.7765,314.5284,285 -702.7064,99.5375,286 -675.8326,514.5894,287 -714.6504,371.2621,288 -699.7205,538.4773,289 -857.3805,201.6582,290 -699.7205,316.32,291 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0013.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0013.csv deleted file mode 100644 index a5e0664fe0988fe9f52b505a353cf40a9ea591c6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0013.csv +++ /dev/null @@ -1,79 +0,0 @@ -849.4,423.4,104 -745.48,336.52,107 -725.32,312.04,214 -764.2,326.2,219 -823.0001,154.6,243 -827.5601,143.56,245 -874.6,415,246 -766.6,328.6,300 -725.8,311.8,310 -722.44,365.32,314 -852,420,96 -835.8813,434.565,128 -851.8,419.8,131 -696.52,506.44,132 -692.2001,510.76,135 -696,507,143 -713.8,507.88,148 -688.9709,538.4773,152 -690.76,509.32,175 -712.9361,507.304,176 -766.5041,132.328,185 -695.6561,507.304,189 -847.7201,424.36,192 -696.7344,499.6595,195 -778.5505,337.8191,200 -764.9144,130.3927,203 -747.4962,335.4303,205 -857,423,206 -853.7973,459.6473,208 -690.7625,538.4773,209 -767.08,133.48,210 -691.5089,511.1057,216 -717.6364,538.4773,217 -725,312,224 -703.3036,506.2286,227 -769.96,124.84,232 -769.9601,125.416,233 -762.4261,326.97,235 -712.2449,504.8849,236 -697,507.4,237 -846.6309,420.2323,238 -836.2,445.96,247 -834.5873,444.7505,250 -837.0757,433.9678,255 -789.3,335.4303,256 -823.2401,153.64,257 -840.0617,454.8697,259 -691,509.8,261 -851.1761,419.8672,262 -702.7064,508.6174,263 -847.0289,424.0145,265 -837.4,447.4,267 -876.8889,152.7876,271 -692.7531,309.5518,272 -702.7064,90.57954,273 -690.7625,511.6034,274 -723.6083,368.2761,275 -864.5468,190.9086,277 -766.1585,131.6368,281 -825.2561,153.064,282 -835.6241,446.824,283 -782.3326,336.9233,284 -825.1318,459.6473,285 -708.6784,541.4633,286 -839.564,426.5028,288 -687.7765,538.4772,291 -696.1373,499.0623,292 -771.3841,334.2359,293 -713.8,507.4,294 -331.9466,630.5451,297 -767.8,134.2,299 -795.1889,326.5552,301 -834.0898,463.8276,304 -693,509,309 -709,489,312 -794.7743,326.97,317 -839.564,453.8744,318 -795.272,326.4724,322 -875.8936,153.2852,323 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0014.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0014.csv deleted file mode 100644 index ff1aefaacdfda30dda0db1d3a10dfca1ecd7a725..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0014.csv +++ /dev/null @@ -1,72 +0,0 @@ -733.96,289,116 -787.2401,314.92,156 -791.5601,113.32,210 -795.88,104.68,232 -856.36,121.96,245 -912.52,401.32,246 -872.2,435.4,267 -815.8,296.2,322 -893.8,409.96,324 -725.8,302.2,343 -721.576,358.696,349 -723.88,301.96,374 -889,408,96 -871.7132,423.8155,128 -889.0001,407.8,131 -730.9073,509.0321,135 -738,506,143 -755.5601,505,148 -731.9691,534.8941,152 -732.52,509.32,175 -754.4081,503.8481,176 -737.1281,505.576,189 -884.0081,412.264,192 -738.5383,499.6595,195 -774.8677,324.4817,205 -889.6291,448.8977,208 -742.7186,506.2286,227 -736.84,505,237 -882.4627,405.8995,238 -869.8385,434.3824,250 -872.9076,422.0239,255 -875.8936,442.9258,259 -731.8,508.6,261 -884.3537,411.5728,265 -732.5663,511.6034,274 -753.4681,356.3322,275 -791.0417,112.9744,279 -809.7042,324.4817,282 -860.9636,448.8977,283 -753.4681,541.4633,284 -735.5523,499.0623,287 -795.272,320.5004,288 -755.8,505,289 -817.9985,312.04,293 -734.2,507.4,295 -755,301,296 -819.1599,311.5424,301 -911.7253,132.3833,302 -886.8421,406.5963,304 -755,506,305 -792.2859,105.5095,307 -726.7601,528.04,309 -729.5803,359.3182,315 -873,436,319 -726.76,528.04,320 -858.0881,123.688,321 -906.76,425.8,323 -861.5441,450.9713,325 -909.237,433.9678,326 -720.1246,356.8298,328 -907.545,434.565,333 -729.64,510.76,339 -909.9281,422.632,348 -893.8094,445.9117,354 -869.4239,433.9678,356 -907.545,402.3164,360 -929.0441,126.4114,361 -857.3805,122.8282,363 -725,303,366 -893.8,410.2,372 -731.9441,433,373 -640.6,134.2,392 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0015.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0015.csv deleted file mode 100644 index 5d7fa6b88f1c02096c0e42ff652c6d1b00745352..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0015.csv +++ /dev/null @@ -1,70 +0,0 @@ -814.6,88.84,232 -875.8,116.2,243 -877.96,104.68,245 -812.2,98.2,291 -767.8,506.2,318 -902.4401,421.48,357 -920,394,96 -903.9619,409.4827,128 -919.0001,393.4,131 -770.3057,504.8849,135 -776,501,143 -794.44,499.24,148 -769.96,503.56,175 -775.144,500.3921,189 -915.1121,398.44,192 -774.3701,493.6875,195 -921.8777,434.565,208 -782.1337,499.0623,227 -775.72,500.68,237 -911.1282,391.5668,238 -900.9425,419.8672,250 -902.7674,410.0799,255 -774.9673,495.4791,287 -794.2,500.2,289 -772.6,502.6,295 -794,500,304 -764.7761,522.8561,306 -904,422,308 -833.8,286.6,311 -892.6481,438.5297,314 -941.5852,419.0379,315 -939.7936,420.2323,317 -926.6553,433.9678,322 -901.772,421.5262,323 -939.7936,387.9836,324 -918.28,394.12,332 -812.1925,88.09122,333 -908.7394,401.1219,334 -774.8677,498.6641,335 -907.545,430.9818,339 -772,503,340 -787.3093,501.1524,345 -881.8655,105.5095,346 -795.272,493.6875,347 -878.8795,111.4814,353 -947.5572,111.4814,354 -767.8009,509.8118,355 -792.8832,430.9818,356 -792.2859,496.1758,359 -792.8832,495.4791,361 -939,406,363 -916.8401,393.256,365 -839.0801,298.216,367 -767.8009,531.3109,373 -769.8911,503.6407,374 -914.7114,392.164,376 -903.0161,409.4993,383 -940.3409,405.3521,385 -878.8796,112.0786,387 -936.2104,158.66,388 -889.6291,434.565,391 -799.0001,503.8,401 -779,350,402 -798.76,503.56,403 -903.0161,413.992,404 -942.4146,415.7201,408 -936.1937,403.2784,410 -893.8094,436.9538,414 -941.5852,404.1079,420 -902.7674,422.0239,424 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0016.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0016.csv deleted file mode 100644 index 3538e5def0dbea7cd7bacb0dbf4bdb5e3504c19c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0016.csv +++ /dev/null @@ -1,73 +0,0 @@ -928.6,387.4,104 -916.6,411.4,267 -937.0001,385.48,313 -788.6801,503.56,318 -817.0001,497.8,359 -877.96,104.68,374 -881.8,93.4,375 -790,501,391 -878,105,407 -932,383,96 -918.2946,398.7332,128 -788.9681,500.7377,135 -796,498,143 -814.6,494.92,148 -790.1201,500.68,175 -795.8801,496.936,189 -928.9361,388.072,192 -795.272,490.7015,195 -936.2104,420.2323,208 -803.6328,495.4791,227 -795.88,497.8,237 -929.6413,383.2061,238 -878.2,105.4,243 -915.4577,411.5728,250 -917.6973,398.136,255 -792.8832,491.8959,287 -814.6,495.4,289 -791.8,499,295 -814,496,304 -785.5121,519.4,306 -917,412,308 -954.0268,404.1079,315 -954.1264,402.3164,317 -938.5992,422.0239,322 -914.2137,411.5729,323 -931.2401,382.6,332 -921.8777,391.5668,334 -794.7743,491.1992,335 -921.8777,420.2323,336 -807.2159,496.1758,338 -813.1879,490.7015,340 -881.8655,99.5375,341 -953.5292,99.5375,342 -915.4,411.4,345 -812.1925,491.1992,346 -810.7991,491.8959,347 -930.6641,382.888,349 -789.7976,501.1524,352 -929.1436,381.713,353 -915.4577,399.1313,354 -952.7825,394.9841,355 -943.3768,147.9105,357 -903.9619,423.8155,358 -818.92,499.24,361 -915.1121,403.624,362 -954.8561,403.2784,363 -905.7534,427.9958,365 -954.0268,391.6663,366 -882.2802,94.31201,369 -939.7936,391.5668,373 -878.8241,104.68,380 -942.4146,421.9409,381 -821.5486,527.7277,384 -882,94,390 -353.8,212.68,395 -962.4871,93.56553,399 -914.2137,401.6196,401 -796.6,497.8,409 -790.696,502.1201,413 -813.8513,494.5169,414 -939.0969,100.5328,417 -941.5852,99.5375,418 -918.2946,413.0659,420 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0017.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0017.csv deleted file mode 100644 index 0e099abd73ceb3bb3d96e2149ce3d5402f94f643..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0017.csv +++ /dev/null @@ -1,77 +0,0 @@ -958.6,373,131 -833.32,497.8,237 -859.2401,535.2401,284 -851.8,494.2,289 -978,384,348 -855,497,359 -833.8,497.8,381 -662,259,423 -436.4561,277.48,429 -855.4,112.6,433 -716.6801,363.88,438 -958,373,96 -943.3768,387.9836,128 -834,498,143 -852.04,494.92,148 -827.5601,502.12,175 -832.1681,496.936,189 -954.8561,377.704,192 -832.0991,493.6875,195 -961.2927,413.0659,208 -843.0477,496.6735,227 -944.5712,389.178,255 -852,495,304 -983.389,392.164,317 -965.4731,413.0659,322 -957.16,372.52,332 -950.5432,409.4827,336 -942.76,402.76,345 -956.5841,372.5201,349 -954.0268,371.7598,353 -979.7393,382.5424,355 -962.4871,126.4114,357 -929.0441,416.6491,358 -941.0321,394.984,362 -983.8865,392.9105,363 -932.6273,419.0379,365 -981.3983,381.713,366 -968.4591,380.8173,369 -969.3713,411.5728,373 -860.9636,527.7277,374 -968.9567,88.09122,378 -941.5852,394.1547,379 -943.3768,409.4827,386 -979.2086,366.4846,388 -620.2,259,400 -862.1201,532.36,401 -827.1224,501.1524,404 -862.6,531.4,405 -824.2193,504.8849,406 -961.7681,374.248,407 -863.6177,527.6945,408 -717,364,415 -716.2,343,416 -477.64,204.04,417 -489,197,418 -613,253,421 -717,292,422 -691,247,425 -471.88,204.04,427 -613,272,430 -458.92,289,440 -638.6321,248.104,446 -415.7201,231.1696,451 -637.5953,247.7584,452 -461.3393,287.1569,454 -726.7601,388.7632,455 -638.0101,247.3437,459 -526.0356,190.1124,460 -463.2305,287.6545,464 -613.1269,272.7246,467 -404.1079,236.8928,469 -545.6436,223.1573,470 -653.1391,359.3182,471 -391.5668,413.0659,472 -638.8064,248.2395,473 -610.1409,269.7386,474 -405.8995,233.9068,475 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0018.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0018.csv deleted file mode 100644 index c6c5347a5fdb186fa45347f36d8d04c0494452d5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0018.csv +++ /dev/null @@ -1,60 +0,0 @@ -998.2,377.8,202 -763,268.6,402 -458.2,452.2,421 -699.4,281.8,429 -535.2401,235.72,446 -831,337,466 -825.4,334.6,469 -797.8,315.4,481 -448.552,426.088,494 -1022.207,368.2761,387 -799,389,395 -797.32,366.76,396 -553,228,398 -685,279,399 -797,315,400 -739,284,401 -686,299,405 -800.2,388.6,407 -712.9361,274.024,409 -710.1713,272.6416,411 -538.4773,323.4864,416 -687.7765,299.5985,417 -469.7996,272.7246,418 -610.1409,251.8227,419 -749.885,391.5668,420 -710.47,273.3218,422 -685.3878,298.4041,423 -687.3617,301.672,432 -699,281,447 -446.8241,424.0145,451 -693.64,286.12,453 -481.384,267.112,455 -511.1057,312.04,456 -685.2881,299.5985,458 -746.3018,287.6545,460 -763,269,462 -688,303,463 -570,209,464 -501.4,247,465 -893,461,467 -829,331,468 -823.0001,339.4,471 -555,214,472 -687.4,303.4,473 -830.4401,335.08,474 -685,279.4,476 -569.8,209.8,477 -828.3665,343.144,483 -447.4,424.36,484 -459.2657,453.0449,485 -753.7169,289.2304,487 -568.36,209.8,488 -710.92,273.16,489 -795.8801,317.224,493 -490.024,256.744,497 -591.9761,218.728,501 -448.8977,427.3987,507 -509.8118,312.7368,509 -538.4773,323.4864,512 -782.1337,305.5705,515 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0019.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0019.csv deleted file mode 100644 index cf1c392c66f8d451c1c260a6de8dd86c12b482ee..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0019.csv +++ /dev/null @@ -1,66 +0,0 @@ -1103.8,379,387 -915,431,395 -868.6,305.8,402 -790,339,405 -548.2,505,421 -869,305,435 -659,248,437 -590.2,290.2,438 -793.0001,343.72,445 -603,256,494 -973.0001,361,506 -981.4,530.2,511 -912.52,408.52,396 -788,318,399 -847,322,401 -816.6161,312.04,409 -559.3792,317.5144,418 -703.3036,291.2377,419 -804,321,428 -797.32,325,430 -793,344,436 -952.6,376.6,439 -949,370,441 -945.4,373,442 -942.76,378.28,443 -642,254,444 -951.4,373.96,446 -788.6801,317.8,447 -658.6,248.2,448 -912.52,352.36,449 -657.64,248.68,454 -817.48,312.04,455 -911.6561,356.968,456 -652.6,255.4,464 -615.88,365.32,471 -650.2,260.2,473 -788.9681,318.952,474 -685,257.32,475 -797.6081,325.864,477 -795.272,323.4864,480 -484.7296,423.8155,485 -541.4633,478.7576,486 -555,322,487 -946.6,376.6,488 -497.8,378.28,490 -937.0001,380.2,491 -643,254.2,492 -790.6,339.4,497 -949.96,368.2,498 -817.0001,311.8,499 -974.2,361,500 -867.88,304.84,501 -911.6561,408.808,503 -574.12,310.6,505 -676.36,244.36,507 -868.4561,305.128,509 -946.2161,375.976,513 -484.1489,424.0145,516 -971.445,361.8065,523 -692.7531,249.8321,525 -876.8889,334.435,529 -739.1354,230.3236,530 -812.1925,309.5518,531 -792.8832,319.9032,534 -681.8046,258.9891,535 -989.9582,531.3109,537 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0020.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0020.csv deleted file mode 100644 index f47ddcfb10adc40e9831777b3ba93ed936b59fbb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0020.csv +++ /dev/null @@ -1,74 +0,0 @@ -850.6,343,388 -683,301,397 -698,294,398 -853,364,405 -1021,394,441 -856.36,368.2,445 -860.2,349,469 -1019.8,401.8,474 -926.2,122.2,500 -879,335,512 -644.2,302.2,526 -683,297,529 -609.4,349,531 -850,343,399 -882.2801,336.232,409 -610.1409,347.3742,418 -757.0514,316.32,419 -601.48,538.12,421 -860.6801,349.48,430 -856.6,369.4,436 -711.4,272.2,437 -641.8,316.36,438 -1027,401.8,439 -1018.6,399.4,442 -1016.2,404.2,443 -695,278,444 -850.6,343.72,447 -710.92,273.16,448 -879.4,335.08,455 -982.5041,381.16,456 -702.28,287.56,466 -851.1761,343.144,467 -857.9777,347.3742,470 -1011.4,406.6,476 -696,276,477 -653,281,478 -853.0001,364.6,479 -1023.4,392.68,480 -880.6,335.8,481 -628.84,336.52,485 -1046.44,385.48,486 -729.64,267.4,487 -1046.095,386.6897,492 -947.5572,359.3182,494 -879.3772,334.435,496 -853.7973,344.9855,497 -1079.538,563.5596,499 -851.1761,343.144,502 -856.3601,369.064,505 -998.8165,130.3927,511 -1078,404,514 -855.3233,368.0273,518 -1025.359,399.1313,519 -884.3537,336.9232,520 -859.4705,349.3648,521 -979.2086,377.2341,523 -664.6,285.4,524 -680.6801,303.4,527 -669.4,286.6,528 -1091.8,431.8,533 -681.1409,301.672,535 -696.52,397,536 -664.84,287.56,537 -1058.2,415,538 -553.9601,408.808,539 -654.1841,279.208,544 -1082.728,417.448,545 -678.376,389.8,546 -1014.991,432.3089,547 -1075.125,403.2784,549 -608.1502,346.8766,553 -1075.955,562.3651,554 -606.5577,301.9873,556 -1025.193,398.136,557 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0021.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0021.csv deleted file mode 100644 index 8643d9269597268eb468be77bc49aafa88f6fb4f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0021.csv +++ /dev/null @@ -1,79 +0,0 @@ -1140.04,443.08,128 -696.52,319.24,196 -1047.4,500.2,395 -922.6,385,428 -672.04,384.04,431 -911.8,410.2,436 -1081,439,442 -751,319,464 -749,325,466 -656.2,393.4,473 -1085.8,435.4,480 -688,344,512 -726,345,513 -729.4,338.2,515 -1154.2,471.4,517 -933.4,375.4,533 -467.5601,170.344,551 -603.4,457,558 -739,340.6,563 -704,329,567 -693.4,361,579 -904.6,383.8,388 -730,343,397 -744,334,398 -904,383,399 -807.2159,359.3182,419 -913.96,389.8,430 -755.8,311.8,437 -1089.64,443.08,439 -1079.56,445.96,443 -740,319,444 -911.08,409.96,445 -905.32,384.04,447 -755.5601,312.04,448 -934.1201,375.4,455 -1041.947,417.7937,456 -911.1282,387.9836,470 -1075,448.6,476 -695,321,478 -908.2,406.6,479 -937.0001,376.6,481 -1106.92,424.36,486 -775.72,307.72,487 -931.6319,374.2481,496 -935,376,504 -1141,443.8,505 -1087.567,440.6033,507 -936.1937,376.3217,508 -1040.123,420.2323,510 -710,322,511 -713,326,514 -1122.76,456.04,521 -695.6561,318.952,523 -1147.701,453.0449,524 -1137.333,442.6768,527 -655.4283,391.6663,528 -1153.092,610.6385,529 -1087.898,439.9398,531 -1102.828,153.2852,535 -978.91,389.178,537 -1079.272,444.7505,538 -1085.908,438.9444,541 -1118.953,434.565,542 -1133.286,441.7314,543 -602.92,457.48,544 -1078.941,469.7996,554 -741,340,559 -686.2,367,565 -697,319,569 -697,358.6,571 -704.2,328.6,575 -691,363.4,576 -755.7905,446.8241,577 -759.4401,445.9117,586 -604.1689,457.8557,589 -671.055,384.4005,591 -742.7186,438.1482,597 -602.9745,459.6473,601 -731.9691,434.565,604 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0022.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0022.csv deleted file mode 100644 index 8770add8babb59ac6fa087870a7a83fe2b2e08ae..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0022.csv +++ /dev/null @@ -1,79 +0,0 @@ -1184.68,444.52,244 -992,414,405 -764.2,377.8,438 -1173,433,441 -811,330,444 -822,338,466 -992.2,413.8,479 -754.6,400.6,485 -865.0001,331,493 -738,412,516 -1205.8,427,537 -1010.44,382.6,567 -1227.88,438.76,570 -1243,467.8,595 -998,418,623 -756,374,624 -803,357,629 -818,350,398 -987,392,399 -1006.6,392.2,428 -998.92,398.44,430 -754.1201,402.76,431 -1178.92,440.2,439 -1169.8,437.8,442 -1168.84,443.08,443 -987.4,391.24,447 -995.3329,395.15,470 -735.4,414.28,473 -1161.4,445,476 -762,337,478 -1173.4,433,480 -1018.723,381.713,496 -1015,382,504 -1228.6,439,505 -778,340,511 -802.6,355,515 -759.9377,336.9232,523 -1108.203,144.3273,533 -1061.025,391.6663,534 -1168.437,442.6768,535 -1168.52,466.8136,541 -693.64,483.4,542 -816,357,543 -764.2,386.2,545 -773,347,546 -767.8,382.6,550 -769,380.2,552 -854.9916,463.8276,553 -693.7485,481.7436,554 -832.2982,452.4809,556 -692.5541,484.7296,557 -1010.2,382.6,563 -1004.968,393.256,569 -878.1329,368.0273,573 -1168.022,438.9444,574 -1009,383,580 -1174,437,581 -1167,443,582 -761.8,381.4,583 -693.5825,484.1489,585 -1136.2,499,589 -1141.646,433.9678,607 -1177.976,446.4094,608 -995.3329,416.0519,613 -1151.201,502.6454,618 -735.4,415,620 -1169,437,625 -803,352,628 -1192.6,421,631 -770.2,385,633 -777.16,346.6,638 -992.8721,413.992,640 -1170.511,438.5297,648 -993.8399,416.5495,658 -1128.209,421.5262,659 -1177.478,445.9117,663 -1111.786,410.0799,664 -1136.869,430.9818,667 -724.8027,577.8923,669 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0023.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0023.csv deleted file mode 100644 index bfc98d2d2909afa0f564947bdbbd53fc457077d6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0023.csv +++ /dev/null @@ -1,76 +0,0 @@ -1174.6,418.6,194 -1031.8,413.8,436 -847,333,454 -1045,374.2,455 -845,341,464 -1049.8,375.4,481 -785,415,485 -782.2,347.8,523 -800,357,549 -801,390,552 -1041.4,376.6,560 -784,389,578 -1214.2,422.2,603 -796,393,630 -1181.8,395.56,639 -845,357,398 -1019,387,399 -1033.48,394.12,430 -787.2401,414.28,431 -1213.48,421.48,439 -1208,416,441 -1207,421,442 -1020.52,386.92,447 -1028.179,392.164,470 -1208.2,415,480 -890.92,332.2,493 -1047,375,504 -831.4,364.6,515 -1205.762,426.0881,535 -844,364,543 -794.2,399.4,545 -797.8,394.6,550 -1040,377,565 -1210,419,566 -1203,426,567 -791.8,393.4,568 -737.1281,504.8849,569 -1177.478,419.0379,572 -1028.179,410.0799,574 -769.96,430.12,576 -1033,414,577 -1205,420,579 -830,360,580 -830,366,581 -801.4,397,583 -800.2,356.68,584 -1205.762,421.9409,586 -1028.676,411.5729,587 -1160.557,406.5963,588 -1144.632,395.15,590 -1021.211,386.6897,593 -1099.842,383.2061,595 -1031.165,391.6663,597 -1219.24,425.8,604 -777.356,603.1736,606 -1158.368,405.8995,609 -1219,426,614 -787,413,615 -1205,427,616 -1208.872,413.992,623 -1214.056,428.1617,624 -1166,461,627 -830,363,628 -791,393,629 -1039,387,631 -1213,410,635 -801,397,638 -1030,414,640 -1207.72,414.28,645 -1037.8,386.92,646 -1205.416,426.088,648 -1207.144,422.632,651 -737.5429,506.1291,655 -902.7674,469.7996,658 -782.1337,606.5577,660 -785.7168,538.4773,661 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0024.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0024.csv deleted file mode 100644 index 86ab463d0c2cb7c9842765ac4fc04e7c2aa86538..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0024.csv +++ /dev/null @@ -1,67 +0,0 @@ -1227,427,474 -809.8,404.2,550 -1222.6,422.2,579 -1226.2,415,626 -1232.2,430.12,628 -1227.88,420.04,629 -783.7841,446.824,637 -841.0001,375.4,651 -1034,394,399 -1049.32,401.32,430 -1225,418,441 -1034.92,394.12,447 -856,344,454 -855,352,464 -1046.095,398.136,470 -1062,382,481 -901.0001,340.84,493 -842.2,377.8,515 -788.6801,361,523 -807.4,415,545 -809,371,549 -813,404,552 -1055.8,383.8,560 -1056,383,565 -1227,421,566 -802.6,407.8,568 -755.7905,527.6945,569 -1046.095,419.0379,574 -1049,421,577 -840,373,580 -841,378,581 -1043.606,419.0379,587 -1180.464,411.5729,588 -1035.727,394.9841,593 -1111.786,387.9836,594 -1046.095,399.1313,595 -797.2626,625.5685,598 -800.2,429.4,601 -1222,429,602 -1224.424,415.72,603 -1183,464,605 -841,376,606 -808,408,608 -1054.6,393.4,609 -1230,411,610 -1046,422,613 -1223.56,415.72,614 -924.1669,491.1992,619 -798.2579,625.0708,620 -807.2159,559.9764,621 -1227.4,421,633 -812,399,634 -1222.12,422.92,636 -1229.8,411.4,639 -1064.011,380.2201,645 -841,384,646 -801,412,647 -789,445,648 -818.3441,562.6,653 -901.2881,341.416,654 -801.0641,439.912,655 -900.9425,341.0704,656 -774.3701,356.3322,659 -738.5383,559.3792,662 -899.7814,341.4023,663 -914.7114,368.2761,664 -914.7114,366.4846,666 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0025.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0025.csv deleted file mode 100644 index d9d3d1dac5a4028b524074c60ab88384e6625d1f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0025.csv +++ /dev/null @@ -1,59 +0,0 @@ -1075.24,386.92,481 -1065.16,388.36,560 -818.2,419.8,583 -818.2,376.6,584 -1204.6,400.6,612 -768.52,541,659 -1044,400,399 -1045,399.88,447 -1055.053,404.1079,470 -906.76,348.04,493 -849.4,386.2,515 -791.5601,369.64,523 -814,427,545 -815,380,549 -817.0001,413.8,550 -1064,389,565 -811,417,568 -768.2321,542.2097,569 -1055.053,425.0098,574 -1059,427,577 -847,382,580 -848,387,581 -1053.56,424.0145,587 -1187.929,414.0612,588 -1053.56,404.1079,595 -807.4,440.2,601 -1194,468,605 -815,418,608 -1063,400,609 -1056,428,613 -821.5486,574.3091,621 -819,408,626 -790.696,457.192,628 -1069.983,386.192,630 -808,422,632 -835.6241,578.152,635 -906.4721,348.328,636 -907.1633,347.2913,638 -777.3561,365.2902,639 -747.4962,574.3091,640 -908.7394,347.3742,641 -920.6833,374.2481,642 -921.8777,373.6509,643 -790,650,645 -1068.788,384.4005,648 -819.4,646.6,650 -1133.186,491.1992,652 -1139,399,654 -1200,426,655 -806.2,424.6,656 -809.8,425.8,658 -1045,400.6,660 -791.0417,457.1921,661 -1065.448,388.072,662 -828.7121,642.0881,663 -1056.463,405.3521,665 -828.3665,641.7425,666 -919.1903,374.2481,667 -825.1318,574.3091,669 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0026.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0026.csv deleted file mode 100644 index 1f134cc580a9c95160d0aae42f8fd5fd5cd778b9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0026.csv +++ /dev/null @@ -1,68 +0,0 @@ -1067.8,430.6,436 -816,436,458 -829.0001,422.2,552 -1073.8,392.2,565 -801.64,467.56,576 -854.2,391,606 -830.2,428.2,611 -856.6,399.4,631 -804.52,667.72,644 -831.88,657.64,646 -1053,404,399 -1053.64,404.2,447 -1064.011,407.0939,470 -1081,389.8,481 -913.96,352.36,493 -856.6,393.4,515 -795.88,376.84,523 -824.2,433,545 -821,388,549 -825.4,422.2,550 -818.2,425.8,568 -780.6737,554.6513,569 -1064.011,427.9958,574 -1068,431,577 -854,388,580 -855,394,581 -824.2,425.8,583 -820.36,385.48,584 -1063.513,428.9911,587 -823,426,608 -1066,432,613 -839.4645,588.6418,621 -827,416,626 -801.0641,467.5601,628 -1081.927,389.178,630 -817,430,632 -847.7201,590.248,635 -913.3841,353.512,636 -913.3842,351.4384,638 -759.9378,585.7553,640 -914.7114,353.3462,641 -929.0441,377.2341,643 -1079.538,387.9836,645 -1143.139,493.6875,647 -1209,427,649 -814.6,433,650 -818.2,434.2,651 -780.04,553.96,652 -1053.4,404.2,653 -799.3361,465.4865,654 -842.5361,654.1841,656 -842.8817,652.1105,658 -926.6553,381.713,659 -832.2982,585.0587,660 -800.2,659.8,661 -832.1681,657.6401,663 -1031.165,120.4394,665 -1064.011,433.9678,666 -809.8,433,667 -1067.176,410.536,670 -950.7089,506.9585,674 -780.3281,553.9601,675 -950.5432,505.6314,677 -844.5406,588.2437,678 -780.342,553.4072,679 -954.1264,509.8118,680 -941.5852,502.6454,681 -778.5505,552.81,682 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0027.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0027.csv deleted file mode 100644 index e9d62ce6393073b5344cd4b6ca10c544807f8248..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0027.csv +++ /dev/null @@ -1,73 +0,0 @@ -875.8,393.4,543 -813.16,477.64,576 -817.0001,427,578 -829.0001,434.2,607 -863.5601,398.44,634 -856.6,664.6,658 -833.8,410.2,678 -1063,407,399 -1079.8,434.2,436 -1065.16,407.08,447 -827,444,458 -1075.955,410.0799,470 -1090.6,392.2,481 -866.2,400.6,515 -835.0001,441.4,545 -832,394,549 -1084.6,394.6,565 -826.6,435.4,568 -795.1889,567.0929,569 -1075.955,430.9818,574 -863,395,580 -865,402,581 -1075.954,431.4795,587 -863.8,398.2,606 -833,434,608 -841,437,611 -837,425,626 -813.1601,477.928,628 -1090.884,392.164,630 -866.2,406.6,631 -827,438,632 -923.7521,356.968,636 -921.6785,357.6592,638 -774.8677,598.197,640 -923.6693,356.3322,641 -936.2104,384.4005,643 -1090.287,391.5668,645 -849.16,669.16,646 -1155.581,496.1758,647 -824.2,441.4,650 -829.0001,442.6,651 -794.44,566.92,652 -1064.2,406.6,653 -811.7777,475.8545,654 -858.0881,666.2801,656 -936.6085,386.6897,659 -853.7973,599.3914,660 -795.8801,567.7841,668 -968.4591,514.5894,669 -795.272,565.3511,671 -959.5011,511.6034,673 -796.4664,567.1428,674 -1083.88,394.12,675 -1018.723,120.4394,676 -1075.955,430.9818,677 -829.6108,468.8043,680 -921.8777,355.735,682 -1066.997,407.0939,683 -805.0001,383.8,684 -824,441,685 -826.6,443.8,687 -1079,413,688 -829,440,689 -824.6801,441.64,690 -820.36,441.64,692 -856.36,664.84,693 -774.4529,598.1969,696 -812.1925,476.2692,697 -1075.954,411.5729,699 -956.5151,511.1057,701 -921.6786,356.8298,703 -1088.396,391.6663,704 -810.7991,466.8136,705 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0028.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0028.csv deleted file mode 100644 index c8991d633c5ee2617213d1d0543636e468ebad4d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0028.csv +++ /dev/null @@ -1,76 +0,0 @@ -873,413,427 -1098.28,392.68,481 -839.8,470.2,485 -901,358,487 -1222.12,417.16,510 -873.64,412.84,513 -862.1201,673.48,662 -807.4,391.24,711 -1088.2,435.4,436 -1072.36,408.52,447 -883.0001,398.2,543 -843.4,448.6,545 -1091.8,395.8,565 -807.6305,577.4609,569 -821.8,486.28,576 -870,402,580 -872,407,581 -1085.908,433.9678,587 -871.0001,404.2,606 -841,441,608 -849,444,611 -844,431,626 -821.8,486.5681,628 -1099.842,392.164,630 -873.4,412.6,631 -835,445,632 -872.2,405.64,634 -928.9361,360.424,636 -927.8994,359.7328,638 -929.6413,359.3182,641 -943.3768,387.9836,643 -1097.454,391.5668,645 -1165.534,496.1758,647 -832.6,448.6,650 -837.4,449.8,651 -822.1457,484.1489,654 -869.8,674.2,658 -941.5852,389.178,659 -809.7041,578.152,668 -979.2086,516.9782,669 -810.2019,577.295,671 -973.9333,523.5473,673 -807.2159,577.8923,674 -1006.281,117.9511,676 -1086.704,434.565,677 -839.8,416.2,678 -839.564,476.2692,679 -929.0441,359.3182,680 -809.8,389.8,682 -832,448,683 -835.0001,451,684 -1088,415,685 -838,448,686 -833.32,448.84,687 -827.5601,448.84,688 -870.76,674.92,689 -822.1458,483.7342,691 -929.1436,359.3182,694 -1095.861,391.6663,695 -817.9655,473.98,696 -1091,396,697 -834,455,700 -1073.466,409.0846,701 -827.8,448.6,702 -844.6,443.8,703 -849.4,674.2,704 -868,388,706 -825,433,707 -824.2,574.6,709 -862.6,680.2,710 -1083.419,413.6465,713 -1098.28,393.256,714 -1095.861,392.9105,716 -932.6273,353.3462,717 -879.3772,610.6385,718 -807.2159,575.8021,719 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0029.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0029.csv deleted file mode 100644 index 31691113b30c829de33514c67c0e8c65ff0a25f8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0029.csv +++ /dev/null @@ -1,73 +0,0 @@ -874,416,403 -879.4,371.08,448 -808.84,394.12,523 -766,414,530 -883.0001,404.2,544 -1093.096,393.256,560 -841.0001,470.2,601 -837.4,446.2,607 -873.4,410.2,634 -836.2,451,650 -816.04,585.64,652 -868.6,393.4,726 -874.6,401.8,728 -1073.8,407.08,447 -840.52,470.44,485 -900,360,487 -875.08,415.72,513 -883.0001,400.6,543 -844.6,453.4,545 -824.6801,492.04,576 -870,404,580 -873,410,581 -871.0001,407.8,606 -843,445,608 -852,449,611 -846,435,626 -825.2561,491.752,628 -1099.842,389.178,630 -874.6,416.2,631 -837,450,632 -927.2081,362.152,636 -929.6413,359.3182,641 -943.3768,387.9836,643 -1097.454,391.5668,645 -1165.534,490.7015,647 -839.8,454.6,651 -824.2193,490.3697,654 -878.2,681.4,658 -941.5852,389.178,659 -816.6161,586.7921,668 -979.2086,520.5613,669 -980.403,520.5613,673 -814.3823,585.0587,674 -841.0001,419.8,678 -842.0524,481.2459,679 -929.0441,359.3182,680 -808.6,393.4,682 -834,453,683 -840,452,686 -836.2,451.72,687 -829.0001,453.16,688 -824.6341,488.7108,691 -929.1436,359.3182,694 -1098.349,389.178,695 -1092,394,697 -830.2,453.4,700 -847.0001,448.6,701 -857.8,681.4,702 -867,388,703 -826,438,704 -1100.008,391.528,709 -887.8375,619.0989,712 -944.5712,389.178,718 -823.0001,425.8,719 -843.4,435.88,722 -809,393,723 -857,682,724 -825,423,725 -820,395,727 -830.4401,453.7361,730 -1074.088,407.08,732 -954.0268,421.5262,733 -1084.912,410.0799,736 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0030.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0030.csv deleted file mode 100644 index a12e15a76cc0323b1293b784d86aea36a70b0f8b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0030.csv +++ /dev/null @@ -1,69 +0,0 @@ -834,505,418 -1079.56,385.48,481 -1247,377,486 -835.0001,455.8,550 -1238.2,398.2,566 -859.2401,420.04,581 -1235.08,411.4,616 -862.6,427,631 -1209.4,404.2,649 -825.4,467.8,684 -820.6,469,700 -790.1201,407.08,717 -824.2,431.8,751 -865.0001,426.088,752 -862,427,403 -862.1201,427.24,513 -836.2,469,545 -856.6,413.8,580 -857.8,418.6,606 -833,460,608 -843,463,611 -836,449,626 -860.2,421,634 -908.2001,369.064,636 -908.7394,365.2902,641 -925.4609,391.5668,643 -1079.538,384.4005,645 -827.8,465.4,650 -831.4,470.2,651 -820.0721,509.0321,654 -924.1669,391.6663,659 -825.1318,606.5577,674 -827.8,433,678 -839.564,498.6641,679 -911.1282,362.9014,680 -790.6,406.6,682 -825,468,683 -831,467,686 -826.1201,467.56,687 -820.36,469,688 -909.237,364.2948,694 -1078.443,384.2014,695 -815,453,704 -1079.272,386.344,709 -926.6553,392.164,714 -809.8,440.2,715 -834.76,448.84,716 -812.2,436.6,719 -802.6,405.4,721 -858,411,722 -820.0721,469.2881,723 -1056.808,403.624,724 -1066.997,407.0939,726 -1065.205,405.8995,727 -810,434,728 -1204.6,405.4,731 -829.0001,460.36,734 -1073.051,428.1617,739 -907.1633,365.9536,740 -835.8813,499.0623,741 -943.3768,430.9818,742 -1072.371,427.3987,743 -839,463,747 -832,470,748 -833,465,750 -1056.463,403.2784,755 -911.3105,363.8801,758 -944.5712,430.9818,759 -997.1246,534.8941,760 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0031.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0031.csv deleted file mode 100644 index d9dfecdd42d2f913c346bf35275cae8869bd9f46..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0031.csv +++ /dev/null @@ -1,75 +0,0 @@ -1239,374,482 -901.0001,370.6,493 -1235.08,397,596 -1240.6,395.8,597 -1232.2,401.32,616 -817.48,510.76,628 -1232.2,381.16,629 -857.8,430.6,631 -833.8,467.8,701 -847.0001,407.8,720 -814.6,414.28,749 -857,431,403 -1238.2,371.8,486 -1233.64,389.8,566 -829,464,608 -839,467,611 -831,453,626 -854.2,424.6,634 -901.2881,370.792,636 -918.2946,391.5668,643 -823.0001,470.2,650 -829.0001,473.8,651 -817.9985,513.1793,654 -916.702,394.1547,659 -828.1178,613.1269,674 -823.0001,437.8,678 -834.5874,503.6407,679 -900.3787,366.4846,680 -784.6,411.4,682 -821,472,683 -821.8,472.6,684 -827,471,686 -821.8,473.32,687 -816.04,473.32,688 -904.2604,364.2948,694 -1070.978,381.713,695 -817.0001,473.8,700 -810,458,704 -1070.632,382.888,709 -917.6973,392.164,714 -805.0001,445,715 -829.0001,448.6,716 -782.92,411.4,717 -806.2,441.4,719 -852,415,722 -1048.168,401.896,724 -805,438,728 -1196,400,729 -832.2982,502.6454,733 -939.7936,430.9818,734 -834,468,736 -829,474,737 -829,469,738 -1048.168,401.2049,741 -903.0161,365.9536,742 -941.5852,430.9818,743 -993.5414,534.8941,744 -1070.978,382.5424,745 -818.2,515.8,746 -1237,404,747 -1235.8,398.2,748 -1067.176,427.816,750 -824.2,465.4,752 -1201,400,753 -1201,399.4,756 -818.3441,514.2161,757 -836.6609,504.8849,760 -825,465,761 -833,473,765 -816,474,766 -805,445,767 -818,516,768 -817,511,769 -1058.536,404.1079,773 -995.3329,535.4913,774 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0032.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0032.csv deleted file mode 100644 index 4ef4f6b7a07e66d7835e120a8d60e589869ec2d7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0032.csv +++ /dev/null @@ -1,77 +0,0 @@ -1227.88,386.92,439 -845.8,383.8,454 -1060.84,379.72,481 -857.8,418.6,544 -816.04,516.52,576 -1215.784,379.432,603 -1184.68,434.44,605 -1221.4,387.4,627 -1040.68,398.44,653 -777.4,413.8,682 -821.8,482.2,698 -821.8,466.6,730 -852.04,431.56,740 -852,432,403 -1223.8,363.4,486 -893.8,370.6,493 -1222.12,389.8,596 -1228.6,387.4,597 -825,466,608 -835,469,611 -826,455,626 -814.6,513.64,628 -851.8,431.8,631 -892.6481,370.1009,636 -819.4,471.4,650 -824.2,476.2,651 -815.9249,515.2529,654 -909.237,391.6663,659 -828.1178,616.1129,674 -832.0991,506.1291,679 -893.2123,366.4846,680 -817,475,683 -817.0001,475,684 -823,473,686 -813.16,476.2,688 -896.7954,365.2902,694 -812.2,476.2,700 -830.2,469,701 -805,460,704 -1061.992,379.432,709 -911.7253,392.164,714 -777.16,414.28,717 -801,444,719 -841.0001,409,720 -846,416,722 -1041.256,398.44,724 -799,440,728 -832.2982,506.2286,733 -932.6273,430.9818,734 -830,470,736 -825,476,737 -825,471,738 -935.6132,430.9818,743 -993.5414,534.8941,744 -1060.61,378.3953,745 -815.8,518.2,746 -1223.8,389.8,748 -1060.264,424.36,750 -1189,392,752 -1190.2,392.2,753 -816.6161,517.6721,754 -834.5873,506.9585,755 -821,467,756 -812,476,758 -800,448,759 -814,514,761 -1051.071,401.6196,762 -980.403,532.5053,763 -1043.109,398.136,765 -829.0001,475,766 -834.0898,505.6314,767 -1061.8,379,768 -1086,312,770 -849,426,771 -892.6481,365.9536,772 -818,516,773 -835.0001,469,774 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0033.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0033.csv deleted file mode 100644 index 5812d0ac3de6d9243a33825cc830be80c83398ce..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0033.csv +++ /dev/null @@ -1,76 +0,0 @@ -832.1681,381.16,464 -849.16,365.32,487 -837.64,412.84,515 -821.8,470.44,545 -818.2,463,550 -1199.8,367,627 -838.6,422.2,634 -807.4,437.8,678 -811.72,471.88,687 -805.96,473.32,688 -790.6,446.2,715 -813.4,465.4,751 -1204.84,366.76,439 -832,379,454 -1045,366.76,481 -1197.4,346.6,486 -879.4,364.6,493 -852.04,415.72,544 -811.72,515.08,576 -1193.32,360.424,603 -817,464,608 -828,467,611 -818,452,626 -842.2,428.2,631 -812.2,470.2,650 -818.2,473.8,651 -1024.84,386.92,653 -811.7777,513.1793,654 -894.3071,384.2014,659 -831.1038,616.1129,674 -829.6108,503.6407,679 -810,472,683 -816,471,686 -878.8796,359.3182,694 -806.2,473.8,700 -823.0001,466.6,701 -798,458,704 -1049.896,365.608,709 -896.7954,383.2061,714 -765.4,412.6,717 -792,443,719 -830.2,405.4,720 -1025.704,386.344,724 -790,438,728 -813.16,464.68,730 -825.1318,502.6454,733 -925.4609,423.8155,734 -823,468,736 -819,474,737 -818,469,738 -843.4,427.24,740 -989.9582,524.1445,744 -1044.021,365.9536,745 -812.2,515.8,746 -1167.4,373,753 -814,464,756 -805,474,758 -790,446,759 -810,512,761 -1033.653,389.178,762 -980.403,523.5474,763 -1028.179,386.192,764 -823.0001,472.6,765 -828.1178,502.6454,766 -1044,367,767 -839,422,769 -814,514,771 -827.8,466.6,772 -824.6341,105.5095,773 -825.1318,102.5235,774 -806.248,474.472,777 -1025.359,386.6897,781 -979.2086,524.1445,783 -1148.2,357.4,784 -822,511,785 -1043.56,409.96,788 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0034.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0034.csv deleted file mode 100644 index 53f4109ef7d5522397e2e956aad832eafd8f5467..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0034.csv +++ /dev/null @@ -1,74 +0,0 @@ -841.0001,410.2,544 -1193.32,360.424,573 -796.6,458.2,578 -1193.8,362.2,623 -812.2,507.4,633 -759.4,410.2,717 -810.28,460.36,730 -1186.12,356.68,748 -811.4321,510.76,754 -1155.88,361,784 -1134.28,345.16,798 -825,375,454 -825.2561,375.976,464 -1034.92,356.68,481 -1184.2,333.4,486 -841.96,359.56,487 -814.6,459.4,550 -1179.496,346.6,603 -814,459,608 -825,462,611 -814,448,626 -837.4,423.4,631 -833.8,417.4,634 -809.8,465.4,650 -1016.2,377.8,653 -809.7041,509.0321,654 -886.8421,379.2247,659 -802.6,434.2,678 -827.1224,498.6641,679 -807,468,683 -813,467,686 -803.08,470.44,688 -871.7132,352.1518,694 -802.6,470.2,700 -819.4,461.8,701 -794,454,704 -1034.344,356.968,709 -887.8375,377.2341,714 -787,439,719 -823.2401,399.88,720 -1017.064,377.704,724 -785,435,728 -825.1318,499.0623,733 -918.2946,416.6491,734 -820,463,736 -816,469,737 -837.64,422.92,740 -986.375,513.395,744 -1033.653,355.5857,745 -811.0001,511,746 -809.8,460.6,751 -1156.6,361,753 -810,460,756 -802,470,758 -786,442,759 -809,508,761 -1023.7,379.2247,762 -819.4,467.8,765 -828.1178,499.6595,766 -1034,357,767 -824.2,461.8,772 -802.7921,469.2881,775 -1014.991,376.3217,776 -820,507,779 -1034.92,399.88,780 -1183.45,347.3742,781 -1182.952,349.3649,782 -1036.141,354.3415,786 -1016.235,376.7364,787 -817.0001,461.8,788 -1136.2,345.4,790 -1136,346,792 -796,459,793 -809.8,507.4,794 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0035.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0035.csv deleted file mode 100644 index fef56845bb91cd9435b39a213e4adc68512effc0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0035.csv +++ /dev/null @@ -1,49 +0,0 @@ -847.72,355.24,398 -869.8,313,493 -854.92,362.44,544 -837.64,369.64,580 -1154.44,277.48,622 -798.76,405.64,715 -1029.16,341.416,750 -879.4,566.92,815 -855.4,362.2,824 -893.8,399.4,825 -1167.4,301,878 -826.2929,334.8496,464 -1155.304,277.48,603 -826.6,425.8,650 -852.0057,457.8557,679 -825,427,683 -832.6,429.4,686 -820.6,430.6,700 -890.8235,329.4583,714 -831.88,363.88,720 -796.6,398.2,728 -834,429,737 -849.16,381.16,740 -1011.457,448.8977,744 -820,431,758 -841.96,418.6,772 -821.8,431.272,775 -845,466,779 -812.2,421,789 -1123.73,287.6545,794 -826.1201,427.24,797 -826.9841,427.816,798 -836.2,471.88,801 -1155.4,278.2,820 -849,382,822 -766,380,833 -805,412,843 -849.4481,381.16,886 -898.1201,397,887 -1167.4,284.392,891 -888.5009,330.7025,906 -1026.188,339.4116,911 -834.5874,468.8043,921 -889.3304,399.1313,924 -932.6273,370.0677,933 -1025.193,296.6125,934 -1022.207,298.4041,948 -889.6291,327.0695,949 -1025.79,341.4023,954 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0036.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0036.csv deleted file mode 100644 index d4529e2c737b1aab59540d956d98bb5b03af8b75..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0036.csv +++ /dev/null @@ -1,49 +0,0 @@ -844.6,404.2,611 -850.6,367,631 -1156.6,267.4,748 -840.8081,457.192,754 -840.52,412.84,765 -1027,323.8,825 -868.6,298.6,493 -856.36,349.48,544 -1146.664,258.472,603 -836.2,415,686 -824.2,417.4,700 -887.8375,314.5284,714 -800.2,392.2,715 -797.8,385,728 -837,415,737 -850.6,366.76,740 -1015.04,430.9818,744 -823,418,758 -844.84,405.64,772 -823.5281,417.448,775 -814.6,407.8,789 -829.0001,412.84,793 -830.4401,413.992,794 -887.8,551.8,796 -850,368,798 -856.6,349,799 -896.2,385,800 -765.4,368.2,801 -807,399,802 -899.5601,382.6,805 -886.4273,314.1136,807 -1023.7,321.9933,808 -839.564,453.8744,809 -890.8235,386.192,810 -932.6273,352.1518,811 -1022.207,278.6966,812 -1018.624,280.4882,813 -886.0459,312.7368,814 -1022.207,323.4864,815 -823.2401,417.16,817 -852.04,348.04,819 -830.4401,395.56,820 -1103.326,259.7853,822 -1101.037,258.9891,824 -1026.28,323.56,827 -826.9841,401.896,828 -1157.032,270.568,829 -1147.701,251.9056,830 -1061.622,269.7386,832 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0037.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0037.csv deleted file mode 100644 index 7e895bc1393fe6396e4f1be7e859b1fd4cff5af7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0037.csv +++ /dev/null @@ -1,60 +0,0 @@ -838.6,399.4,458 -841.96,333.64,515 -831.4,397,650 -803.8,375.4,715 -833.32,389.8,730 -1150.6,243.4,748 -847.72,438.76,795 -1144,238,797 -826.1201,398.44,816 -1025.8,303.4,821 -857.8,330.76,544 -1141.48,236.008,603 -848.2,387.4,611 -851.8,349,631 -839.8,397,686 -826.6,399.4,700 -887.8375,296.6125,714 -799,369,728 -840,397,737 -852.04,348.04,740 -1018.624,409.4827,744 -847.7201,438.1841,754 -847.72,386.92,772 -818.2,389.8,789 -831.88,397,793 -896.2,531.4,796 -766.6,351.4,801 -809,381,802 -902.4401,362.44,805 -1021.211,302.0868,808 -844.5406,436.4561,809 -893.8094,365.2902,810 -932.6273,334.2359,811 -1019.221,257.7947,812 -1018.624,258.9891,813 -886.0459,294.8209,814 -1022.207,301.9873,815 -853.48,329.32,817 -833.32,376.84,818 -1098.349,237.3905,819 -1097.454,237.49,820 -832.6,394.6,828 -1023.285,301.672,830 -1010.263,410.0799,831 -1096.856,236.8928,834 -1151,244,835 -843.4,393.4,836 -1137.333,235.3168,837 -1022.207,302.5845,839 -1148.68,247.24,840 -832.5137,424.0145,841 -1150.12,242.92,842 -1141.48,229.096,843 -1148.392,220.456,844 -1025,303,846 -851.1761,327.592,848 -1147.24,219.88,849 -900.9425,361.8065,851 -1150.604,272.7246,854 -900.3787,359.3182,855 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0038.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0038.csv deleted file mode 100644 index d69ec1512e7b8edaf26df80d35fc91ab08e59d5e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0038.csv +++ /dev/null @@ -1,55 +0,0 @@ -847.72,307.72,398 -853.48,394.12,485 -865.0001,261.928,493 -820.36,373.96,578 -835.0001,357.4,626 -850.6,423.4,771 -1092.52,217,787 -835.6241,379.432,793 -854.2,313,799 -859.2401,317.8,544 -851.8,371.8,611 -853.0001,332.2,631 -842.2,381.4,686 -829.0001,382.6,700 -805.0001,359.8,715 -803.8,356.2,728 -853.48,332.2,740 -1143.4,221.8,748 -851.1761,422.632,754 -850.6,371.08,772 -820.6,374.2,789 -852.04,421.48,795 -904.6,513.4,796 -1136,216,797 -765.4,337,801 -811,365,802 -1018.723,282.1802,808 -847.029,419.0379,809 -896.7954,347.3742,810 -932.6273,316.32,811 -1013.249,239.8788,812 -886.0459,276.905,814 -1018.624,280.4882,815 -829.0001,382.6,816 -834.76,361,818 -1090.287,215.9909,820 -1021.96,283.24,821 -836.2,377.8,827 -1013.746,389.178,829 -1090.884,215.9909,830 -1144,222,831 -1019.221,281.6826,834 -1142.2,225.4,835 -836.6609,407.4257,836 -1134.568,206.632,838 -1022,284,840 -851.1761,310.312,841 -1137.16,198.28,842 -905.0897,343.144,843 -828,383,846 -1091.368,217,847 -1135,199,848 -804.52,359.56,849 -1091.714,216.6544,850 -1004.291,273.3218,852 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0039.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0039.csv deleted file mode 100644 index 2891b6d57da630c63293c8ad129c5cca66d3b158..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0039.csv +++ /dev/null @@ -1,50 +0,0 @@ -846.28,309.16,397 -1005.4,201.4,435 -839.8,313,580 -842.5361,355.24,583 -802.6,325,584 -996.3281,251.56,724 -1108.6,217,753 -847.72,366.76,765 -854.2,411.4,771 -852.04,412.84,795 -762.76,329.32,801 -903.8801,333.64,805 -883.72,270.28,807 -852.04,303.4,817 -837.64,309.16,853 -846.28,300.52,398 -861.5441,255.016,493 -857.8,307.72,544 -850.6,361,611 -851,322,631 -842,366,686 -803,351,715 -1135,206.2,748 -1083.88,202.6,787 -820,365,789 -910,503,796 -1127,201,797 -853.0001,303.4,799 -810,357,802 -1013.746,269.7386,808 -929.0441,301.9873,811 -1008.77,224.9489,812 -878.8796,266.1555,814 -1011.457,269.7386,815 -833.8,371.8,816 -834.76,350.92,818 -1079.538,194.4918,820 -1081.927,201.061,830 -1013.249,269.7386,834 -1132.6,211,835 -838.7345,399.1313,836 -1122.818,191.7712,838 -1016,270,840 -1125.64,183.88,842 -830.2,374.2,846 -1004.291,260.7807,851 -1008,268,852 -1083.419,202.554,860 -1093.373,210.0189,861 -836.2,350.2,862 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0040.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0040.csv deleted file mode 100644 index a5017984673e1bd15f7e2000424d4231763e0bec..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0040.csv +++ /dev/null @@ -1,48 +0,0 @@ -860.2,253,493 -833.8,344.2,626 -830.4401,371.08,688 -847.0001,358.6,736 -850.6,317.8,740 -835.0001,359.8,751 -850.6,405.4,795 -1010.44,261.64,821 -840.52,395.56,836 -854.2,299.8,841 -1000.6,193,860 -848.2,304.6,397 -844.6,296.2,398 -1000.36,192.52,435 -856.36,303.4,544 -851.8,357.4,611 -850,318,631 -842,362,686 -803,348,715 -1125.4,196.6,748 -847.72,363.88,765 -857,408,771 -820,362,789 -916,499,796 -850.6,299.8,799 -761.8,326.2,801 -810,354,802 -1008.77,262.2737,808 -1001.305,218.9769,812 -878.8795,260.7807,814 -834,367,816 -850.6,299.08,817 -834.76,348.04,818 -1072.969,192.103,830 -1007.277,260.7807,834 -1124.2,200.2,835 -1114.523,181.4032,838 -1011,262,840 -1114.12,176.68,842 -830.2,370.6,846 -1004.2,257.8,852 -836.2,306.28,853 -1073.466,192.6007,854 -1085.908,200.0656,855 -836.2,346.6,856 -833.8961,348.328,858 -864,388,862 -861,404,863 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0041.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0041.csv deleted file mode 100644 index a0e4d329784678274ab560601743ec99164526a3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0041.csv +++ /dev/null @@ -1,67 +0,0 @@ -844.6,293.8,398 -841.0001,368.2,458 -829.0001,346.6,626 -854.2,403,633 -982.6,238.6,653 -813.4,356.2,704 -835.0001,303.4,722 -847.72,355.24,772 -833.32,365.32,793 -1102,181,797 -901.0001,325,805 -873.64,261.64,807 -994.6,251.56,862 -853.48,304.84,866 -872,392,880 -844.6,302.2,397 -990.28,186.76,435 -854.2,249.4,493 -852.04,301.96,544 -849.4,356.2,611 -846,316,631 -840,361,686 -829.0001,368.2,688 -844.6,357.4,736 -847.0001,315.4,740 -1113.4,188.2,748 -832.6,358.6,751 -844.84,361,765 -856,406,771 -817,360,789 -850,405,795 -919,496,796 -847.0001,297.4,799 -807,353,802 -992.3469,213.0049,812 -832.6,367,816 -849.16,297.64,817 -831.88,346.6,818 -1004.2,255.4,821 -1064.011,186.1311,830 -1001.305,254.8087,834 -1112.2,193,835 -839.08,394.12,836 -1102.082,173.1088,838 -1004,256,840 -1101.4,169,842 -827.8,369.4,846 -995.8,251.8,852 -831.88,303.4,853 -1061.025,185.1357,854 -1070.978,192.6007,855 -832.6,345.4,856 -830.4401,346.6,857 -860,403,860 -832,359,861 -833,362,863 -852.9041,301.672,871 -857.3969,305.8192,872 -1103.326,170.2058,873 -813,357,874 -859.0001,305.8,876 -833,345,877 -755.8,328.6,879 -920.2961,496.936,882 -986.375,248.2395,885 -919.6049,494.5169,886 -920.6833,493.6875,887 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0042.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0042.csv deleted file mode 100644 index b9c2bfc3284791e72cb3b4ffc3926ae13181efdc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0042.csv +++ /dev/null @@ -1,69 +0,0 @@ -1024.84,361,462 -826.1201,356.68,607 -826.1201,343.72,626 -850.6,403,633 -1073.8,191.8,752 -849.4,405.4,754 -839.08,361,765 -855.4,400.6,779 -751,325,801 -1102.6,192.52,803 -991.1441,249.832,822 -1103.464,184.168,824 -851.1761,303.4,888 -836.2,292.6,398 -977.3201,181,435 -836.2,365.8,458 -844.6,247,493 -843.4,299.08,544 -843.4,352.6,611 -838,313,631 -834,359,686 -807.4,355,704 -838.6,355,736 -838.6,313,740 -1099,179.8,748 -826.6,356.2,751 -851,403,771 -843.4,353.8,772 -811,359,789 -827.5601,362.44,793 -846,402,795 -917,492,796 -1088.2,171.4,797 -838.6,295,799 -801,351,802 -863.5601,257.32,807 -980.403,207.033,812 -826.6,364.6,816 -837.64,294.76,817 -992.2,249.4,821 -1049.081,177.1731,830 -989.361,248.8367,834 -833.8,393.4,836 -992,250,840 -1086.76,160.84,842 -983.8,245.8,852 -1048.583,177.6708,854 -1061.025,186.1311,855 -826.6,343,856 -856,400,860 -826,358,861 -984.52,245.8,862 -828,360,863 -846.28,301.96,864 -849.1025,303.7456,866 -1088.396,162.7408,867 -807,355,868 -851.8,303.4,869 -826,343,870 -748.6,327.4,871 -918.5681,491.752,873 -975.6255,241.0732,874 -917.5313,492.4433,875 -920.6833,490.7015,876 -984,249,877 -1089,159,879 -854,398,880 -1087.912,165.16,885 -918.2946,491.8959,892 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0043.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0043.csv deleted file mode 100644 index d83bf71dc6e78d34fcea7eee1e02d5dbe72a73bd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0043.csv +++ /dev/null @@ -1,77 +0,0 @@ -810.28,270.28,398 -1013.32,150.76,456 -813.16,287.56,634 -808.84,348.04,700 -1033.48,157.96,753 -807.4,347.8,758 -815.8,278.2,769 -839.8,381.4,771 -1045,137.8,797 -870.1841,299.944,805 -1054.6,146.2,835 -1053.64,142.12,837 -811.4321,270.568,841 -949.96,214.12,852 -853.48,365.32,872 -566.92,440.2,898 -823.2401,276.04,544 -811.72,335.08,607 -827.8,331,611 -824,334,736 -819.4,291.4,740 -1033,155,752 -824.6801,337.96,765 -846,374,779 -813.16,340.84,793 -817.0001,273.4,799 -941.5852,177.1731,812 -816.04,273.16,817 -1001.305,144.3273,830 -1016.235,150.2992,855 -811.0001,337,861 -951.4,214.6,862 -824.6801,280.36,864 -790,336,868 -831.4,280.6,869 -916.8401,464.104,873 -943.3768,212.4077,874 -915.4577,463.4129,875 -917.6973,460.8417,876 -1042.984,128.872,880 -830.4401,280.936,881 -813.4,340.6,884 -824.2,275.8,885 -949.6721,213.544,887 -864.5468,301.9873,888 -867.7649,299.5984,889 -852.0056,364.2948,890 -430.12,91.72,895 -424.36,77.03201,897 -430.2353,90.16481,901 -359.7328,253.9792,903 -562.9457,386.6897,906 -112.9744,550.5041,907 -428.9911,90.57954,908 -356.8298,115.4627,909 -563.3605,361.8065,912 -565.8488,436.4561,914 -129.9946,577.8923,918 -281.6826,138.3553,920 -317.5144,180.1591,921 -499.6595,326.4724,923 -532.5053,365.2902,924 -571.3231,410.0799,925 -359.3182,251.8227,931 -586.2531,317.5144,932 -371.7598,491.1992,933 -96.55151,541.4633,934 -287.6545,137.1609,938 -316.32,180.1591,939 -495.4791,327.0695,940 -387.9836,481.1464,942 -402.3164,488.3127,943 -122.8282,567.1428,944 -380.8173,269.7386,945 -445.3145,327.0695,948 -502.6454,316.32,949 -456.0641,319.9032,951 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0044.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0044.csv deleted file mode 100644 index 6178f91125c157c0d7de4291aed2270f1b1584fc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0044.csv +++ /dev/null @@ -1,73 +0,0 @@ -788.6801,276.04,548 -964.36,70.12,599 -790.1201,296.2,687 -840.8081,210.088,725 -821.8,330.76,771 -771.4,237.16,853 -784.6,245.8,920 -319,463,997 -505,350.92,1010 -777.16,225.64,398 -790.1201,231.4,544 -788.6801,289,607 -802.6,283,611 -787.0001,299.8,700 -799,286,736 -790.1201,245.8,740 -786,300,758 -800.2,289,765 -783.4,233.8,769 -827,322,779 -790.1201,293.32,793 -783.4,229,799 -887.8375,123.4254,812 -782.92,228.52,817 -778.6001,225.64,841 -793.0001,234.28,864 -799.0001,233.8,869 -831.88,312.04,872 -889.6291,158.66,874 -908.7394,395.15,876 -797.6081,234.28,881 -789.4,292.6,883 -829.6108,312.0401,888 -332.7761,79.79681,890 -519.4,431.56,891 -339.4116,93.06786,896 -518.5707,426.5028,899 -439.9398,320.5004,903 -511.1057,394.1547,905 -212.4077,151.4936,910 -434.565,327.0695,912 -337.8191,491.8959,913 -355.735,499.0623,914 -387.9836,323.4864,919 -787.2401,241.192,921 -340.6,95.8,937 -319.24,463.24,939 -320.68,462.376,941 -519.4001,428.1617,946 -274.7153,137.8576,948 -387.9836,305.5705,952 -365.2902,302.5845,953 -520.5613,425.0098,956 -520.5613,423.8155,959 -545.6436,509.8118,960 -452.4809,309.1536,963 -275.7106,135.3693,985 -329.4583,466.8136,991 -348.5686,509.8118,992 -559.9764,549.2268,993 -303,474,995 -278.2,137.8,999 -358.696,293.032,1001 -440.6033,322.4081,1005 -334.8496,285.0833,1007 -461.3393,359.3182,1013 -384.4005,337.8191,1018 -320.5004,460.8417,1022 -307.0634,481.2459,1026 -180.1591,144.3273,1030 -471.2926,359.3182,1032 -524.1445,305.5705,1033 -324.4817,284.6685,1034 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0045.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0045.csv deleted file mode 100644 index dfc9fa999b9b448306061e928466142557c99a8a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0045.csv +++ /dev/null @@ -1,64 +0,0 @@ -903.8801,61.48,456 -697.96,253,707 -896.6801,51.4,847 -856.6,127,862 -765.4,214.6,869 -281.8,100.36,889 -298.6,289,991 -509.8,501.4,994 -297.64,289,997 -274.6,492.04,999 -843.0477,93.56553,812 -759.88,209.8,864 -846.6309,126.4114,874 -282.1802,98.0445,896 -488.7108,421.5262,899 -401.1219,320.5004,903 -155.0768,165.8264,910 -395.15,330.6527,912 -305.5705,502.6454,913 -323.4864,509.8118,914 -284.2,101.8,922 -284.68,473.32,923 -286.12,472.744,924 -222.4605,145.3226,926 -344.9855,312.7368,927 -487.7155,419.0379,930 -413.0659,305.5705,932 -221.9629,144.3273,933 -319.9032,520.5613,935 -534.8941,542.0605,936 -270,485,937 -284.2,473.8,938 -401.2049,322.4081,941 -424.0145,359.3182,944 -341.4023,344.9855,945 -287.6545,469.7996,946 -274.7153,491.1992,947 -481.1464,301.9873,950 -273,482,957 -225.64,145,962 -708.0977,193.8448,966 -293.3777,473.7809,967 -523.5473,500.7377,968 -293,504,971 -225.64,146.152,974 -290.44,473.32,975 -282.664,101.224,976 -224.9488,144.0784,979 -519.4001,498.6641,981 -292.1335,473.7809,982 -508.6174,498.6641,983 -711.6644,174.1871,986 -284,474,990 -269.8,485.8,992 -215.56,133.48,995 -545.3201,522.8561,1001 -274.7153,85.6029,1002 -436.4561,359.3182,1006 -307.0634,501.1524,1008 -518.5707,498.6641,1009 -323.4864,508.6174,1013 -308.5564,502.6454,1014 -277.2036,481.2459,1015 -499.0623,527.7277,1018 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0046.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0046.csv deleted file mode 100644 index a98f612008ce877eacfc93f05288150e2f9a1cd0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0046.csv +++ /dev/null @@ -1,78 +0,0 @@ -692.2,217,871 -245.8,497.8,952 -261.64,483.4,959 -458.851,416.5495,899 -355.735,334.2359,912 -280.4882,513.395,913 -294.8209,516.9782,914 -255.88,484.84,923 -255.016,484.8401,924 -172.6941,155.2759,926 -301.9873,319.9032,927 -459.6473,413.0659,930 -377.2341,305.5705,932 -171.2011,156.2712,933 -241,497,937 -255.4,484.6,938 -391.6663,359.3182,944 -305.5705,348.5686,945 -258.9891,481.1464,946 -441.7314,298.4041,950 -173.8,156.52,953 -264.3472,484.1489,955 -500.7377,492.4433,956 -265,515,957 -496.5905,492.4433,962 -255,485,966 -241,497.8,968 -487,494.2,969 -245.8,503.56,972 -524.584,512.488,973 -401.6196,359.3182,975 -279.6919,513.5941,976 -496.1758,491.1992,977 -296.6125,517.5754,978 -281.6826,511.6034,979 -244.8554,493.6875,980 -473.98,520.5613,981 -261.928,484.8401,983 -169.4095,155.0768,987 -484.7296,491.8959,990 -486.28,493.48,991 -239.464,496.936,992 -486.2225,492.4433,995 -233.2432,477.9281,996 -234.9021,478.7576,997 -240.04,497.8,1000 -218.728,96.04001,1001 -496.936,493.48,1004 -496.6735,493.6875,1006 -245.8508,493.6875,1007 -438.1482,441.7314,1008 -512,503,1010 -487,531.4,1011 -163.432,146.152,1012 -523.5473,513.1793,1015 -523.5474,511.6034,1016 -499.6595,538.4773,1017 -508.6174,538.4773,1018 -245.8508,502.6454,1019 -158.66,147.9105,1020 -276.905,549.2268,1021 -238.6,503.56,1024 -361.8065,328.6288,1026 -218.728,94.31201,1028 -429.544,350.056,1029 -265.384,488.2961,1032 -237.736,503.8481,1034 -245.6848,502.8113,1037 -239.464,496.5905,1039 -277.2036,548.4305,1043 -308.5564,350.3602,1044 -287.1569,351.8532,1046 -356.3322,332.4443,1050 -299.5985,320.5004,1051 -278.6966,550.4212,1052 -287.6545,352.1518,1055 -280.4882,341.4023,1057 -237.49,495.4791,1060 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0047.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0047.csv deleted file mode 100644 index 7ce7e8cd37c38e3d166895328c0665715b0b6ba5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0047.csv +++ /dev/null @@ -1,75 +0,0 @@ -188,626,937 -473.32,566.92,973 -445,598.6,997 -349.48,428.68,1069 -346.6,437.8,1124 -389.178,491.1992,899 -202.1392,606.4913,924 -389.178,490.7015,930 -312.0401,453.8744,944 -344.9855,384.4005,950 -208.36,606.4913,955 -442.6768,556.7249,962 -320.5004,454.8697,975 -232.4138,630.5451,976 -252.3204,633.0334,978 -206.632,607.5281,982 -434.565,556.3932,984 -434.44,559.72,985 -177.256,606.4913,988 -188.2,625.96,990 -370.0677,516.9782,995 -473.7809,571.2401,999 -460.8417,601.1829,1001 -186.76,631.72,1006 -346.6,438.1841,1009 -214.5808,608.5649,1010 -187.624,625.1537,1013 -218.9769,472.7856,1015 -192.103,472.7856,1016 -205.2414,441.7314,1018 -445.3145,556.3932,1025 -359.3182,423.8155,1026 -434.728,559.144,1027 -204.047,604.1689,1030 -433.9678,556.3932,1035 -446.824,555.688,1038 -348.5686,434.565,1043 -319.9032,456.0641,1045 -213.0049,607.1549,1046 -459.4,562.6,1049 -185.1357,623.0801,1052 -433.9678,555.8955,1053 -177.1731,607.1549,1059 -427.9958,586.2531,1060 -252,636,1067 -200.2,458.2,1068 -310.312,388.072,1071 -346.6,440.2,1077 -344.872,388.072,1078 -427.816,588.5201,1080 -461.3393,600.2705,1088 -379.2247,354.3415,1093 -344.3882,386.6897,1095 -347.3742,386.192,1101 -359.3182,344.3882,1102 -210.0189,460.8417,1104 -311.5424,386.192,1105 -475.7716,577.295,1106 -398.7332,377.2341,1107 -273.16,434.44,1115 -251.8,635.8,1138 -462.376,602.3441,1159 -361.8065,338.9969,1162 -324.4817,450.9713,1167 -210.4336,461.3393,1169 -347.2913,434.3824,1174 -290.6405,419.0379,1179 -187.624,633.4481,1180 -359.3182,344.3882,1184 -311.5424,454.8697,1201 -550.9188,244.8554,1202 -186.1311,625.0708,1204 -359.3182,344.9855,1206 -273.3218,420.2323,1210 -531.3109,255.4059,1212 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0048.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0048.csv deleted file mode 100644 index c7f72025133cf35d66a1070462465f6f244ced3c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0048.csv +++ /dev/null @@ -1,76 +0,0 @@ -152.2,680.2,952 -161,664,966 -150,683,968 -434.44,588.52,973 -407.08,617.32,997 -152,689,1006 -291.4,473.8,1054 -166.6,661,1079 -435.4,587.8,1097 -283,427,1118 -132,523,1148 -341.8999,523.5473,899 -341.4023,520.5613,930 -148.6,682.6,937 -284.0714,420.2323,950 -403.2784,579.5345,962 -263.7667,493.6875,975 -166.888,661.0961,982 -391.5668,577.8923,984 -395.56,584.2,985 -327.0695,552.81,995 -425.0098,622.0848,1001 -135.3693,532.5053,1016 -144.3273,495.4791,1018 -404.1079,580.2811,1023 -294.8209,463.2305,1024 -394.984,583.3361,1025 -392.164,580.2811,1027 -291.2377,470.3968,1029 -262.5723,495.4791,1030 -394.1547,580.7787,1034 -216,687,1037 -291.88,476.2,1041 -283.0096,424.0145,1042 -389.8,612.712,1043 -312.0401,391.6663,1045 -284.6685,422.0239,1047 -150.2992,517.5754,1049 -247.3437,421.5262,1050 -341.4023,404.1079,1052 -270.568,488.2961,1058 -152.3728,517.3265,1059 -291.304,469.6337,1060 -233.9068,463.2305,1061 -294.8209,387.9836,1067 -166.6,660.52,1071 -426.5028,623.0801,1085 -396,585,1090 -142,515,1091 -291.88,470.44,1098 -393.256,617.8961,1099 -390.8369,612.7121,1110 -438.1841,591.9761,1111 -293.6265,469.7996,1112 -392.164,616.1129,1113 -395.8,584.2,1117 -217,480.52,1120 -265.384,495.208,1126 -343.72,526.6,1130 -291.304,471.0161,1132 -87.4,513.4,1133 -389.178,610.6385,1136 -294.6218,463.8276,1141 -324.4817,378.3953,1143 -409.4827,581.4755,1149 -556.3932,520.5613,1150 -291,477,1155 -408.52,620.2,1156 -214.5808,484.1489,1165 -407.08,617.8961,1170 -292.1335,468.8043,1172 -264.762,493.6875,1173 -487.7155,427.9958,1177 -312.7368,352.1518,1186 -495.4791,409.4827,1187 -602.9745,334.2359,1190 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0049.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0049.csv deleted file mode 100644 index e5a6666adbd2351a7f64e1a9ab7462c843f0de3a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0049.csv +++ /dev/null @@ -1,77 +0,0 @@ -422.2,590.2,1075 -385,590.2,1082 -256,446,1083 -157,688,1105 -495.4,220.6,1125 -161,688,1128 -195.4,505,1142 -324.4817,533.5006,899 -258.9891,441.7314,950 -392.9105,587.8289,962 -241.0732,516.9782,975 -380.8173,585.0587,984 -312.7368,567.1428,995 -399.88,625.96,997 -108.4955,568.3371,1016 -115.6618,531.3109,1018 -384.616,590.248,1025 -269.7386,488.3127,1029 -384.2014,588.2437,1034 -270.28,492.04,1041 -256.0529,442.6768,1042 -257.7947,439.9398,1047 -123.4254,550.4212,1049 -221.9629,439.9398,1050 -305.5704,422.0239,1052 -249.832,506.9585,1058 -125.416,550.5041,1059 -262.5723,413.0659,1067 -416.5495,628.0568,1072 -386,591,1073 -270.28,487.72,1076 -384.616,624.808,1077 -269.7386,490.7015,1080 -383.2061,622.0848,1081 -195.4,505,1084 -381.713,618.1035,1089 -272.227,481.2459,1090 -538.4773,516.9782,1094 -269,493,1095 -269.7386,488.7108,1099 -242.3671,513.5941,1100 -460.8417,433.9678,1101 -280.4882,373.6509,1102 -470.3968,416.6491,1103 -393.256,586.7921,1108 -419.8672,589.9025,1109 -490.7015,132.3833,1111 -112.9744,569.1665,1116 -257.297,441.4327,1117 -384.2014,623.0801,1121 -269.8,491.8,1129 -378.3953,610.6385,1132 -233.2432,517.3265,1134 -115.6618,570.7259,1139 -294.6218,396.643,1140 -417.448,629.9921,1145 -194.536,503.8481,1146 -400.168,626.5361,1147 -251.8227,508.6174,1150 -293.6265,395.15,1154 -242.92,515.08,1157 -427.24,597.16,1166 -270.568,491.752,1176 -272.296,483.1121,1179 -193.8448,502.8113,1190 -83.94402,179.3296,1191 -90.16481,546.3569,1192 -279.6919,374.2481,1197 -83.11458,177.6708,1200 -642.9868,592.225,1202 -472.7856,416.0519,1203 -451.8837,433.9678,1205 -281.6826,413.0659,1207 -427.9958,395.15,1209 -327.0695,416.6491,1210 -452.4809,448.8977,1212 -427.3987,416.6491,1213 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0050.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0050.csv deleted file mode 100644 index 62d290054608820bbde33320675c72d01a7069d3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0050.csv +++ /dev/null @@ -1,74 +0,0 @@ -412.84,608.6801,969 -272,473,1083 -430.6,645.4,1096 -344.3882,553.4072,899 -273.3218,466.8136,950 -419.8672,606.4913,962 -262.5723,545.6436,975 -409.4827,606.5577,984 -334.2359,588.6418,995 -428.68,643.2401,997 -130.3927,605.6619,1016 -133.5777,567.1428,1018 -412.264,609.256,1025 -272.227,468.8043,1047 -141.3413,586.2531,1049 -242.8648,469.7996,1050 -319.505,451.386,1052 -276.905,445.3145,1067 -413,609,1073 -448.6,608.2,1075 -290.2,513.4,1076 -412.264,645.5441,1077 -290.6405,514.5894,1080 -412.6,609.4,1082 -559.9764,531.3109,1094 -262.2737,543.4539,1100 -472.7856,451.8837,1101 -484.7296,434.565,1103 -446.8241,608.5649,1107 -256.0529,544.2833,1116 -133.5777,606.5577,1117 -217,535,1119 -217,533.2241,1121 -273.3218,534.8941,1123 -293.032,509.032,1128 -216.6544,531.8417,1129 -484.7296,433.9678,1135 -463.8276,451.8837,1136 -296.6125,442.9258,1137 -442.9258,416.0519,1138 -337.8191,441.7314,1139 -441.7314,438.1482,1141 -409.4993,606.4913,1143 -419.0379,605.6619,1145 -448.8977,645.8897,1148 -293.3777,506.9585,1150 -413.0659,607.1549,1151 -292.1335,443.9211,1160 -442.9258,436.9538,1161 -212.5072,538.4772,1178 -306.28,424.36,1184 -445.96,417.16,1188 -256.744,545.3201,1195 -442.6768,436.4561,1197 -291.304,515.2529,1198 -459.2657,450.9713,1199 -208.8246,513.395,1200 -441.4327,436.4561,1201 -242.3671,468.8043,1202 -483.7342,433.9678,1203 -559.3792,532.5053,1204 -458.851,451.386,1205 -142.8343,585.7553,1208 -451.386,416.5495,1209 -132.3833,508.6174,1210 -406.5963,628.0568,1212 -463.8276,453.8744,1214 -466.8136,416.0519,1215 -210.0189,541.4633,1216 -473.7809,466.3159,1218 -155.0768,592.225,1220 -299.5985,559.3792,1222 -105.5095,230.9208,1223 -298.4041,559.9764,1226 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0051.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0051.csv deleted file mode 100644 index 44a6673c91d0ac1574d6292798d5d71295a3cad7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0051.csv +++ /dev/null @@ -1,71 +0,0 @@ -364,506,1039 -511,413.8,1151 -509,435,1232 -286,482,1245 -287.8,490.6,1247 -488.2961,606.4913,1025 -490,609,1073 -339,471,1083 -538.4773,451.8837,1101 -549.2268,434.565,1103 -289,531.4,1119 -348.5686,534.8941,1123 -363.88,505.576,1128 -287.1568,529.7681,1129 -550.4212,433.9678,1135 -529.5193,451.8837,1136 -506.2286,438.1482,1141 -484.7296,602.9745,1146 -284.6685,535.989,1149 -506.9585,436.4561,1153 -361.8065,511.1057,1154 -525.6208,450.9713,1155 -320.5004,469.7996,1158 -631.64,534.8941,1160 -526.0356,448.8977,1161 -213.0049,502.6454,1164 -481.2459,628.0568,1165 -532.5053,416.0519,1167 -284.6685,535.4913,1168 -538.4772,466.3159,1169 -368.2761,556.3932,1171 -370.0677,556.3932,1173 -509.032,436.4561,1184 -538.4772,453.8744,1185 -681.8046,308.5564,1187 -534.8941,466.8136,1189 -486.2225,605.6619,1194 -538.0625,453.0449,1195 -533.5006,414.0612,1196 -508.6,435.4,1201 -551.8,433,1202 -507.88,435.88,1203 -524.584,452.0081,1205 -529.7681,453.0449,1206 -190.1124,508.6174,1210 -550.4212,442.9258,1212 -198.075,520.5613,1213 -538.4773,452.4809,1220 -531.3109,416.6491,1222 -193,508,1226 -368.2,555.4,1228 -513,415,1231 -193,507.4,1234 -518.2,416.2,1235 -185.8,509.8,1238 -483.4,630.28,1239 -192.52,507.88,1244 -191.08,509.032,1250 -285.0833,535.9889,1258 -330.7025,542.2097,1259 -517.3265,415.7201,1265 -214.9956,503.6407,1267 -287.1569,528.524,1270 -543.4539,448.8977,1274 -284.6685,481.7436,1275 -526.0356,610.6385,1278 -337.8191,133.5777,1279 -410.0799,544.4492,1282 -284.0714,524.1445,1284 -319.9032,470.3968,1287 -506.2286,416.6491,1288 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0052.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0052.csv deleted file mode 100644 index fd7067dce1e56d99c1d85f6b4e9a1d6a340a7c6b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0052.csv +++ /dev/null @@ -1,69 +0,0 @@ -414,487,1039 -387,452,1046 -339,462,1200 -340.6,511,1217 -340.6,469,1222 -540.136,589.9025,1025 -586.2531,439.9398,1101 -595.8082,420.2323,1103 -338.9969,509.0321,1129 -595.211,419.0379,1135 -577.295,439.9398,1136 -552.81,423.8155,1141 -538.4773,588.6418,1146 -334.435,516.0823,1149 -559,399.4,1151 -554.6513,421.9409,1153 -571.2401,436.4561,1155 -371.7598,451.386,1158 -681.8046,520.5613,1160 -275.7106,478.7576,1164 -531.0123,613.1269,1165 -580.2811,401.1219,1167 -583.267,451.8837,1169 -419.0379,535.4913,1171 -420.2323,538.4773,1173 -764.2177,287.6545,1176 -581.4755,452.4809,1177 -538.4772,588.2437,1178 -585.7553,440.6033,1179 -554.2,421,1181 -598.6,418.6,1182 -555.4,421.48,1183 -577.4609,440.6033,1185 -595.211,427.9958,1187 -260.7807,496.6735,1188 -585.0587,438.1482,1189 -577.8923,402.3164,1190 -253,485,1191 -417.16,535.2401,1192 -561,400,1193 -555,421,1194 -253,484.6,1195 -250,484,1197 -533.8,613,1198 -253,484.84,1199 -341,469,1201 -251.56,486.5681,1202 -336.9232,515.2529,1203 -380.4688,523.5473,1204 -274.7153,478.7576,1206 -336.9233,508.6174,1207 -590.732,436.4561,1208 -457.8557,523.5474,1212 -334.2359,506.2286,1213 -553.4072,422.0239,1216 -531.8417,612.7121,1218 -577.8923,438.1482,1220 -338.2,461.8,1223 -334.2359,463.2305,1231 -380.8173,527.7277,1235 -402.3164,538.4773,1236 -567,405,1237 -565,429,1238 -540.136,590.248,1239 -337.96,515.944,1240 -585.064,441.64,1242 -579.5345,399.1313,1243 -598.1969,419.8672,1244 -274.7152,480.0017,1245 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0053.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0053.csv deleted file mode 100644 index e6b9090298fef97523669266068a252dce6eee34..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0053.csv +++ /dev/null @@ -1,77 +0,0 @@ -310,481,942 -596,579,1032 -448,472,1128 -585.4,409,1194 -375,446,1200 -449.8,517,1255 -420,436,1046 -616.1129,425.0098,1101 -624.4736,405.8995,1103 -374.248,492.4433,1129 -628.0568,407.0939,1135 -581.4755,409.4827,1141 -574.3091,574.3091,1146 -371.7598,498.6641,1149 -583.6817,409.4993,1153 -602.3441,424.0145,1155 -409.0846,436.4561,1158 -610.1409,389.178,1167 -613.1269,439.9398,1169 -448.8977,520.5613,1171 -448.8977,520.5613,1173 -814.3823,273.3218,1176 -610.1409,441.7314,1177 -573.3137,573.3137,1178 -614.7857,428.1617,1179 -585.64,409.96,1183 -625.0708,416.0519,1187 -302.5845,478.7576,1188 -617.3073,427.3987,1189 -296,465,1191 -593,387,1193 -296.2,465.4,1195 -293,464,1197 -566.92,597.16,1198 -377,451,1201 -294.76,465.832,1202 -372.1744,498.6641,1203 -317.0167,458.851,1206 -374.2481,491.1992,1207 -620.5918,424.0145,1208 -490.7015,505.6314,1212 -370.0677,488.3127,1213 -583.267,410.0799,1216 -376.6,494.2,1217 -565.0193,596.1233,1218 -375.4,445,1221 -374.2481,445.9117,1222 -413.0659,509.8118,1223 -434.565,524.1445,1224 -598,393,1225 -596,416,1226 -574.696,576.4241,1227 -372.5201,498.6641,1228 -616.168,429.544,1229 -627.2273,407.4257,1231 -566.056,597.16,1233 -375.976,493.48,1234 -615.6152,426.5028,1235 -583.267,409.0846,1236 -625.5685,406.5963,1238 -371.2621,499.6595,1240 -628.84,407.08,1242 -317.224,460.648,1245 -592.6,387.4,1249 -621.64,399.88,1250 -373.96,445.96,1251 -448.8977,518.5707,1252 -588.6418,387.9836,1254 -450.28,519.4,1256 -448.8977,473.98,1261 -371.2621,490.7015,1263 -589.239,386.192,1264 -950.5432,574.3091,1265 -628.264,407.08,1271 -847.029,585.7553,1274 -610.6385,585.7553,1276 -603.1736,424.0145,1278 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0054.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0054.csv deleted file mode 100644 index ba3abc8c0c6084e6c0e76995f46e7dc618c959c8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0054.csv +++ /dev/null @@ -1,73 +0,0 @@ -661,391,1181 -672,375,1225 -386,462,1311 -670,371,1315 -689,379,1320 -678,560,1032 -687.7765,410.0799,1101 -696.1373,391.5668,1103 -699.7205,389.178,1135 -653.1391,395.15,1141 -453.8744,476.2692,1149 -656.2577,392.9105,1153 -674.9201,407.4257,1155 -681.8046,371.2621,1167 -684.7905,422.0239,1169 -524.1445,495.4791,1173 -939.7936,248.2395,1176 -681.8046,423.8155,1177 -687.3617,411.5728,1179 -656.2,392.68,1183 -696.7344,398.136,1187 -384.4005,459.6473,1188 -685.3878,409.4827,1189 -666,370,1193 -656.2,392.2,1194 -650.44,575.56,1198 -456.3627,468.8043,1207 -565.8488,481.2459,1212 -513.395,502.6454,1224 -668,400,1226 -659.368,555.688,1227 -687.0161,412.264,1229 -699.8033,392.9105,1231 -650.7281,576.4241,1233 -654.9307,395.15,1236 -697.7297,389.178,1237 -454.8697,478.7576,1238 -700.84,389.8,1239 -665.8,370.6,1241 -693.64,384.04,1242 -523.5473,493.6875,1244 -660.3055,370.0677,1245 -454.8697,469.7996,1249 -1036.54,556.3932,1251 -932.6273,568.3371,1253 -675.3349,406.5963,1255 -674.92,408.808,1257 -680.3115,371.7598,1258 -651.9447,589.239,1261 -678.2214,370.0677,1264 -452.4809,477.5632,1271 -651,576,1276 -791.8,494.2,1278 -666.28,369.64,1281 -654.1841,597.16,1285 -654.1841,596.1233,1290 -687.3617,598.1969,1291 -652.1105,589.9025,1294 -918.2946,559.9764,1297 -529.5193,451.8837,1300 -656.7223,552.81,1303 -452.4809,448.8977,1304 -1101.037,251.8227,1306 -559.9764,524.1445,1308 -392.164,439.9398,1313 -475.7716,451.8837,1314 -671.8,374.2,1322 -666.2801,372.5201,1324 -662.4785,370.1009,1335 -563.3605,521.059,1341 -681.1409,372.1744,1343 -662.8932,369.2715,1348 -685.3878,563.5596,1355 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0055.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0055.csv deleted file mode 100644 index 94032802fea3081a1cdfb0d7d6625b1c195b4cc8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0055.csv +++ /dev/null @@ -1,72 +0,0 @@ -722,551,956 -722,371,1225 -711,570,1261 -847.0001,488.2,1305 -706,390,1317 -739,554,1032 -746.3018,387.9836,1103 -747.4962,386.192,1135 -703.3036,391.5668,1141 -513.5941,473.7809,1149 -703.9505,390.8369,1153 -577.8923,488.3127,1173 -731.9691,420.2323,1177 -747.4962,395.15,1187 -452.4809,452.4809,1188 -735.5523,405.8995,1189 -705.4,389.8,1194 -710.92,569.8,1198 -516.0823,466.3159,1207 -570.7259,495.4791,1224 -721.576,550.504,1227 -711.2081,569.512,1233 -705.6924,392.164,1236 -749.8,385.48,1239 -717.4,367,1241 -575.8021,486.2225,1244 -710.47,366.4846,1245 -992.3469,559.3792,1253 -730.0779,369.2715,1257 -714.6504,583.267,1258 -714.3185,589.9025,1264 -712.2449,585.7553,1267 -979.2086,552.81,1268 -586.2531,448.8977,1269 -506.2286,445.3145,1271 -617.3073,513.395,1273 -460.8417,433.9678,1275 -739,376,1278 -722.2,370.6,1279 -720.5393,368.0273,1280 -619.0989,514.5894,1282 -712.6597,366.7831,1284 -746.3018,556.3932,1285 -714.6504,368.2761,1289 -531.0123,438.9444,1291 -514.5894,422.0239,1293 -728.8337,407.4257,1295 -732.9809,409.4993,1296 -570.7259,473.98,1297 -711.4,569.8,1298 -519,470,1299 -749.2241,386.344,1301 -575.3873,484.1489,1302 -710.1714,568.3371,1303 -526.5333,430.9818,1304 -517,473,1306 -710.1713,569.1665,1309 -751,389.8,1316 -748.36,594.28,1319 -1060.84,222.76,1320 -739,375.4,1321 -1063.72,211.816,1322 -1058.536,222.8752,1325 -1061.025,212.5072,1327 -715.148,588.2437,1328 -585.7553,448.8977,1329 -1021.211,205.0423,1331 -1058.536,222.4605,1332 -573.3137,496.1758,1333 -1086.704,552.81,1337 -861,625,1338 -747.4962,556.3932,1344 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0056.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0056.csv deleted file mode 100644 index 4c5d8cf6e0c378cdecb6fd385af47604f3fc8793..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0056.csv +++ /dev/null @@ -1,79 +0,0 @@ -775.0001,376.6,1193 -905,495,1262 -769.96,375.4,1263 -777.4,379,1279 -909.4,497.8,1298 -578,483,1299 -761,402,1302 -1119.4,206.2,1353 -800.0496,395.15,1103 -801.2439,395.15,1135 -757.8641,401.2049,1153 -801.2439,404.1079,1187 -789.3,413.0659,1189 -759.4,399.4,1194 -775.72,579.88,1198 -575.8021,476.2692,1207 -628.0568,506.2286,1224 -776,380,1225 -775.144,579.8801,1233 -759.4401,401.1219,1236 -803.08,394.12,1239 -771.4,375.4,1241 -630.5451,493.6875,1244 -1058.039,567.1428,1253 -776,579,1261 -780.6737,600.2705,1264 -778.6001,596.1233,1267 -1047.289,559.9764,1268 -645.9727,457.8557,1269 -675.8326,523.5474,1282 -767.4028,374.2481,1284 -810.7991,567.1428,1285 -776.2,579.4,1292 -802.7921,394.984,1294 -631.3745,492.4433,1295 -774.8677,578.2904,1296 -588.2437,441.4327,1297 -774.4529,579.5345,1300 -804,394,1301 -1154.44,222.76,1304 -791.8,383.8,1305 -1155.581,212.5072,1308 -1113.279,205.0423,1311 -630.5451,508.6174,1313 -813.1879,565.3511,1316 -775.144,377.704,1322 -1156.576,213.0049,1323 -577,483.4,1324 -787.2401,419.176,1326 -811.4321,607.5281,1327 -759.5921,400.168,1328 -815.8,569.8,1329 -1158.368,559.9764,1331 -789.7976,416.5495,1332 -634.0288,493.6875,1333 -628.0568,419.0379,1334 -788.2,601,1336 -1117,206.92,1337 -1163.08,214.12,1338 -1114.523,206.2864,1341 -811.7777,602.3441,1343 -1136.869,212.4077,1346 -778.5505,592.225,1347 -1121,201,1351 -1121.8,201.4,1357 -787.2401,418.6,1359 -1121.32,201.16,1361 -797.6081,389.8,1369 -801.0641,389.8,1370 -1164.29,212.5072,1374 -1171.506,556.3932,1378 -1135.674,210.0189,1383 -1163.046,212.5072,1384 -780.342,601.1829,1387 -1102.828,224.9489,1388 -908.7394,496.6735,1391 -778.5505,599.3914,1393 -810.7991,602.9745,1394 -771.3841,581.4755,1395 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0057.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0057.csv deleted file mode 100644 index 2601a957d45d54ee6f1d051154fd6b14076524d8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0057.csv +++ /dev/null @@ -1,71 +0,0 @@ -790.6,410.2,1181 -795.4,387.4,1241 -823.0001,401.8,1242 -808.6,593.8,1292 -827.8,406.6,1301 -784,413,1302 -605.8,447.4,1371 -812.2,431.8,1376 -841.0001,578.2,1401 -825.1318,405.8995,1103 -782.7473,413.6465,1153 -825.1318,416.0519,1187 -814.3823,427.3987,1189 -784.6,412.6,1194 -807.4,594.28,1198 -604.1689,487.7155,1207 -653.1391,520.5613,1224 -807.9761,593.704,1233 -783.328,413.0659,1236 -829.0001,407.08,1239 -657.9166,506.1291,1244 -795.88,388.36,1263 -672.8466,469.7996,1269 -803,389,1279 -702.7064,535.4913,1282 -794.7743,386.6897,1284 -839.4645,581.4755,1285 -826.9841,407.08,1294 -656.2577,504.8849,1295 -805.5569,594.0497,1300 -1158.069,214.9956,1311 -655.4283,521.059,1313 -843.0477,580.2811,1316 -602.92,496.36,1319 -813.1601,431.272,1320 -842,582,1323 -657.9166,505.6314,1326 -1161.64,214.12,1329 -1160.143,214.5808,1331 -842.8817,616.8593,1332 -1162.6,214.6,1336 -813.16,431.56,1338 -821.8,401.896,1340 -1180.464,221.9629,1344 -813.1879,613.1269,1346 -1144.632,233.9068,1347 -935.6132,508.6174,1348 -803.6328,595.8082,1351 -790.696,410.536,1353 -807.2159,592.225,1354 -807.6305,428.1617,1355 -795.1889,392.9105,1362 -811.7777,430.2353,1365 -1156.576,213.0049,1366 -938.2,509.8,1367 -1151,213,1370 -617.8961,460.648,1379 -807.9761,389.8,1380 -670.7729,469.6337,1381 -824.6341,401.6196,1385 -667.4718,534.8941,1392 -819.1599,616.1129,1394 -1118.953,147.9105,1396 -796,388,1398 -784.36,412.84,1402 -790.1201,409.96,1405 -795.8801,388.072,1407 -827.1224,406.5963,1409 -843.0477,616.1129,1412 -792.2859,419.0379,1414 -1129.702,251.8227,1415 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0058.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0058.csv deleted file mode 100644 index d866ed86b5c7b31940420342fd35e19b0b2c5673..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0058.csv +++ /dev/null @@ -1,74 +0,0 @@ -812.2,397,1193 -824,603,1261 -951,517,1262 -833,406,1278 -817.0001,400.6,1279 -607,458.2,1288 -801,424,1302 -827.8,441.4,1320 -836.2,626.2,1328 -1186,223,1336 -955,521,1358 -1174,221,1359 -839.4645,416.6491,1103 -797.2625,421.9409,1153 -840.0617,425.0098,1187 -828.715,438.1482,1189 -799.0001,422.2,1194 -823.2401,602.92,1198 -823.5281,604.0721,1233 -797.2626,421.5262,1236 -843.4,415.72,1239 -809.8,397,1241 -672.8466,516.0823,1244 -810.28,397,1263 -687.7765,478.7576,1269 -717.6364,544.4492,1282 -807.2159,396.643,1284 -857.3805,592.225,1285 -824.2,603.4,1292 -672.8465,515.2529,1295 -822.1457,602.3441,1300 -670.3582,531.0123,1313 -860.9636,589.239,1316 -860,591,1323 -672.8466,514.5894,1326 -1182.952,222.8752,1331 -859.4705,627.2273,1332 -827.5601,441.64,1338 -1200.37,227.4372,1344 -828.1178,625.0708,1346 -1168.52,242.8648,1347 -953.5292,517.5754,1348 -821.5486,602.9745,1351 -804.5201,419.176,1352 -822.1458,604.1689,1353 -811.7777,401.2049,1355 -826.2929,440.6033,1356 -687.3617,480.0017,1364 -681.8046,542.0605,1366 -1144.035,158.66,1368 -859.0001,587.8,1370 -798.76,421.48,1371 -809.7041,396.712,1373 -842.0524,416.5495,1374 -1154.785,258.9891,1377 -841.96,411.4,1381 -844.2641,419.176,1382 -827.1224,625.5685,1383 -822.1458,603.1736,1386 -616.1129,457.8557,1387 -842.8817,415.7201,1391 -641.7425,463.4129,1392 -951.5385,518.5707,1397 -1176.731,220.8016,1402 -672.04,513.64,1403 -679.0673,544.2833,1404 -1155.995,260.2,1406 -666.6257,538.0625,1408 -1032.956,405.8995,1409 -1113.279,172.6941,1410 -1156.576,260.7807,1411 -681.8046,544.4492,1412 -669.8606,529.5193,1413 -526.5333,224.9489,1414 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0059.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0059.csv deleted file mode 100644 index b330b0989a98ed2d46f4c743ac9474d0614307e0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0059.csv +++ /dev/null @@ -1,68 +0,0 @@ -829,407,1277 -811,428,1405 -850.2141,423.8155,1103 -809.7041,428.1617,1153 -839.4645,441.7314,1189 -824.2,403,1193 -811.0001,428.2,1194 -837.64,610.12,1198 -837.3521,610.9841,1233 -856.36,422.92,1239 -821.8,403,1241 -685.2881,521.059,1244 -821.8,402.76,1263 -702.7064,484.7296,1269 -843.4,412.6,1278 -829.0001,406.6,1279 -729.5803,550.4212,1282 -871.7132,599.3914,1285 -622.6,464.2,1288 -838.6,610.6,1292 -685.2881,521.4737,1295 -836.6609,610.6385,1300 -682.7999,538.4772,1313 -872.9076,598.197,1316 -874.6,599.8,1323 -687.7765,523.5474,1326 -1203.688,229.096,1331 -873.9857,635.5217,1332 -1206,229,1336 -839.08,447.4,1338 -965.4731,523.5474,1348 -816.6161,426.088,1352 -837.0757,610.1409,1353 -968,527,1358 -1194,227,1359 -696.1373,549.2268,1366 -1165.534,162.2432,1368 -810.28,428.68,1371 -821.8,403.624,1373 -854.494,421.5262,1374 -842.0524,633.0334,1380 -620.8904,466.8136,1382 -1195.394,227.0224,1386 -685,519.4,1387 -693.5825,550.5041,1388 -1047.289,413.0659,1391 -1133.186,180.1591,1392 -693.7485,550.4212,1394 -684.7905,538.4773,1395 -532.5053,236.8928,1396 -855.3233,426.0881,1397 -730.0779,550.9188,1398 -635,513,1401 -843.0477,442.9258,1402 -851.1761,417.7937,1403 -868.6,597.4,1407 -856.36,425.8,1408 -1208.872,222.184,1409 -811.4321,429.544,1410 -699.1121,486.5681,1411 -809.7042,428.9911,1412 -874.4005,635.5217,1413 -964.8759,524.1445,1414 -843.4,633.4,1415 -1141.48,293.3777,1416 -875.8,596.2,1417 -1203.688,229.096,1419 -1046.095,413.0659,1421 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0060.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0060.csv deleted file mode 100644 index 28be51b55cdd25d7e66967fe86dba90c833a1d00..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0060.csv +++ /dev/null @@ -1,66 +0,0 @@ -833.8,409,1193 -849,616,1261 -646,470,1297 -866.2,430.6,1301 -1220.68,235.72,1329 -641,471,1360 -860.9636,427.3987,1103 -817.9985,434.3824,1153 -850.2141,448.8977,1189 -820.6,434.2,1194 -849.16,617.32,1198 -849.4481,617.8961,1233 -865.0001,427.24,1239 -831.4,407.8,1241 -695.2415,526.0356,1244 -831.88,408.52,1263 -711.6644,490.7015,1269 -839,412,1277 -850.6,418.6,1278 -882.4627,606.5577,1285 -849.4,616.6,1292 -693.5825,525.6208,1295 -847.0289,616.8593,1300 -692.7531,543.4539,1313 -884.8515,604.1689,1316 -696.7344,529.5193,1326 -1222,235,1336 -849.16,453.16,1338 -826.9841,431.272,1352 -849.0197,616.1129,1353 -979.0001,532.6,1358 -1209,233,1359 -703.3036,556.3932,1366 -1183.45,171.2011,1368 -820.36,434.44,1371 -832.1681,408.808,1373 -852.0056,638.0101,1380 -631.64,473.98,1382 -1211.983,233.2432,1386 -693.64,525.16,1387 -701.8769,556.7249,1388 -1148.116,185.1357,1392 -702.7064,556.3932,1394 -693.7485,544.4492,1395 -541.4633,242.8648,1396 -740.0312,555.8955,1398 -645,519,1399 -852.0057,448.8977,1400 -820,434,1402 -880.6,603.4,1403 -1224.424,229.096,1405 -820.0721,434.728,1406 -709.48,491.752,1407 -884.3538,640.4984,1409 -854.2,640.6,1411 -826.2929,430.2353,1416 -978.76,532.36,1418 -977.6657,531.8417,1420 -836.2,442.6,1422 -1221.4,235,1423 -863.8,423.4,1424 -709.48,492.04,1425 -641.7425,519.4001,1426 -710.1714,491.1992,1429 -708,492,1430 -835,413,1431 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0061.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0061.csv deleted file mode 100644 index 955d242a079ea4c9d73b7ce8bdab3d380f345f13..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0061.csv +++ /dev/null @@ -1,66 +0,0 @@ -847.0001,415,1279 -989,537,1298 -863,421,1305 -872.2,644.2,1328 -646,474,1360 -897,607,1370 -866.2,646.6,1411 -718,495,1425 -874.6,430.6,1443 -871.7132,430.9818,1103 -828.3665,438.5297,1153 -857.3805,452.4809,1189 -829.0001,437.8,1194 -859.2401,620.2,1198 -859.8161,621.3521,1233 -702.7064,531.0123,1244 -859,620,1261 -840.52,411.4,1263 -720.6223,493.6875,1269 -847,416,1277 -859.2401,421.48,1278 -896.7954,613.1269,1285 -859.0001,620.2,1292 -703.9505,529.7681,1295 -857.3969,621.0065,1300 -702.7064,548.4305,1313 -896.7954,607.1549,1316 -705.6924,532.5053,1326 -857.8,457,1338 -988.6,536.2,1358 -714.0532,559.9764,1366 -829.0001,437.32,1371 -840.8081,412.264,1373 -642.3895,477.5632,1382 -703.72,529.48,1387 -710.1713,560.8721,1388 -711.6644,559.3792,1394 -702.7064,547.4352,1395 -547.4352,248.8367,1396 -747.4962,556.3932,1398 -654,523,1399 -860.9636,451.8837,1400 -829,437,1402 -828.7121,438.1841,1406 -718.1201,495.208,1407 -834.5873,434.3824,1416 -988.84,536.68,1417 -985.9601,533.9153,1418 -844.84,445.96,1419 -872.2,427,1421 -718.1201,494.92,1422 -720.1246,493.6875,1424 -844,416,1426 -987.6881,536.6801,1427 -1147.618,606.5577,1429 -986.375,534.8941,1430 -651.88,522.28,1433 -652.1105,517.3265,1436 -718.6,495.4,1438 -718.4657,494.5169,1439 -890.9201,607.5281,1440 -872.2,427.24,1444 -896.1041,645.5441,1445 -1170.511,302.0868,1446 -1066.997,419.0379,1447 -1183.45,302.5845,1449 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0062.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0062.csv deleted file mode 100644 index ffbc1eef2c5a6e7dceb495af0af3db4512665eae..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0062.csv +++ /dev/null @@ -1,71 +0,0 @@ -849.4,415,1193 -868,623,1261 -867.4,424.6,1305 -907.0001,613,1323 -1237,238,1359 -661,525,1399 -850,451,1419 -725,498,1425 -906.76,646.12,1453 -903.4,609.4,1460 -883.0001,605.8,1464 -875.2964,434.565,1103 -834.5873,440.6033,1153 -864.5468,456.0641,1189 -835.0001,440.2,1194 -867.88,623.08,1198 -866.7281,624.808,1233 -710.1714,533.5006,1244 -729.5803,496.6735,1269 -854,419,1277 -866.4401,424.36,1278 -854.2,418.6,1279 -905.7534,616.1129,1285 -867.4,623.8,1292 -710.1713,533.9153,1295 -997,540,1298 -865.6913,623.0801,1300 -710.1714,550.9188,1313 -902.7674,610.1409,1316 -711.6644,535.4913,1326 -880.6,647.8,1328 -866.4401,458.92,1338 -657,477,1360 -721.2195,563.5596,1366 -905,610,1370 -834.76,440.2,1371 -847.7201,415.72,1373 -653.1391,477.5632,1382 -710.92,532.36,1387 -718.4657,562.9457,1388 -717.6364,562.3651,1394 -708.6784,550.4212,1395 -553.4072,251.8227,1396 -753.4682,563.5596,1398 -866.9356,454.8697,1400 -835.6241,441.64,1406 -726.7601,498.6641,1407 -874.6,649,1411 -840.8081,436.4561,1416 -725.32,497.8,1422 -727.5896,496.1758,1424 -996.3281,538.4081,1427 -993.5414,538.4773,1429 -661,525.4,1430 -725.8,497.8,1432 -726.7601,496.5905,1433 -899.5601,610.9841,1434 -877.96,430.12,1436 -904.7441,650.7281,1437 -1180.464,304.5751,1438 -1072.969,422.0239,1439 -659.368,526.3121,1443 -995.3329,538.4773,1444 -1159.562,610.1409,1447 -556.7249,251.9056,1452 -658.3313,525.6208,1454 -901.772,610.6385,1456 -1072.371,423.8155,1457 -688.9709,559.9764,1458 -872,648,1459 -871.9122,453.8744,1463 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0063.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0063.csv deleted file mode 100644 index cad59f2934450ba4d53370c829a9d6d516b8f9f1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0063.csv +++ /dev/null @@ -1,65 +0,0 @@ -854.92,420.04,1263 -874,427,1305 -853,417,1369 -841,443,1402 -884.2,433,1421 -667,527.8,1430 -879.4,651.4,1450 -597.4,238.6,1461 -882.4627,438.1482,1103 -871.7132,456.0641,1189 -855,418,1193 -841.0001,443.8,1194 -873.6401,626.5361,1233 -717.6364,535.989,1244 -735.5522,499.6595,1269 -860,421,1277 -872.2,427.24,1278 -860.2,421,1279 -911.7253,619.0989,1285 -716.3921,535.9889,1295 -1004,543,1298 -873.9857,625.1537,1300 -715.148,553.4072,1313 -717.6364,538.4773,1326 -887.8,650.2,1328 -872.2,461.8,1338 -912,613,1370 -840.52,444.52,1371 -660.3055,481.1464,1382 -716.6801,535.2401,1387 -723.6083,568.3371,1394 -714.6504,553.4072,1395 -559.3792,254.8087,1396 -760.6346,567.1428,1398 -667,528,1399 -872.9076,457.8557,1400 -840.8081,445.096,1406 -733.6721,500.3921,1407 -732.52,500.68,1422 -732.5662,498.6641,1424 -732,501,1425 -1003.24,541.8641,1427 -732.9809,500.7377,1433 -906.4721,614.4401,1434 -883.72,433,1436 -1190.417,307.0634,1438 -1165.534,613.1269,1443 -562.9457,253.9792,1444 -664.5521,527.6945,1446 -909.237,613.1269,1447 -696.7344,553.4072,1449 -909.64,611.56,1451 -876.8889,456.3627,1452 -871.9122,625.5685,1454 -1003.24,542.44,1455 -564.3281,255.016,1458 -879.4,650.44,1459 -881,653,1460 -886.6,650.44,1462 -881.8655,431.4795,1464 -560.8721,254.8087,1465 -598.197,234.9021,1466 -911.3105,652.1105,1468 -871.9122,458.851,1470 -589.239,239.8788,1471 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0064.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0064.csv deleted file mode 100644 index 4e373772a04b98ae0f0ce566aca58fb4c3dba1c5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0064.csv +++ /dev/null @@ -1,67 +0,0 @@ -881.8,629.8,1292 -894,656,1367 -860.2,421,1369 -674,532,1399 -919.0001,616.6,1413 -890.2,435.4,1421 -737.8,503.8,1432 -917,615,1451 -601,243.4,1459 -894,654,1483 -886.0459,441.7314,1103 -860,421,1193 -845.8,447.4,1194 -880.5521,629.9921,1233 -722.613,538.4772,1244 -860.6801,422.92,1263 -741.5242,502.6454,1269 -865,425,1277 -877.96,430.12,1278 -865.0001,424.6,1279 -722.6129,538.0625,1295 -1010,546,1298 -881,430,1305 -723.6083,541.4633,1326 -893.8,653.8,1328 -877.96,464.68,1338 -919,616,1370 -846.28,447.4,1371 -722.44,538.12,1387 -731.9691,570.7259,1394 -720.6223,556.3932,1395 -565.3511,257.7947,1396 -878.8795,460.8417,1400 -846,447,1402 -845.9921,448.552,1406 -738.8561,503.8481,1407 -738.28,503.56,1422 -738,504,1425 -673,531.4,1430 -739.2017,502.8113,1433 -913.3841,617.8961,1434 -889.48,435.88,1436 -1200.37,309.5518,1438 -569.1665,258.1264,1444 -670.7729,531.8417,1446 -916.702,615.6152,1447 -702.7064,565.3511,1449 -885.4,655,1450 -881.8655,458.851,1452 -879.3772,628.0568,1454 -1009,545.32,1455 -569.512,258.472,1456 -888,656,1458 -893.8,653.32,1460 -889.3304,438.9444,1461 -568.3371,257.297,1462 -600.6852,239.8788,1463 -919.6049,652.1105,1464 -599.3914,241.0732,1466 -880.84,630.28,1467 -674.92,528.04,1469 -917.6973,616.1129,1470 -889.3304,448.8977,1473 -916.84,659.08,1475 -885.7361,654.1841,1480 -593.2203,244.8554,1486 -558.3838,249.8321,1489 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0065.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0065.csv deleted file mode 100644 index 6dc1894333ca44bd6d65374b7f27d24618ab7736..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0065.csv +++ /dev/null @@ -1,66 +0,0 @@ -900,649,1258 -892,636,1261 -1012,547,1262 -868.6,424.6,1263 -654,500,1271 -871,428,1277 -1016,549,1358 -864,424,1369 -926,619,1370 -680.2,535,1399 -895.0001,659.8,1411 -1012.6,547,1417 -868.6,459.4,1419 -867,428,1426 -895,660,1458 -578.2,262.6,1479 -893.2123,445.3145,1103 -866,424,1193 -851.8,449.8,1194 -887.4641,633.4481,1233 -730.0779,543.4539,1244 -747.4962,505.6314,1269 -882.28,434.44,1278 -871.0001,428.2,1279 -889.0001,632.2,1292 -728.8337,542.2097,1295 -887,434,1305 -729.5803,544.4492,1326 -901.0001,657.4,1328 -850.6,450.28,1371 -728.2,541,1387 -739.1354,570.7259,1394 -726.5943,559.3792,1395 -881.8655,466.8136,1400 -851.1761,452.0081,1406 -745.7681,507.304,1407 -895.0001,439,1421 -744,507,1425 -745,507.4,1432 -745.4225,506.9585,1433 -895.2401,438.76,1436 -573.3137,262.2737,1444 -676.9937,535.9889,1446 -924.1669,620.5918,1447 -708.6784,568.3371,1449 -892.6,658.6,1450 -924,618,1451 -886.8421,633.0334,1454 -576.4241,261.928,1456 -894.3071,443.9211,1461 -570.8254,262.2737,1462 -602.9745,244.6564,1466 -888.04,633.16,1467 -681.8321,531.496,1468 -923.6693,622.0848,1469 -894.3071,451.386,1470 -892.6481,657.6401,1472 -901,658,1473 -563.3605,252.3204,1475 -870.76,427.24,1477 -857.3969,446.8241,1481 -892.36,657.64,1483 -897.8321,446.824,1484 -604.4177,245.6848,1485 -604.1689,245.8508,1487 -1088.396,433.9678,1488 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0066.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0066.csv deleted file mode 100644 index 221a6d7f8644fb0d8c2d28d5d5f5db3437e6811d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0066.csv +++ /dev/null @@ -1,66 +0,0 @@ -896,637,1261 -874.6,429.4,1363 -871,428,1369 -857,454,1402 -751,511,1432 -899,663,1498 -896.7955,448.8977,1103 -856.6,454.6,1194 -894.3761,638.6321,1233 -735.0546,545.9422,1244 -753.4681,508.6174,1269 -662,503,1271 -876,432,1277 -889.48,437.32,1278 -875.8,431.8,1279 -896.2,637,1292 -735.0545,546.3569,1295 -892,438,1305 -735.5522,547.4352,1326 -908.2,661,1328 -1022,553,1358 -932.2,623.8,1370 -856.36,454.6,1371 -733.96,545.32,1387 -742.7186,577.8923,1394 -732.5663,565.3511,1395 -687,539,1399 -887.8375,469.7996,1400 -750.9521,510.76,1407 -1018.6,550.6,1417 -750,511,1425 -873,432,1426 -751.6433,511.1057,1433 -901.0001,443.08,1436 -577.4609,268.4944,1444 -931.6319,628.0568,1447 -714.6504,571.3231,1449 -899.8,662.2,1450 -931,622,1451 -894.3071,635.5217,1454 -901,664,1458 -899.2838,446.4094,1461 -895.2401,637.48,1467 -688.7441,534.952,1468 -901.772,451.386,1470 -899.5601,662.824,1472 -565.8488,257.297,1475 -876.52,431.56,1476 -581.8,267.4,1477 -863.6177,450.9713,1478 -899.5601,661.96,1479 -606.4913,251.9056,1481 -610.1409,248.8367,1482 -1093.373,436.4561,1483 -1019.138,550.5041,1484 -1018.723,550.9188,1485 -886.0459,470.3968,1486 -1019.221,550.4212,1487 -687.88,535.2401,1488 -687.4,539.8,1490 -733.6721,545.3201,1494 -574.3091,266.7527,1496 -893.8,634.6,1499 -896.1041,443.368,1500 -864,460,1501 -1094.824,438.1841,1504 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0067.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0067.csv deleted file mode 100644 index b57c73e77d00bbd0dbbee8f4a0ae841567641547..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0067.csv +++ /dev/null @@ -1,67 +0,0 @@ -880,432,1193 -875,431,1284 -695,496,1297 -1028.2,555.4,1298 -909.4,453.4,1301 -862,458,1402 -879.4,466.6,1419 -907.0001,446.2,1421 -757,514.6,1432 -908.2,449.8,1435 -939.8801,667.72,1437 -903.9619,452.4809,1103 -862.6,458.2,1194 -740.0312,548.4305,1244 -903,640,1261 -882,435,1277 -896.2,440.2,1278 -903.4,640.6,1292 -741.2753,548.4305,1295 -915.4,664.6,1328 -1028,556,1358 -877,431,1369 -939.4,627.4,1370 -862.1201,458.92,1371 -739.72,548.2,1387 -749.885,581.4755,1394 -738.5383,568.3371,1395 -694,543,1399 -893.8094,472.7856,1400 -757.8641,514.2161,1407 -757,514,1425 -757.8641,513.1793,1433 -936.6085,628.0568,1447 -720.6223,577.295,1449 -907.0001,665.8,1450 -938,625,1451 -901.772,640.4984,1454 -902.4401,640.36,1467 -906.7487,453.8744,1470 -906.4721,666.2801,1472 -568.3371,259.7853,1475 -881.8,434.2,1476 -906.76,664.84,1479 -610.6385,256.0529,1481 -1098.349,438.9444,1483 -1026.188,553.4072,1485 -893.2123,470.3968,1486 -1025.193,553.4072,1487 -695.08,539.56,1488 -740.584,548.7761,1490 -580.2811,269.7386,1491 -907,666,1492 -901.0001,637.48,1493 -869,463,1495 -692.2001,543.592,1497 -1027.432,555.688,1498 -894.3761,445.096,1499 -889.3304,473.7809,1500 -900.9425,446.8241,1502 -892.6481,441.64,1503 -867.7649,461.3393,1505 -898.8689,471.7073,1507 -1099.842,439.9398,1509 -905.7534,451.8837,1511 -610.1409,255.4059,1513 -1165.534,599.3914,1515 -1161.951,588.6418,1516 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0068.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0068.csv deleted file mode 100644 index 01e467b32588064e3b92ec30a7d2d2c4f3d68560..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0068.csv +++ /dev/null @@ -1,63 +0,0 @@ -885.4,434.2,1193 -1031,556,1262 -922,660,1267 -899.8,443.8,1278 -887.8,436.6,1279 -903,443,1305 -867,460,1402 -916.6,669.4,1411 -945.4,671.8,1471 -875,466,1495 -1034.2,557.8,1511 -946.6,667,1530 -911.1282,452.4809,1103 -867.4,460.6,1194 -747.4962,553.4072,1244 -910,642,1261 -887,437,1277 -880.6,433,1284 -910.6,641.8,1292 -747.4961,552.5777,1295 -913.96,456.04,1301 -922.6,666.28,1328 -1035,558,1358 -883,434,1369 -947,629,1370 -746.92,551.08,1387 -744.5102,571.3231,1395 -899.7814,475.7716,1400 -764.7761,515.944,1407 -911.8,448.6,1421 -764.2,517,1432 -764.0849,515.2529,1433 -913.96,453.16,1435 -947.8,670.6,1437 -944.0735,630.5451,1447 -726.5943,580.2811,1449 -914.2,668.2,1450 -909.64,643.2401,1467 -911.7253,456.3627,1470 -913.96,667.72,1479 -612.7121,260.2,1481 -1103.326,441.4327,1483 -1031.165,555.8955,1485 -896.7955,473.98,1486 -702.28,542.44,1488 -747.4961,552.2321,1490 -583.267,275.7106,1491 -699.1121,547.048,1497 -1034.344,557.4161,1498 -899.5601,446.824,1499 -1105.814,439.9398,1505 -617.3073,255.4059,1507 -904.2604,448.8977,1512 -1032.956,556.3932,1513 -764.2,516.52,1517 -1033.653,556.7249,1518 -583.6817,270.568,1520 -944.4882,629.3009,1524 -899.2838,476.2692,1526 -616.1129,257.7947,1527 -1104.155,442.6768,1528 -1171.506,592.225,1533 -1174.492,601.1829,1534 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0069.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0069.csv deleted file mode 100644 index 64444d9107961c09c78812c68377d7bc92e4e82a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0069.csv +++ /dev/null @@ -1,57 +0,0 @@ -1037,558,1262 -906,446,1278 -877,462,1302 -907.0001,445,1305 -902.2,481,1338 -896.2,437.8,1363 -707,549,1399 -945.4,631,1403 -887.8,470.2,1419 -769,519,1425 -930,671,1460 -921,671,1472 -879.4,467.8,1495 -914.7114,456.0641,1103 -889.0001,439,1193 -752.4728,553.4072,1244 -918,645,1261 -893,439,1277 -886,436,1284 -917.8,645.4,1292 -753.7169,554.6513,1295 -1041,560,1358 -954,632,1370 -752.6801,553.96,1387 -750.4822,574.3091,1395 -902.7674,478.7576,1400 -873,463,1402 -916.6,451,1421 -770.2,519.4,1432 -770.3057,517.3265,1433 -918.28,454.6,1435 -954.28,672.04,1437 -951.5385,633.0334,1447 -735.5522,583.267,1449 -921.4,670.6,1450 -916.84,644.6801,1467 -916.702,458.851,1470 -921.16,670.6,1479 -1108.303,443.9211,1483 -903.9619,477.5632,1486 -752.6801,555.688,1490 -589.239,278.6966,1491 -703.9505,548.4305,1497 -620.8904,258.9891,1507 -1040.2,560.2,1510 -909.237,451.386,1511 -769.96,519.4,1513 -585.7553,272.6416,1515 -952.7825,631.3745,1516 -901.772,478.7576,1517 -1108.303,444.7505,1519 -954,670,1520 -1180.464,595.211,1521 -1183.45,604.1689,1522 -903.8801,445.96,1523 -703.3036,534.8941,1524 -1108.203,445.3145,1525 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0070.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0070.csv deleted file mode 100644 index f6200c743faa35d15e72ea7f9c0776cfbe874593..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0070.csv +++ /dev/null @@ -1,53 +0,0 @@ -714,503,1297 -696,507,1382 -712.6,551.8,1430 -963.4,674.2,1520 -920.6833,457.8557,1103 -759.9378,558.3838,1244 -925,648,1261 -912,448,1278 -893,439,1284 -925.0001,647.8,1292 -757.8641,556.7249,1295 -882,465,1302 -910.6,448.6,1305 -907.0001,483.4,1338 -1047,563,1358 -898,442,1363 -758.44,556.84,1387 -756.4542,577.295,1395 -713,553,1399 -878,466,1402 -950.2,635.8,1403 -921.4,453.4,1421 -776,522,1425 -776.2,521.8,1432 -776.5265,521.4737,1433 -924.04,457.48,1435 -962.92,673.48,1437 -959.0034,635.5217,1447 -741.5242,586.2531,1449 -928.6,674.2,1450 -921.6786,461.3393,1470 -929,674,1472 -928.36,673.48,1479 -1113.279,446.4094,1483 -907.545,477.5632,1486 -759.5921,557.4161,1490 -592.225,281.6826,1491 -619.0989,266.7527,1507 -1046.2,562.6,1510 -777.16,522.28,1513 -587.8289,276.7888,1515 -959.0034,635.5217,1516 -906.7487,481.2459,1517 -1112.45,444.7505,1519 -1186.436,595.211,1521 -1187.929,605.6619,1522 -909.64,448.84,1523 -710.47,534.8941,1524 -1111.786,445.3145,1525 -1043.706,559.9764,1527 -765.4121,589.239,1529 -1043.8,560.2,1530 -915.4577,453.0449,1531 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0071.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0071.csv deleted file mode 100644 index 687bcf877cd217b9ef6ff5be1ba653ae2d6cf086..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0071.csv +++ /dev/null @@ -1,51 +0,0 @@ -721,557,1399 -780,523,1422 -972,678,1437 -950,633,1453 -764.9144,560.8721,1244 -918,451,1278 -933.4,651.4,1292 -764.0849,560.8721,1295 -888,468,1302 -917.8,451,1305 -912.52,486.28,1338 -1054,566,1358 -907,446,1363 -762.4261,580.2811,1395 -883,469,1402 -957.16,636.04,1403 -927.4,455.8,1421 -783,525,1425 -719.8,555.4,1430 -783.4,525.4,1432 -784.8209,523.5473,1433 -928.36,460.36,1435 -966.4684,638.0101,1447 -747.4962,589.239,1449 -937.0001,677.8,1450 -926.6553,461.3393,1470 -1118.256,446.4094,1483 -914.7114,481.1464,1486 -764.7761,560.8721,1490 -595.7086,277.2036,1491 -782.92,525.16,1513 -1118.671,448.8977,1519 -971.8,677.8,1520 -1192.906,598.197,1521 -717.6364,544.4492,1524 -1118.953,448.8977,1525 -1050.872,563.5596,1526 -769.8911,593.2203,1527 -921.6785,457.1921,1529 -1052.067,562.3651,1530 -783.7841,524.584,1533 -924.04,456.04,1534 -914.7114,481.7436,1539 -927.2081,457.192,1541 -1051.071,563.3605,1544 -919.6049,482.0753,1545 -620.8904,269.7386,1546 -970.4081,642.0881,1548 -926.92,456.04,1549 -923.7521,457.192,1550 -1119.016,448.552,1552 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0072.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0072.csv deleted file mode 100644 index efe5cdfd241bd826528160f10c42f48ba70930d2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0072.csv +++ /dev/null @@ -1,45 +0,0 @@ -893.8,471.4,1194 -910,448,1225 -930,458,1242 -1058,566,1262 -922.6,454.6,1305 -946,664,1381 -937.0001,466.6,1404 -1060.84,568.36,1417 -980.2,682.6,1437 -947,681,1472 -772.3794,563.3605,1244 -924,454,1278 -943.0001,655,1292 -772.3793,565.0193,1295 -894,471,1302 -920.2,490.6,1338 -1062,569,1358 -771.3841,586.2531,1395 -890,472,1402 -933.4,459.4,1421 -791,529,1425 -729,561,1430 -791.8,529,1432 -793.1153,527.6945,1433 -935.5601,463.24,1435 -753.4681,595.211,1449 -946.6,681.4,1450 -960,637,1453 -934.1202,463.8276,1470 -921.8777,484.7296,1486 -773.4161,564.3281,1490 -598.197,279.6919,1491 -1124.891,450.9713,1519 -726.5943,550.4212,1524 -1126.119,448.8977,1525 -777.356,595.7086,1527 -1061.025,565.3511,1530 -792.4241,528.04,1531 -934.1201,460.648,1534 -1058.536,565.8488,1535 -925.8257,484.1489,1536 -619.0989,269.7386,1537 -934.1201,458.92,1539 -1060.61,567.0929,1544 -1058.2,566.2,1545 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0073.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0073.csv deleted file mode 100644 index 63c5ee98c2ca40ae78b4e910f58b892c26f14f01..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0073.csv +++ /dev/null @@ -1,39 +0,0 @@ -956.2,665.8,1351 -979,644,1403 -959,686,1450 -1070.2,571,1455 -956.2,682.6,1479 -904,481,1495 -597,288,1515 -938.2,463,1532 -901.0001,475,1194 -952.84,659.08,1292 -780.6737,569.1665,1295 -931,458,1305 -926.92,493.48,1338 -777.3561,592.225,1395 -897,476,1402 -1069.48,571.2401,1417 -941.8,463,1421 -800,532,1425 -739,565,1430 -800.2,532.6,1432 -801.4097,531.8417,1433 -942.76,466.12,1435 -764.2177,599.3914,1449 -941.5852,466.3159,1470 -957,685,1472 -929.0441,488.3127,1486 -782.0561,569.512,1490 -1131.112,453.0449,1519 -784.821,600.6852,1527 -1068.788,570.7259,1530 -801.0641,531.496,1531 -619.0989,278.6966,1537 -1133.286,452.4809,1544 -1211.983,604.4177,1546 -942.7601,471.0161,1549 -927.2081,493.48,1550 -992,685,1554 -942.7601,467.5601,1555 -988.0338,645.8897,1556 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0074.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0074.csv deleted file mode 100644 index 9c8a2ab215890557f389caeb8a878784bfbb972f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0074.csv +++ /dev/null @@ -1,37 +0,0 @@ -961.0001,661,1261 -907,477,1302 -988.6,650.2,1434 -979,643,1453 -1077,574,1510 -907.0001,477.4,1194 -961.48,660.52,1292 -786.8945,571.2401,1295 -786.314,592.225,1395 -902.2,478.6,1402 -1075.24,572.68,1417 -946.6,465.4,1421 -807,535,1425 -807.4,535,1432 -809.7041,533.9153,1433 -948.52,469,1435 -771.3841,602.9745,1449 -967,689,1450 -1076.2,573.4,1455 -965,688,1472 -932.6273,491.8959,1486 -788.9681,571.2401,1490 -910,484,1495 -1135.259,455.1185,1519 -792.2859,603.1736,1527 -809.7041,534.952,1531 -1136.869,452.4809,1544 -947.9441,472.744,1546 -932.3921,495.208,1547 -999,689,1548 -996.3281,647.9633,1550 -928.9361,495.208,1552 -1135.674,453.8744,1557 -931.6319,493.6875,1558 -932.0465,494.5169,1561 -909,482,1562 -1072.6,571,1568 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0075.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0075.csv deleted file mode 100644 index 7c70d09eb85221a057e2f6c47339fc54adc99158..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0075.csv +++ /dev/null @@ -1,28 +0,0 @@ -973,672,1351 -753,573,1430 -814.6,536.2,1432 -753.4,573.4,1489 -1079,572,1535 -937.0001,497.8,1560 -793.1153,573.3137,1295 -792.2859,595.211,1395 -1082.44,574.12,1417 -951,467,1421 -814,537,1425 -815.9249,535.9889,1433 -997,650,1434 -778.5505,606.5577,1449 -936.2104,491.8959,1486 -794.1521,574.696,1490 -1083,575,1510 -1139.407,455.1185,1519 -816.6161,536.6801,1531 -1140.452,456.0641,1544 -950.7089,480.0017,1546 -1004.623,650.0369,1550 -936.1937,496.5905,1554 -914,484,1555 -1078.6,572.2,1556 -1081.927,574.3091,1559 -1079.538,574.3091,1561 -939.0969,493.6875,1563 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0076.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0076.csv deleted file mode 100644 index e3d4fb0dcf9abcd49c5ebac42b312f0a3e3fbcb3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0076.csv +++ /dev/null @@ -1,25 +0,0 @@ -941.8,499,1338 -926.2,490.6,1419 -1012,651,1451 -1087,577,1455 -799.3361,577.4609,1295 -979.0001,674.2,1351 -795.272,601.1829,1395 -1086.76,577,1417 -819,539,1425 -819.4,538.6,1432 -820.0721,538.0625,1433 -1003,652,1434 -939.7936,495.4791,1486 -1087,577,1510 -1141.48,457.1921,1519 -820.0721,538.4081,1531 -1083,574,1535 -1144.035,456.0641,1544 -1010.843,652.1105,1550 -1083.4,574.6,1556 -1085.908,575.8021,1557 -939.8801,499.24,1558 -1084.912,574.3091,1559 -941.5852,496.1758,1560 -1144.632,457.8557,1565 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0077.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0077.csv deleted file mode 100644 index 5cddae8d6cd62478d7ec4179fa8cc55d6f384f16..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0077.csv +++ /dev/null @@ -1,24 +0,0 @@ -1087,576,1262 -986,678,1381 -1009,654,1403 -1088.2,577,1543 -803.4833,579.5345,1295 -945.4,501.4,1338 -986.2,677.8,1351 -801.2439,601.1829,1395 -1092.52,579.88,1417 -929.8,494.2,1419 -825,542,1425 -825.4,542.2,1432 -826.2929,540.136,1433 -1009,655,1434 -1018,654,1451 -943.3768,499.0623,1486 -1145.627,459.2657,1519 -826.9841,541.8641,1531 -1017.064,654.1841,1550 -942.76,502.12,1558 -1090.884,577.295,1559 -944.0735,498.6641,1560 -1147.618,457.8557,1561 -942.4146,500.7377,1565 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0078.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0078.csv deleted file mode 100644 index 17f95912285bafb6cb2a642d393189c1355c0489..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0078.csv +++ /dev/null @@ -1,26 +0,0 @@ -994.6,675.4,1261 -755,578,1319 -995,676,1381 -1011,654,1453 -949.0001,506.2,1569 -809.7041,583.6817,1295 -994.6,681.4,1351 -807.2159,604.1689,1395 -1017,658,1403 -935,498,1419 -832,545,1425 -832.6,544.6,1432 -832.5137,544.2833,1433 -1027,657.4,1451 -1149.775,461.3393,1519 -833.8961,545.3201,1531 -1094,579,1543 -948.52,505,1558 -1096.856,580.2811,1559 -950.5432,502.6454,1560 -1151.201,463.2305,1561 -948.6353,504.8849,1562 -947.9441,505.576,1564 -951.4001,505.576,1565 -1150.604,461.3393,1570 -1092,564,1571 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0079.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0079.csv deleted file mode 100644 index 7758d1b574b275643c6402d8da1005170f1731b9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0079.csv +++ /dev/null @@ -1,21 +0,0 @@ -1102,585,1262 -1106.2,585.4,1298 -997.0001,674.2,1493 -1105.48,585.64,1569 -1004.2,680.2,1261 -766,582,1319 -813.1879,613.1269,1395 -1025.8,661,1403 -941,502,1419 -839.8,548.2,1432 -840.8081,548.4305,1433 -1020,658,1453 -1155.995,465.4865,1519 -840.8081,548.7761,1531 -954.28,509.32,1558 -954.8561,509.032,1563 -1155.581,463.8276,1566 -1099,567,1567 -840.52,548.2,1568 -1156.576,463.8276,1572 -1155.304,465.832,1573 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0080.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0080.csv deleted file mode 100644 index 01e9729489b3af60cd6f5264e85ad5ca5c031b29..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0080.csv +++ /dev/null @@ -1,14 +0,0 @@ -1132.6,604.6,1358 -1066.6,682.6,1370 -801,604,1399 -1127.8,601,1556 -1127,601,1262 -839.564,630.5451,1395 -866.2,567.4,1432 -867.7649,567.0929,1433 -1052,679,1453 -1176.731,480.0017,1519 -976.6,527.8,1558 -1131.4,604.36,1569 -1177.478,478.7576,1570 -1176.04,481.384,1571 diff --git a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0081.csv b/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0081.csv deleted file mode 100644 index 78ae7a35919bf5bbf4a8cf22092caaab63b9f610..0000000000000000000000000000000000000000 --- a/target/classes/vslam/self_made_dataset/KeyFramePoints/KeyFramePoints_0081.csv +++ /dev/null @@ -1,12 +0,0 @@ -860,616,1326 -1142.2,611.8,1510 -876,577,1568 -1137,609,1262 -1142,612,1358 -849.5173,640.4984,1395 -877.0001,577,1432 -1064,688,1453 -1137.16,608.6801,1556 -985.0001,535,1558 -1186.436,487.7155,1570 -1184.68,488.2961,1571 diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0003.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0003.png deleted file mode 100644 index 8f960575483ce31282c93a7040f151ebaa00120a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0003.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0004.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0004.png deleted file mode 100644 index 51f6436c5cf27b46419a5de94ac68b21bd6f6234..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0004.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0005.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0005.png deleted file mode 100644 index 5000c582da6f349ccf5d9aa9f3a5e2e1504382ab..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0005.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0006.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0006.png deleted file mode 100644 index b04d82f09bdf67773750f1051556261ad2ab0faf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0006.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0007.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0007.png deleted file mode 100644 index 4437c9f92901262e0e1e273f3c88ef8de7edfd0d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0007.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0008.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0008.png deleted file mode 100644 index 8aa4f8e45bb96d70b513ede5aa8832455eadd120..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0008.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0009.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0009.png deleted file mode 100644 index 749414234139256335c557f466cc6a9086617b5e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0009.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0010.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0010.png deleted file mode 100644 index 87c38fd0199b9c8b2891cdc2153dc99b0ce0f003..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0010.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0011.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0011.png deleted file mode 100644 index bed4113bc9c4b45a5340aa507d9cdcf078f9c09e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0011.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0012.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0012.png deleted file mode 100644 index 103072b2c86a6aff5d9576614a0d1f2cfa21cc79..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0012.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0013.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0013.png deleted file mode 100644 index 6aea4c1136d87976994a47aefdd7e6582c55dcd3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0013.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0014.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0014.png deleted file mode 100644 index 5756cb83d2c1bb67333f2db5f1cb144438aebc6f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0014.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0015.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0015.png deleted file mode 100644 index bb528ca84bb29b88b86d66c72f58a1d9a0d0d085..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0015.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0016.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0016.png deleted file mode 100644 index 6659574e331485f1c36ccf3b8311bf2d88c03902..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0016.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0017.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0017.png deleted file mode 100644 index 54bf884c0c67991361ec068dd0f6c49428b4bcf6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0017.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0018.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0018.png deleted file mode 100644 index 5e0f1c71519b02687bec5792837157d50941c03b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0018.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0019.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0019.png deleted file mode 100644 index e3e95aaf6fc1b3a50633fc5bfe6544e3fbe1d031..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0019.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0020.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0020.png deleted file mode 100644 index d25912721601710b0e211224afa12379db02fc36..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0020.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0021.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0021.png deleted file mode 100644 index f924ae82a42026641641e89ae0d9c6f75d581470..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0021.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0022.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0022.png deleted file mode 100644 index 072d264c447e34fd5cdc0ef4e457e437dd4bf5c8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0022.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0023.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0023.png deleted file mode 100644 index 495146fd62cd9ac1b4bd6b910ade66a2e87dfeef..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0023.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0024.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0024.png deleted file mode 100644 index a92dca094ce0c09515c49d4bbf7ffe1c22d2c9d1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0024.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0025.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0025.png deleted file mode 100644 index 267243bbd21414dc656312810659e8845e50ddb6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0025.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0026.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0026.png deleted file mode 100644 index 6e5306b22e5a210b8630c2c0779eb48977134dc7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0026.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0027.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0027.png deleted file mode 100644 index aab4eb613941a30fbd8de89921cbc916e8889785..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0027.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0028.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0028.png deleted file mode 100644 index 0680de23fc1b17cb92e84e3b5d50bf4cef84106f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0028.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0029.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0029.png deleted file mode 100644 index 7b5959a56286d458f194744e74fa94cda5ae2eb7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0029.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0030.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0030.png deleted file mode 100644 index 912e93c18041327d7ff2f06f334083b5d42ffec0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0030.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0031.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0031.png deleted file mode 100644 index 7ba7ca76086de8acb5f1878a638ab9986c02a4d6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0031.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0032.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0032.png deleted file mode 100644 index 1f4f233da0f55712b12fba53a18f2ae1acb11fc9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0032.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0033.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0033.png deleted file mode 100644 index c76db768e76050ae2b5cf4caf2bf8ae6637fb60e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0033.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0034.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0034.png deleted file mode 100644 index 0dc30e537970d7da52bd68305c7d3cd434b0da44..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0034.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0035.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0035.png deleted file mode 100644 index 7a2bd0f0dae67e7bce5b68e87fc88d4ed1b5f32f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0035.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0036.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0036.png deleted file mode 100644 index 3941f32b81c7029cbde32862985de364a03a6131..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0036.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0037.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0037.png deleted file mode 100644 index 3401f92fb978eece4834b1b9767f66066dd34918..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0037.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0038.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0038.png deleted file mode 100644 index f7e9693bf9dcbcb58cf5e71d357c6b0b25ed7a9e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0038.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0039.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0039.png deleted file mode 100644 index d99eb80d8d96216ae54679c66d000b574dd68b36..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0039.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0040.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0040.png deleted file mode 100644 index a103d220760b51a3aedb2a4d8bc72f29fca73653..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0040.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0041.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0041.png deleted file mode 100644 index 0c5fd506af983a0cf0e4d01bca981cfa6d328915..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0041.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0042.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0042.png deleted file mode 100644 index fab3bf5e3de41b83945c6178e7c97450ce652850..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0042.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0043.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0043.png deleted file mode 100644 index f4003aa00a50251df75f092e9aed6b7c4c9852b5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0043.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0044.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0044.png deleted file mode 100644 index afbe2985fe626e1de8842b11ac8b8386f727facd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0044.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0045.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0045.png deleted file mode 100644 index 180c93aca611ef5ab6399c99682b0c51fa9095e7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0045.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0046.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0046.png deleted file mode 100644 index 4691bba95746712bac62ff94bb217f45473948a2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0046.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0047.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0047.png deleted file mode 100644 index 0df10be9ed02151d89f53591626c41660ba0d305..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0047.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0048.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0048.png deleted file mode 100644 index f276fb4fac263bfe9a8f09e280d6d454049c654c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0048.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0049.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0049.png deleted file mode 100644 index 604a06beb0ff8dd32fc899970d573ec6e8021899..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0049.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0050.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0050.png deleted file mode 100644 index fec877a9ad53d3dfa9a1ea50f83239e30ce23005..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0050.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0051.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0051.png deleted file mode 100644 index 0ccdfd2a155bd137e578daf138eb5092efeac720..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0051.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0052.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0052.png deleted file mode 100644 index 08725af9ae320ef781aa9e8a4ab995ddbf5f9b7d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0052.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0053.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0053.png deleted file mode 100644 index 10f5097484d6b00d7f6f37bfd5f6e4364597a32c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0053.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0054.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0054.png deleted file mode 100644 index a6d8be2d3d52e7f3d81084e6b16828013f53bbe9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0054.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0055.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0055.png deleted file mode 100644 index 9fe457b1095d699e764636d24ba6da46a9353c30..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0055.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0056.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0056.png deleted file mode 100644 index 6c19e5c2ef7cbb14a5e31e29ca633d2bde4cdfbf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0056.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0057.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0057.png deleted file mode 100644 index 2574d7e8ccac69c6922bdce800ad5ef4bbd031ea..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0057.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0058.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0058.png deleted file mode 100644 index 952d8a4fd556d13c5e16515f1f31b92bdab91855..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0058.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0059.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0059.png deleted file mode 100644 index 6b801599ba20a48eae1496feeca387a152652f68..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0059.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0060.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0060.png deleted file mode 100644 index c391674cccd55f87c5efeaddfe7a3dc69192aeee..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0060.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0061.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0061.png deleted file mode 100644 index e293d96146f72646c04b5b7be9ca0198b6b2dcc0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0061.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0062.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0062.png deleted file mode 100644 index 4d66faa4e09a94557cf34ddb8d48696ac4f543fc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0062.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0063.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0063.png deleted file mode 100644 index 945e86aed5e7beb3f675338d883be73fa80aba40..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0063.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0064.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0064.png deleted file mode 100644 index 0cbd2621ada5718a9746cc1f36bcb87c0bf90446..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0064.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0065.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0065.png deleted file mode 100644 index 9ec034a31c9a9bc11deb9e21c099acc44b60e242..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0065.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0066.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0066.png deleted file mode 100644 index 722d36bea212ff8aba2cd117105a58e20c882f68..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0066.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0067.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0067.png deleted file mode 100644 index 999e5d9b24217a7d6a4563d71ff2123baf362071..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0067.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0068.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0068.png deleted file mode 100644 index 67bba075669c5144eef84e4cf6fcdd022ab789d4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0068.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0069.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0069.png deleted file mode 100644 index ce22d8dc7493a430c0e1b5e19d73e2567f309f0c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0069.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0070.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0070.png deleted file mode 100644 index cbc71af15c5c0c4347db765dc464b4198f2e3477..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0070.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0071.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0071.png deleted file mode 100644 index 5e2205df5cbf7e887fdd9a8fadccd48fadc9af2c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0071.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0072.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0072.png deleted file mode 100644 index 857890b7a2ac3425bf14106371bab799edb91674..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0072.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0073.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0073.png deleted file mode 100644 index 0a9b41563b14ea11f11004762b6df91c71adea59..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0073.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0074.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0074.png deleted file mode 100644 index 783f8cb10c985e02b1f33afdee914a27f8b8606b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0074.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0075.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0075.png deleted file mode 100644 index fd1a398ad0e798a6f29cc1036d3df78f56f1b74a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0075.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0076.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0076.png deleted file mode 100644 index 4d150e14a717c2d2977a1062abfe7be30387c76c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0076.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0077.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0077.png deleted file mode 100644 index a7c9ea32403bc15bc71c9d7d6d4c115c8e0c5e28..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0077.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0078.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0078.png deleted file mode 100644 index d46e50274eeb875144d66c20bd6d3e9f240cf14a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0078.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0079.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0079.png deleted file mode 100644 index a1e4835c7c883be8f61f69663a78ee161cae828c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0079.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0080.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0080.png deleted file mode 100644 index 10d87ec76d35f725aaca7ecccf45025afbeff722..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0080.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0081.png b/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0081.png deleted file mode 100644 index 4d2d8e98aaab9d23c5678e3a801bc4923bd1f563..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/KeyFrames/KeyFrame_0081.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_0.png b/target/classes/vslam/self_made_dataset/frames/frame_0.png deleted file mode 100644 index bf109664b9b8e857061ec27251f09639edaef59a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_0.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_1.png b/target/classes/vslam/self_made_dataset/frames/frame_1.png deleted file mode 100644 index 15dca0a4a88a19f1f3547ad7ea0d047b0670b109..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_1.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_10.png b/target/classes/vslam/self_made_dataset/frames/frame_10.png deleted file mode 100644 index f7c6d91de8247a5d13f718442ece1d883bce7327..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_10.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_100.png b/target/classes/vslam/self_made_dataset/frames/frame_100.png deleted file mode 100644 index 1d05d743075d8b11d7f5365e8564b2749e911f21..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_100.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_101.png b/target/classes/vslam/self_made_dataset/frames/frame_101.png deleted file mode 100644 index 9a548008746b2b8e8a2c1264922228bc44f320f7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_101.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_102.png b/target/classes/vslam/self_made_dataset/frames/frame_102.png deleted file mode 100644 index 37a2d2be36c6fee31d9e4c683e92a8f9030fc1c1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_102.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_103.png b/target/classes/vslam/self_made_dataset/frames/frame_103.png deleted file mode 100644 index 197cb42b859a9388ce0c4b755e052b4d1d24f765..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_103.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_104.png b/target/classes/vslam/self_made_dataset/frames/frame_104.png deleted file mode 100644 index 361417d5cff4d4bf1bf9309a57eab44260e53d6f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_104.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_105.png b/target/classes/vslam/self_made_dataset/frames/frame_105.png deleted file mode 100644 index d2605c4d0320febe3570cec8ec322243db6f4a37..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_105.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_106.png b/target/classes/vslam/self_made_dataset/frames/frame_106.png deleted file mode 100644 index 2dea4cbae45c791700d4d0910c3fc0a536178c6f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_106.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_107.png b/target/classes/vslam/self_made_dataset/frames/frame_107.png deleted file mode 100644 index 27864ea63d20a8aff9b11b7464559a7a306c96ae..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_107.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_108.png b/target/classes/vslam/self_made_dataset/frames/frame_108.png deleted file mode 100644 index 38e4a856e6222f6e85139e11af08ef00d4b36d83..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_108.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_109.png b/target/classes/vslam/self_made_dataset/frames/frame_109.png deleted file mode 100644 index 88ad312f7f6f30f3809abd508a041ca528e08352..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_109.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_11.png b/target/classes/vslam/self_made_dataset/frames/frame_11.png deleted file mode 100644 index 9a59ee14f380ac79f05aca389276200c3894a7b6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_11.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_110.png b/target/classes/vslam/self_made_dataset/frames/frame_110.png deleted file mode 100644 index 868f803a6bbb2d5f40d7beee16d88d11018da781..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_110.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_111.png b/target/classes/vslam/self_made_dataset/frames/frame_111.png deleted file mode 100644 index e30209f55cab8dce433b257cfc1252643c7842c2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_111.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_112.png b/target/classes/vslam/self_made_dataset/frames/frame_112.png deleted file mode 100644 index 39576178932c305b22bd185875ded592417276a4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_112.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_113.png b/target/classes/vslam/self_made_dataset/frames/frame_113.png deleted file mode 100644 index e8b543f7a96e5ff52974620eb60e86a69fd11db0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_113.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_114.png b/target/classes/vslam/self_made_dataset/frames/frame_114.png deleted file mode 100644 index 1babbacdd8072ccd77ce369ead94c6449e9020ba..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_114.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_115.png b/target/classes/vslam/self_made_dataset/frames/frame_115.png deleted file mode 100644 index 87144e8e971dbf85406d0688a3320ea209822409..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_115.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_116.png b/target/classes/vslam/self_made_dataset/frames/frame_116.png deleted file mode 100644 index f98a15546e6072c7ab15f5d9d478c5d0d89241be..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_116.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_117.png b/target/classes/vslam/self_made_dataset/frames/frame_117.png deleted file mode 100644 index b7412a373a18eb917e3a616a6caf5dbe8e0c587e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_117.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_118.png b/target/classes/vslam/self_made_dataset/frames/frame_118.png deleted file mode 100644 index c850b4187c925328f990ca76ea86ed1e2225aa20..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_118.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_119.png b/target/classes/vslam/self_made_dataset/frames/frame_119.png deleted file mode 100644 index 4f8ef38515ab9e144f075f21cfe800d0748845e8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_119.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_12.png b/target/classes/vslam/self_made_dataset/frames/frame_12.png deleted file mode 100644 index 48bd36132008294e8ac7e1384c1d581f7a8fc01c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_12.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_120.png b/target/classes/vslam/self_made_dataset/frames/frame_120.png deleted file mode 100644 index 3c5088dd58e408a995a83f76abc285d5ce836890..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_120.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_121.png b/target/classes/vslam/self_made_dataset/frames/frame_121.png deleted file mode 100644 index 43147129cf8bdb37b0d3606ffc861cce86868bca..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_121.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_122.png b/target/classes/vslam/self_made_dataset/frames/frame_122.png deleted file mode 100644 index b9052f5e566692f128281662e66c52b847717492..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_122.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_123.png b/target/classes/vslam/self_made_dataset/frames/frame_123.png deleted file mode 100644 index 4106193d1577909775f2a8724126b7b486beaafa..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_123.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_124.png b/target/classes/vslam/self_made_dataset/frames/frame_124.png deleted file mode 100644 index dbcab816eb350ef7f48085216ada073db46c581c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_124.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_125.png b/target/classes/vslam/self_made_dataset/frames/frame_125.png deleted file mode 100644 index 309b8ed9bab6f673de96fabfcdd9b34b9e856145..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_125.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_126.png b/target/classes/vslam/self_made_dataset/frames/frame_126.png deleted file mode 100644 index 59fdb7a29f417df31d090affe86b03dbea960d3a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_126.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_127.png b/target/classes/vslam/self_made_dataset/frames/frame_127.png deleted file mode 100644 index 4660c4be01228e0c145abce0fc44f91d41033581..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_127.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_128.png b/target/classes/vslam/self_made_dataset/frames/frame_128.png deleted file mode 100644 index fffa469909172e1b38026e4f4be19f9af37c636f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_128.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_129.png b/target/classes/vslam/self_made_dataset/frames/frame_129.png deleted file mode 100644 index 0a9a7fc4bec52c69c83a73babff3cc11e1600050..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_129.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_13.png b/target/classes/vslam/self_made_dataset/frames/frame_13.png deleted file mode 100644 index 1a88a48e90767156d15aaf7ec9ebda62e6089885..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_13.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_130.png b/target/classes/vslam/self_made_dataset/frames/frame_130.png deleted file mode 100644 index 514f67bf2f29c072c2ea513be26bb40d660ba5df..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_130.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_131.png b/target/classes/vslam/self_made_dataset/frames/frame_131.png deleted file mode 100644 index 18cf2850e0bebcd4716a542490a830670685091c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_131.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_132.png b/target/classes/vslam/self_made_dataset/frames/frame_132.png deleted file mode 100644 index d24a42a7cd4fb82c1407dc5b807d8368d83da582..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_132.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_133.png b/target/classes/vslam/self_made_dataset/frames/frame_133.png deleted file mode 100644 index 70e6644c99b0947f8ecf61a6d9057dc9758b583f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_133.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_134.png b/target/classes/vslam/self_made_dataset/frames/frame_134.png deleted file mode 100644 index 010bc5fb3c84ecdc03a960c07540da7dd2017138..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_134.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_135.png b/target/classes/vslam/self_made_dataset/frames/frame_135.png deleted file mode 100644 index d34c138e0a82eb77f332777ec3e961a705e0c846..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_135.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_136.png b/target/classes/vslam/self_made_dataset/frames/frame_136.png deleted file mode 100644 index 9c3afa562c22bdc5ee1e7eb009d293f780a9dc03..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_136.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_137.png b/target/classes/vslam/self_made_dataset/frames/frame_137.png deleted file mode 100644 index 37217ab7dbebe7aa1c18cf290b16830eb3c106c6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_137.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_138.png b/target/classes/vslam/self_made_dataset/frames/frame_138.png deleted file mode 100644 index 94a7d2ce5b29ac46561ea42b62ee4e851ca53ac8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_138.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_139.png b/target/classes/vslam/self_made_dataset/frames/frame_139.png deleted file mode 100644 index 3644c8279f47afc5f73e8ca16f3ca77a8b7af7ea..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_139.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_14.png b/target/classes/vslam/self_made_dataset/frames/frame_14.png deleted file mode 100644 index 177396cf3b5c5afe314e905242dc62403d41abc3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_14.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_140.png b/target/classes/vslam/self_made_dataset/frames/frame_140.png deleted file mode 100644 index c81c9090d115c5ed697c9360e552dba7d3392935..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_140.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_141.png b/target/classes/vslam/self_made_dataset/frames/frame_141.png deleted file mode 100644 index 351505eccd102a27b9118faec295d9473423cf5b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_141.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_142.png b/target/classes/vslam/self_made_dataset/frames/frame_142.png deleted file mode 100644 index c5375dbd425d4e0f4ed1992b3a97ec463a4b1479..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_142.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_143.png b/target/classes/vslam/self_made_dataset/frames/frame_143.png deleted file mode 100644 index 2c48538bcf9815ed2ebf34ffe333f834e4c5a5b0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_143.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_144.png b/target/classes/vslam/self_made_dataset/frames/frame_144.png deleted file mode 100644 index ad65159fa11ccd184cbdb48fd1d2bc5d45c507eb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_144.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_145.png b/target/classes/vslam/self_made_dataset/frames/frame_145.png deleted file mode 100644 index 48f3715a63fa244dbd4814d871051c245ebe6ded..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_145.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_146.png b/target/classes/vslam/self_made_dataset/frames/frame_146.png deleted file mode 100644 index 8f9b531f1a17409eb86229561a015458f55132df..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_146.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_147.png b/target/classes/vslam/self_made_dataset/frames/frame_147.png deleted file mode 100644 index 78fa9501ebb1e94f745e674983c981b100b2bd21..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_147.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_148.png b/target/classes/vslam/self_made_dataset/frames/frame_148.png deleted file mode 100644 index 46c71b60f4004a05c65aca65a97a83a495972609..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_148.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_149.png b/target/classes/vslam/self_made_dataset/frames/frame_149.png deleted file mode 100644 index a759d36e4f3f246b9191a9848f5e4654d59795b0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_149.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_15.png b/target/classes/vslam/self_made_dataset/frames/frame_15.png deleted file mode 100644 index cb4dc9cf5d3df41d672a26cdafb4944219919028..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_15.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_150.png b/target/classes/vslam/self_made_dataset/frames/frame_150.png deleted file mode 100644 index a5a883fcc055d180d57ab08be1c6bb32c533cbbb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_150.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_151.png b/target/classes/vslam/self_made_dataset/frames/frame_151.png deleted file mode 100644 index e7c95133a4e82b53404045a93eafe0310bb1fae5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_151.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_152.png b/target/classes/vslam/self_made_dataset/frames/frame_152.png deleted file mode 100644 index e43f23d1471496b35f6fd2ded019197c70a60f27..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_152.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_153.png b/target/classes/vslam/self_made_dataset/frames/frame_153.png deleted file mode 100644 index 6440cd06462280ee77e590ab86a9dbc72d2a5c6f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_153.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_154.png b/target/classes/vslam/self_made_dataset/frames/frame_154.png deleted file mode 100644 index f9e799433bb3de93a94eb2027e30dc54bdcaa9c1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_154.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_155.png b/target/classes/vslam/self_made_dataset/frames/frame_155.png deleted file mode 100644 index 3c6f66b78d9323edbe10f06a806319f17fe05291..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_155.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_156.png b/target/classes/vslam/self_made_dataset/frames/frame_156.png deleted file mode 100644 index 67d857e4c6a1dbd982ea3e1d22978b8515e0f221..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_156.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_157.png b/target/classes/vslam/self_made_dataset/frames/frame_157.png deleted file mode 100644 index c2cfb88b1345dca4ca6c79fc1a8d9f4129e077bb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_157.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_158.png b/target/classes/vslam/self_made_dataset/frames/frame_158.png deleted file mode 100644 index 2a8b34565a711e9e9d266cfef5a774c9d236f173..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_158.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_159.png b/target/classes/vslam/self_made_dataset/frames/frame_159.png deleted file mode 100644 index 94d47c8dcd9d40e40fc9b74ceccb699ac0929470..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_159.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_16.png b/target/classes/vslam/self_made_dataset/frames/frame_16.png deleted file mode 100644 index e3a63a1e05c2f6c0b311e4bbea2db78de1a426d9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_16.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_160.png b/target/classes/vslam/self_made_dataset/frames/frame_160.png deleted file mode 100644 index 5b4c57807d71f7cd43cad270084a949d5290f11d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_160.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_161.png b/target/classes/vslam/self_made_dataset/frames/frame_161.png deleted file mode 100644 index 10eb02b987d7010d186e7198832f0186aee479f3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_161.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_162.png b/target/classes/vslam/self_made_dataset/frames/frame_162.png deleted file mode 100644 index 87735ccaef92813813b2fda04aa9bf1455cc49d2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_162.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_163.png b/target/classes/vslam/self_made_dataset/frames/frame_163.png deleted file mode 100644 index 52f8322057476d34f1f6bcdb5cabcb64dc02a321..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_163.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_164.png b/target/classes/vslam/self_made_dataset/frames/frame_164.png deleted file mode 100644 index 6cf1e38533b7b48f003eb808c89ffb6eed3d5062..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_164.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_165.png b/target/classes/vslam/self_made_dataset/frames/frame_165.png deleted file mode 100644 index 0f7a32fa4eb4df905ffd391ae1a4865ca18594ca..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_165.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_166.png b/target/classes/vslam/self_made_dataset/frames/frame_166.png deleted file mode 100644 index 55f07c40c7284adf66d5f385800a86ff7e1a19de..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_166.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_167.png b/target/classes/vslam/self_made_dataset/frames/frame_167.png deleted file mode 100644 index 75398152d1c77c4cb01b7f1791f1ba21e8187ef3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_167.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_168.png b/target/classes/vslam/self_made_dataset/frames/frame_168.png deleted file mode 100644 index cc26951c5e183b07fbdacc15be732914381dcf0e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_168.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_169.png b/target/classes/vslam/self_made_dataset/frames/frame_169.png deleted file mode 100644 index 83eb8d3ed3766f48e21fe5a525c6ddcb011a9f11..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_169.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_17.png b/target/classes/vslam/self_made_dataset/frames/frame_17.png deleted file mode 100644 index 1b22c4b52719803f1b110e95b58e34ef89fb24a8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_17.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_170.png b/target/classes/vslam/self_made_dataset/frames/frame_170.png deleted file mode 100644 index b0b59bb85942533022af157e839c08d9afb0c63b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_170.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_171.png b/target/classes/vslam/self_made_dataset/frames/frame_171.png deleted file mode 100644 index 6f7248b17d34d7f732736e49fa0f2628af4c6188..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_171.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_172.png b/target/classes/vslam/self_made_dataset/frames/frame_172.png deleted file mode 100644 index 27140cf2d3fd85936ec01c872194a3220d161978..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_172.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_173.png b/target/classes/vslam/self_made_dataset/frames/frame_173.png deleted file mode 100644 index 672f325d3b50b7cad7197bb188b941d4514acfdb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_173.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_174.png b/target/classes/vslam/self_made_dataset/frames/frame_174.png deleted file mode 100644 index 5d8f987276ba6473aee1d4dc43bb55e07398b2e6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_174.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_175.png b/target/classes/vslam/self_made_dataset/frames/frame_175.png deleted file mode 100644 index 2c8c578628af15236bae54b79c55b9d5afd9a625..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_175.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_176.png b/target/classes/vslam/self_made_dataset/frames/frame_176.png deleted file mode 100644 index c369d22c4b3dfef9eedff60c985cdcc2332a9c9e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_176.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_177.png b/target/classes/vslam/self_made_dataset/frames/frame_177.png deleted file mode 100644 index c7ba91823bb3683389b564aeae501590b2f56567..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_177.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_178.png b/target/classes/vslam/self_made_dataset/frames/frame_178.png deleted file mode 100644 index 68b83d1127fef308adcb9d4b790e357439b24115..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_178.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_179.png b/target/classes/vslam/self_made_dataset/frames/frame_179.png deleted file mode 100644 index 1e60e8a899e3338176163bd0aabdb7505fbe3692..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_179.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_18.png b/target/classes/vslam/self_made_dataset/frames/frame_18.png deleted file mode 100644 index d404a29df44c6422b68e40e4fa57d4ac3628c6ec..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_18.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_180.png b/target/classes/vslam/self_made_dataset/frames/frame_180.png deleted file mode 100644 index fab604994d455327bb49091eb2115529bc5e5b59..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_180.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_181.png b/target/classes/vslam/self_made_dataset/frames/frame_181.png deleted file mode 100644 index 1db5f022aabe49d0ab9a2179ce24055b52328cb5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_181.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_182.png b/target/classes/vslam/self_made_dataset/frames/frame_182.png deleted file mode 100644 index 12d32b5b20bd15af0caa5ac11769ef6f5fcb8ab2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_182.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_183.png b/target/classes/vslam/self_made_dataset/frames/frame_183.png deleted file mode 100644 index 6ef37e9fbafca439b0a67646f4ae6f78d2a6f5f4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_183.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_184.png b/target/classes/vslam/self_made_dataset/frames/frame_184.png deleted file mode 100644 index 10858ef3edd27f14d509f6b71b01aa940c24301d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_184.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_185.png b/target/classes/vslam/self_made_dataset/frames/frame_185.png deleted file mode 100644 index facf88b40b4498af3603940090e61d046c6c9729..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_185.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_186.png b/target/classes/vslam/self_made_dataset/frames/frame_186.png deleted file mode 100644 index b4790c01e925c5e3c9da4a5ffcf72ab96873c485..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_186.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_187.png b/target/classes/vslam/self_made_dataset/frames/frame_187.png deleted file mode 100644 index dd9f8aa5accc8993a4395e79b36deee18c63d029..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_187.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_188.png b/target/classes/vslam/self_made_dataset/frames/frame_188.png deleted file mode 100644 index 18a5f19d559cb243b20c151311f7737d65903b42..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_188.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_189.png b/target/classes/vslam/self_made_dataset/frames/frame_189.png deleted file mode 100644 index 72371e4c2dfbe4ae3e039b1c545c86cc8a519a5d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_189.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_19.png b/target/classes/vslam/self_made_dataset/frames/frame_19.png deleted file mode 100644 index 60b8d5877fc26a7c59aaf961975a707165da206c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_19.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_190.png b/target/classes/vslam/self_made_dataset/frames/frame_190.png deleted file mode 100644 index 41fb23941501123cc96b243f4959ee498d67eb21..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_190.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_191.png b/target/classes/vslam/self_made_dataset/frames/frame_191.png deleted file mode 100644 index b824e522fb5430ed20e8d0812e74252ea4de2471..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_191.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_192.png b/target/classes/vslam/self_made_dataset/frames/frame_192.png deleted file mode 100644 index ef1d86dd68e4cc37164c9adf292f232e42bf91c3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_192.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_193.png b/target/classes/vslam/self_made_dataset/frames/frame_193.png deleted file mode 100644 index 86e98fa512894391e647e9a5cdc52006ad14408e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_193.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_194.png b/target/classes/vslam/self_made_dataset/frames/frame_194.png deleted file mode 100644 index 81ede32773e3bb55a0e2de83123a8f594aedb72a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_194.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_195.png b/target/classes/vslam/self_made_dataset/frames/frame_195.png deleted file mode 100644 index 7dee088166d1f629351f8643242c4234163d51af..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_195.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_196.png b/target/classes/vslam/self_made_dataset/frames/frame_196.png deleted file mode 100644 index a940963d09a5def8e8e7b19dbad35e9087dffd6b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_196.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_197.png b/target/classes/vslam/self_made_dataset/frames/frame_197.png deleted file mode 100644 index 0fb6d8e3fe3282abc6400b8bad2e7bcf39c25481..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_197.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_198.png b/target/classes/vslam/self_made_dataset/frames/frame_198.png deleted file mode 100644 index 217d13202c3adfe863fd48cc8e2d4f85ed197fa0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_198.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_199.png b/target/classes/vslam/self_made_dataset/frames/frame_199.png deleted file mode 100644 index 0afbdfe9fc08ca3a3465906ec170c257544ab395..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_199.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_2.png b/target/classes/vslam/self_made_dataset/frames/frame_2.png deleted file mode 100644 index 7be6ea754df4e078d44aaf24fbb8a19fa714e683..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_2.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_20.png b/target/classes/vslam/self_made_dataset/frames/frame_20.png deleted file mode 100644 index 32fa2e8c3d88b220b69d5ace1e13773847dab960..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_20.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_200.png b/target/classes/vslam/self_made_dataset/frames/frame_200.png deleted file mode 100644 index 7cfafe850d961b35b4cca40d41252577cac5debc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_200.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_201.png b/target/classes/vslam/self_made_dataset/frames/frame_201.png deleted file mode 100644 index 31ec4e5e23f3d25cd2f24690576839f74746a1f1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_201.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_202.png b/target/classes/vslam/self_made_dataset/frames/frame_202.png deleted file mode 100644 index 2f58be102c3fd68f1c58fa82c1e3b25782e3fe7c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_202.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_203.png b/target/classes/vslam/self_made_dataset/frames/frame_203.png deleted file mode 100644 index c55a180e8c872e22bd6939e73629adc1c04a5e03..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_203.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_204.png b/target/classes/vslam/self_made_dataset/frames/frame_204.png deleted file mode 100644 index 0f2ab170fd4a5d8497dfe69a137c5c3c13385c0b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_204.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_205.png b/target/classes/vslam/self_made_dataset/frames/frame_205.png deleted file mode 100644 index cc2e89c09110143dc6f78fe46990dbf48580b54c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_205.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_206.png b/target/classes/vslam/self_made_dataset/frames/frame_206.png deleted file mode 100644 index 60dc8c7ae2decd21383051fdc9e75f40c31cdff1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_206.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_207.png b/target/classes/vslam/self_made_dataset/frames/frame_207.png deleted file mode 100644 index c9c987b7f9d2d49e3de1959594ab87c88dc7caca..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_207.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_208.png b/target/classes/vslam/self_made_dataset/frames/frame_208.png deleted file mode 100644 index 37853e1f6574edc3f8ec53c34e73f304dbf5126f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_208.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_209.png b/target/classes/vslam/self_made_dataset/frames/frame_209.png deleted file mode 100644 index 01f011652960c0997ae163db53acbe2c15b91a87..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_209.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_21.png b/target/classes/vslam/self_made_dataset/frames/frame_21.png deleted file mode 100644 index 041b4b807eb8f05f3287d9776102492a913a0299..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_21.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_210.png b/target/classes/vslam/self_made_dataset/frames/frame_210.png deleted file mode 100644 index e8c7aec6a12af0ad80ac4f2039dbf86e4cbbb1ac..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_210.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_211.png b/target/classes/vslam/self_made_dataset/frames/frame_211.png deleted file mode 100644 index 3facacbb2c47bbd77676b377b69fdbcdc2193cd3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_211.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_212.png b/target/classes/vslam/self_made_dataset/frames/frame_212.png deleted file mode 100644 index c8ecc3653d791feb83a99982147dc709b5625943..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_212.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_213.png b/target/classes/vslam/self_made_dataset/frames/frame_213.png deleted file mode 100644 index 2c093d56d6b87640eaeb8bfd78786cfd3fdb1c43..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_213.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_214.png b/target/classes/vslam/self_made_dataset/frames/frame_214.png deleted file mode 100644 index 68f8963570d8d43fc39d067bf3be928c2dc6efcc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_214.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_215.png b/target/classes/vslam/self_made_dataset/frames/frame_215.png deleted file mode 100644 index b4505b71f873b6826d5b0c2d3d4861f9e3701f2e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_215.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_216.png b/target/classes/vslam/self_made_dataset/frames/frame_216.png deleted file mode 100644 index e90835b14468ceda9f1c8bf69dd2f8d6632ab752..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_216.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_217.png b/target/classes/vslam/self_made_dataset/frames/frame_217.png deleted file mode 100644 index 73cfd38f685e8a1d8c282d1e6f5287173331e2e7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_217.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_218.png b/target/classes/vslam/self_made_dataset/frames/frame_218.png deleted file mode 100644 index 608eb4157a6334154eb7dcdf7a14bb017a0c92ae..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_218.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_219.png b/target/classes/vslam/self_made_dataset/frames/frame_219.png deleted file mode 100644 index d298d81a5e66e30a0738e42612363040d55738c5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_219.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_22.png b/target/classes/vslam/self_made_dataset/frames/frame_22.png deleted file mode 100644 index d6a0e4ad3c5d4bc88b4df42037a0aa8d578913ca..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_22.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_220.png b/target/classes/vslam/self_made_dataset/frames/frame_220.png deleted file mode 100644 index 1864662b6fab971f6c757b56ff0a497cbe5eadb9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_220.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_221.png b/target/classes/vslam/self_made_dataset/frames/frame_221.png deleted file mode 100644 index 88da0bc93b2ece69af7411c75a15e86d82fc20b5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_221.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_222.png b/target/classes/vslam/self_made_dataset/frames/frame_222.png deleted file mode 100644 index 3a6bfa10a0b23ced93222ef67ab3377357fead1f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_222.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_223.png b/target/classes/vslam/self_made_dataset/frames/frame_223.png deleted file mode 100644 index 4e510c1cdc704bb78f39bed679f1128e7cee45f8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_223.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_224.png b/target/classes/vslam/self_made_dataset/frames/frame_224.png deleted file mode 100644 index 64c4d19b3892e27561aa6bb4b65e59e1ff49640b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_224.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_225.png b/target/classes/vslam/self_made_dataset/frames/frame_225.png deleted file mode 100644 index 0489edf3a4fdef532161875ad6888c217099ebde..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_225.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_226.png b/target/classes/vslam/self_made_dataset/frames/frame_226.png deleted file mode 100644 index 3d232eab8a8e97787e0d1f58ff7ee4d398efd76e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_226.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_227.png b/target/classes/vslam/self_made_dataset/frames/frame_227.png deleted file mode 100644 index 0e71242ee1fadf5ef1a63e8499470ca106e2e6df..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_227.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_228.png b/target/classes/vslam/self_made_dataset/frames/frame_228.png deleted file mode 100644 index 69913eb7b0e1c435c14ae20d44162dc7f21f8c9a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_228.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_229.png b/target/classes/vslam/self_made_dataset/frames/frame_229.png deleted file mode 100644 index d71e8657d241aa91e911714f09918f4e1c341c65..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_229.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_23.png b/target/classes/vslam/self_made_dataset/frames/frame_23.png deleted file mode 100644 index 30b3159cad4311d241e5dfa38383c5d82725df6a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_23.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_230.png b/target/classes/vslam/self_made_dataset/frames/frame_230.png deleted file mode 100644 index 38521f4db3e910051de907f2c42b2c0143f74fc6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_230.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_231.png b/target/classes/vslam/self_made_dataset/frames/frame_231.png deleted file mode 100644 index d9c055073eb827a283bf2d3fbfc6d1f30b017ca1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_231.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_232.png b/target/classes/vslam/self_made_dataset/frames/frame_232.png deleted file mode 100644 index 8f7015d08dfbbf51e70f89215249087c783a7bf7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_232.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_233.png b/target/classes/vslam/self_made_dataset/frames/frame_233.png deleted file mode 100644 index 61b9b2836bd1b797a67bfe9d07be825a40065816..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_233.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_234.png b/target/classes/vslam/self_made_dataset/frames/frame_234.png deleted file mode 100644 index 7a7f1f7baf202428f605601592feb6f6bcf3fac5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_234.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_235.png b/target/classes/vslam/self_made_dataset/frames/frame_235.png deleted file mode 100644 index 163450084300c0dd47e48e0d966b7255a1335113..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_235.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_236.png b/target/classes/vslam/self_made_dataset/frames/frame_236.png deleted file mode 100644 index 19f481cbbfdbc38dd08565f1356b6f5e6888d83f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_236.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_237.png b/target/classes/vslam/self_made_dataset/frames/frame_237.png deleted file mode 100644 index 7a73e070e77ed1fdb7cf2312b926525367d2637b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_237.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_238.png b/target/classes/vslam/self_made_dataset/frames/frame_238.png deleted file mode 100644 index fc12e0c45c0dc9d17d011004c9adc7015507a6da..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_238.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_239.png b/target/classes/vslam/self_made_dataset/frames/frame_239.png deleted file mode 100644 index f5bfc16cc2457bd49213a65a0776c395f5a9ac43..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_239.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_24.png b/target/classes/vslam/self_made_dataset/frames/frame_24.png deleted file mode 100644 index bc615f404117a340088dddf35dc3f47441ed2904..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_24.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_240.png b/target/classes/vslam/self_made_dataset/frames/frame_240.png deleted file mode 100644 index 90edd1ac959e108b0fdf5a189d7b4d786b0353cc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_240.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_241.png b/target/classes/vslam/self_made_dataset/frames/frame_241.png deleted file mode 100644 index 6646c3bebec8ed817dba7bed388b49328cf8b3a0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_241.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_242.png b/target/classes/vslam/self_made_dataset/frames/frame_242.png deleted file mode 100644 index 7ba2839304590d03f441487bfc32701964c11330..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_242.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_243.png b/target/classes/vslam/self_made_dataset/frames/frame_243.png deleted file mode 100644 index dabedaf09c9a91cac32962cbe1e216f263ccadec..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_243.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_244.png b/target/classes/vslam/self_made_dataset/frames/frame_244.png deleted file mode 100644 index 130a638ec9df769eb1ac8b7b865cfece860fb8f4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_244.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_245.png b/target/classes/vslam/self_made_dataset/frames/frame_245.png deleted file mode 100644 index 03cf1321748fdce881c0b98fccfd81d0f278a294..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_245.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_246.png b/target/classes/vslam/self_made_dataset/frames/frame_246.png deleted file mode 100644 index 1dc7968e8a8fc83774d8b3dac9b76b70833fc2dd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_246.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_247.png b/target/classes/vslam/self_made_dataset/frames/frame_247.png deleted file mode 100644 index 38f7eacbf9629204e04059b18b057a744edeb2ef..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_247.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_248.png b/target/classes/vslam/self_made_dataset/frames/frame_248.png deleted file mode 100644 index 28bdad4b14edd9eedcf6a3347865dce3b01886da..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_248.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_249.png b/target/classes/vslam/self_made_dataset/frames/frame_249.png deleted file mode 100644 index e9593b69d5f1ea4510ed45a8b03d9130366d3841..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_249.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_25.png b/target/classes/vslam/self_made_dataset/frames/frame_25.png deleted file mode 100644 index 4996ba5d37f0bcc5c1b88589284d5ee8780891b9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_25.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_250.png b/target/classes/vslam/self_made_dataset/frames/frame_250.png deleted file mode 100644 index f5837a209897eee099feb09e042598da9466ab99..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_250.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_251.png b/target/classes/vslam/self_made_dataset/frames/frame_251.png deleted file mode 100644 index f2a707ec7f0e1661a41247f3a691cfe04274db92..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_251.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_252.png b/target/classes/vslam/self_made_dataset/frames/frame_252.png deleted file mode 100644 index 20b51fe3230d83aa22c8f1d15b30f7df3d33126d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_252.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_253.png b/target/classes/vslam/self_made_dataset/frames/frame_253.png deleted file mode 100644 index a18017f937be9846b64ba4a98ab8bb0764e57bd9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_253.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_254.png b/target/classes/vslam/self_made_dataset/frames/frame_254.png deleted file mode 100644 index b8981697407e15853dac7795f74feb0b53cda77d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_254.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_255.png b/target/classes/vslam/self_made_dataset/frames/frame_255.png deleted file mode 100644 index bb61b60f3476a60aa0966b7e9bb9b466549d6152..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_255.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_256.png b/target/classes/vslam/self_made_dataset/frames/frame_256.png deleted file mode 100644 index 97fa3ad2aa95e2fcb1d76181a429e28921676020..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_256.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_257.png b/target/classes/vslam/self_made_dataset/frames/frame_257.png deleted file mode 100644 index 3d4983dccba1745a1a089a55def1b846743fb2ce..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_257.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_258.png b/target/classes/vslam/self_made_dataset/frames/frame_258.png deleted file mode 100644 index 0c7cb72493f523e848c7c371d2b520b676050ad9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_258.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_259.png b/target/classes/vslam/self_made_dataset/frames/frame_259.png deleted file mode 100644 index 4db5a82e836e3e492a9209f568ea7c154333cd28..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_259.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_26.png b/target/classes/vslam/self_made_dataset/frames/frame_26.png deleted file mode 100644 index 1a6655bec802b5f2892f36296c7c18fb468e295c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_26.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_260.png b/target/classes/vslam/self_made_dataset/frames/frame_260.png deleted file mode 100644 index dc74285a03c8228b105935f96180c23676f87a71..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_260.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_261.png b/target/classes/vslam/self_made_dataset/frames/frame_261.png deleted file mode 100644 index 5fb01108183f74a6a7e5d41a2e248ca12a65f1d6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_261.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_262.png b/target/classes/vslam/self_made_dataset/frames/frame_262.png deleted file mode 100644 index 63a4dda47acfd2154d3442d9ffdc6b2ea6c2d24a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_262.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_263.png b/target/classes/vslam/self_made_dataset/frames/frame_263.png deleted file mode 100644 index 6f3d08f03dac0213138dbde2a6327ecda83280d5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_263.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_264.png b/target/classes/vslam/self_made_dataset/frames/frame_264.png deleted file mode 100644 index a0b0ba080f5de2e3022899342624460f6ef1d100..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_264.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_265.png b/target/classes/vslam/self_made_dataset/frames/frame_265.png deleted file mode 100644 index 6f17471e48fd9544dba6792c8fa9af3be65934dd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_265.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_266.png b/target/classes/vslam/self_made_dataset/frames/frame_266.png deleted file mode 100644 index 9a35a08b81163a7fb5421e31979d3b180057d729..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_266.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_267.png b/target/classes/vslam/self_made_dataset/frames/frame_267.png deleted file mode 100644 index db287307b230f114d4012e455ebc8364abf98c98..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_267.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_268.png b/target/classes/vslam/self_made_dataset/frames/frame_268.png deleted file mode 100644 index e7a49daa6a0cb67e217e20fe119cd6e2ab0548fc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_268.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_269.png b/target/classes/vslam/self_made_dataset/frames/frame_269.png deleted file mode 100644 index 44797dfef18baba29214f50c84f58e0edbe5b4c7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_269.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_27.png b/target/classes/vslam/self_made_dataset/frames/frame_27.png deleted file mode 100644 index 1e84d1509e82c4bf4d9c16c99a2368e80cbbc860..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_27.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_270.png b/target/classes/vslam/self_made_dataset/frames/frame_270.png deleted file mode 100644 index 58d8178be6cd888c042f517b4ad98bc3ff6d2b26..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_270.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_271.png b/target/classes/vslam/self_made_dataset/frames/frame_271.png deleted file mode 100644 index 52594e2f253933960ec5873155c5fabcbdbfbc71..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_271.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_272.png b/target/classes/vslam/self_made_dataset/frames/frame_272.png deleted file mode 100644 index f0f26cf46ca9e070084c0f89f38b80b5716b8472..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_272.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_273.png b/target/classes/vslam/self_made_dataset/frames/frame_273.png deleted file mode 100644 index 70da7775fec30f66373643ab2d78a0eedcf44878..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_273.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_274.png b/target/classes/vslam/self_made_dataset/frames/frame_274.png deleted file mode 100644 index 88f2558593be902de662d124e0ebcaac3a31e3ab..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_274.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_275.png b/target/classes/vslam/self_made_dataset/frames/frame_275.png deleted file mode 100644 index 63547b68f45756fc72a57998578a6f378c7abd24..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_275.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_276.png b/target/classes/vslam/self_made_dataset/frames/frame_276.png deleted file mode 100644 index b3c42387141ce4c8776b740fdea258b49f7169c3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_276.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_277.png b/target/classes/vslam/self_made_dataset/frames/frame_277.png deleted file mode 100644 index 6cb446255afab5465d50efa212d16dcb96f52532..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_277.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_278.png b/target/classes/vslam/self_made_dataset/frames/frame_278.png deleted file mode 100644 index d166d99975b4913a03f33343cf07aea607600b9e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_278.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_279.png b/target/classes/vslam/self_made_dataset/frames/frame_279.png deleted file mode 100644 index 11c27bce9f65e533390f460964cd806198c03fd8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_279.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_28.png b/target/classes/vslam/self_made_dataset/frames/frame_28.png deleted file mode 100644 index d8b294ad5e64a5c09d40cb8b2839ed2adc24acd4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_28.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_280.png b/target/classes/vslam/self_made_dataset/frames/frame_280.png deleted file mode 100644 index dd9cf3d07ab80cbe7b5ca2ae9a16e8a67181a6af..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_280.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_281.png b/target/classes/vslam/self_made_dataset/frames/frame_281.png deleted file mode 100644 index b7d7c775a6631693ee2d4acbc3a47472a51f8fe8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_281.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_282.png b/target/classes/vslam/self_made_dataset/frames/frame_282.png deleted file mode 100644 index 5fceb4c3cc336033efb5e5ba296b781e0be8024a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_282.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_283.png b/target/classes/vslam/self_made_dataset/frames/frame_283.png deleted file mode 100644 index 70f08268d8f44541ad307f051d4cd40a46ac589d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_283.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_284.png b/target/classes/vslam/self_made_dataset/frames/frame_284.png deleted file mode 100644 index ae76fc3e3262afba8022d30ac01bfb673efdd0ac..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_284.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_285.png b/target/classes/vslam/self_made_dataset/frames/frame_285.png deleted file mode 100644 index 19aa1ef96bfbfb003095cc012e803f2800a30276..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_285.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_286.png b/target/classes/vslam/self_made_dataset/frames/frame_286.png deleted file mode 100644 index 2904879780520af4f3b564b400ab1dd466f6d808..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_286.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_287.png b/target/classes/vslam/self_made_dataset/frames/frame_287.png deleted file mode 100644 index b3ade262dc3b07380e68283017004240aa450058..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_287.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_288.png b/target/classes/vslam/self_made_dataset/frames/frame_288.png deleted file mode 100644 index 7450846b6732c1474e12a5c7ce58ed9acbbc9203..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_288.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_289.png b/target/classes/vslam/self_made_dataset/frames/frame_289.png deleted file mode 100644 index 92b75bfc56db51de8a5c63914f1682182c94c844..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_289.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_29.png b/target/classes/vslam/self_made_dataset/frames/frame_29.png deleted file mode 100644 index 77d231fc10f8641b2182ae0d8e2e9276b00445e0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_29.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_290.png b/target/classes/vslam/self_made_dataset/frames/frame_290.png deleted file mode 100644 index 438357a11acb9a27c2335076170680ae9ddf6f70..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_290.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_291.png b/target/classes/vslam/self_made_dataset/frames/frame_291.png deleted file mode 100644 index 493ef1c9e5e0e60e70b719f04604602d3d599971..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_291.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_292.png b/target/classes/vslam/self_made_dataset/frames/frame_292.png deleted file mode 100644 index 3621da6fe9d52f6abfa7dd645d2583f2c44dbf02..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_292.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_293.png b/target/classes/vslam/self_made_dataset/frames/frame_293.png deleted file mode 100644 index 09dc1453aadc4536a1842d88d35922022da86691..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_293.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_294.png b/target/classes/vslam/self_made_dataset/frames/frame_294.png deleted file mode 100644 index 401680349625510e405865829b714e2266f5249b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_294.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_295.png b/target/classes/vslam/self_made_dataset/frames/frame_295.png deleted file mode 100644 index 320ac01a8b6c8ec58745a7ed886e47fb32ae924c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_295.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_296.png b/target/classes/vslam/self_made_dataset/frames/frame_296.png deleted file mode 100644 index 0362d0623adddd26a0f21d4d19bf82dd07031ed8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_296.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_297.png b/target/classes/vslam/self_made_dataset/frames/frame_297.png deleted file mode 100644 index af7f04a80e5c26453c7963ccf1fbf441dc5fe7c2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_297.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_298.png b/target/classes/vslam/self_made_dataset/frames/frame_298.png deleted file mode 100644 index 1f07d682464e32afc02e7f9bc7a6dde3a7e5cfa2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_298.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_299.png b/target/classes/vslam/self_made_dataset/frames/frame_299.png deleted file mode 100644 index 81575b9496ec367a5ec0e17f9b64ba52cbaabfc2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_299.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_3.png b/target/classes/vslam/self_made_dataset/frames/frame_3.png deleted file mode 100644 index c8f22faf5ae2da7e387874112dbebf4b379d4cc9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_3.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_30.png b/target/classes/vslam/self_made_dataset/frames/frame_30.png deleted file mode 100644 index 6039cc8b3b89d1ca65e7ac7596d81d36d87977cd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_30.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_300.png b/target/classes/vslam/self_made_dataset/frames/frame_300.png deleted file mode 100644 index fc61b723a5b31f3a13d8ffa1445ae74107a2b68a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_300.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_301.png b/target/classes/vslam/self_made_dataset/frames/frame_301.png deleted file mode 100644 index a59bfbb2a096291873197e51662758e1a29e5e74..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_301.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_302.png b/target/classes/vslam/self_made_dataset/frames/frame_302.png deleted file mode 100644 index 3dd3a4949df34ce02bd734e198bfd8a1953bdef5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_302.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_303.png b/target/classes/vslam/self_made_dataset/frames/frame_303.png deleted file mode 100644 index 702e423ca8e264d0c13ef59f638ff190637d1a76..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_303.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_304.png b/target/classes/vslam/self_made_dataset/frames/frame_304.png deleted file mode 100644 index 227dc95adb3162d3d8fa3031927b27d75e76d084..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_304.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_305.png b/target/classes/vslam/self_made_dataset/frames/frame_305.png deleted file mode 100644 index 7ac28611458d1aefa8e613ec1589170e1eb66855..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_305.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_306.png b/target/classes/vslam/self_made_dataset/frames/frame_306.png deleted file mode 100644 index aa4dda3521eb2620e2cf712fb910df9a66ab3d44..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_306.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_307.png b/target/classes/vslam/self_made_dataset/frames/frame_307.png deleted file mode 100644 index 47ff2ab31eeebb561f088dd68c1752fcedae4d47..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_307.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_308.png b/target/classes/vslam/self_made_dataset/frames/frame_308.png deleted file mode 100644 index f93c93e219bcae7caf8bea8c5c28293bc10f6100..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_308.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_309.png b/target/classes/vslam/self_made_dataset/frames/frame_309.png deleted file mode 100644 index 9083fd6131064f22d55c172152a9e3eaaa3b656e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_309.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_31.png b/target/classes/vslam/self_made_dataset/frames/frame_31.png deleted file mode 100644 index e736f77f219cb16877f206f3b66cf3b5bb7c6907..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_31.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_310.png b/target/classes/vslam/self_made_dataset/frames/frame_310.png deleted file mode 100644 index 55fce14c285cf02cee33bdec33cc9a5a5f615862..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_310.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_311.png b/target/classes/vslam/self_made_dataset/frames/frame_311.png deleted file mode 100644 index 26464af6262f666cbda2ffd66923985e8405b81e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_311.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_312.png b/target/classes/vslam/self_made_dataset/frames/frame_312.png deleted file mode 100644 index e3c5fe411a50e5e2d168ed27512c945649f44439..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_312.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_313.png b/target/classes/vslam/self_made_dataset/frames/frame_313.png deleted file mode 100644 index 3970b9b6f5c124589a3ad0e61da4f1fd338a8f88..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_313.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_314.png b/target/classes/vslam/self_made_dataset/frames/frame_314.png deleted file mode 100644 index 2425d8159eff312de88434533bef79dd8342bd0d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_314.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_315.png b/target/classes/vslam/self_made_dataset/frames/frame_315.png deleted file mode 100644 index 8b23cf9f953b9cbf2d130276b6e26d41eff0c524..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_315.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_316.png b/target/classes/vslam/self_made_dataset/frames/frame_316.png deleted file mode 100644 index d3520f8a2b0d8c95ab90ab5784fe6d879beb1807..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_316.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_317.png b/target/classes/vslam/self_made_dataset/frames/frame_317.png deleted file mode 100644 index 4a5cd2dff9f0c82b56a237b68b099eca094fc1e6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_317.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_318.png b/target/classes/vslam/self_made_dataset/frames/frame_318.png deleted file mode 100644 index 78c30f6e29a379a2ba0c8196311c8b6e5a5b8889..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_318.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_319.png b/target/classes/vslam/self_made_dataset/frames/frame_319.png deleted file mode 100644 index 36ea5b4c744b3ba0d4331c574ccc8edb19468dd2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_319.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_32.png b/target/classes/vslam/self_made_dataset/frames/frame_32.png deleted file mode 100644 index 63c0cf75e77fa671cafa472fd1e3544d517e0d9b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_32.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_320.png b/target/classes/vslam/self_made_dataset/frames/frame_320.png deleted file mode 100644 index 91057938df73b4c8a62261d789a74f08421bbebe..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_320.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_321.png b/target/classes/vslam/self_made_dataset/frames/frame_321.png deleted file mode 100644 index 493dcdbb06f9483f601a4c5789e98950d3b1f1e2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_321.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_322.png b/target/classes/vslam/self_made_dataset/frames/frame_322.png deleted file mode 100644 index 1c45d082d8de9b5180f03bcde8cf42618689e392..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_322.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_323.png b/target/classes/vslam/self_made_dataset/frames/frame_323.png deleted file mode 100644 index bd07f8b8abe74d3c88a60bf4c40077e74a44da8f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_323.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_324.png b/target/classes/vslam/self_made_dataset/frames/frame_324.png deleted file mode 100644 index bebffbc53cb3f7bf85ad8f704d25bb6d49a9d27e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_324.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_325.png b/target/classes/vslam/self_made_dataset/frames/frame_325.png deleted file mode 100644 index 5051fd56a1957dac2bf32f97f80f0f8a6da346b0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_325.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_326.png b/target/classes/vslam/self_made_dataset/frames/frame_326.png deleted file mode 100644 index 21272cfedd8ecd6a88614e8748cbec19ea3d562e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_326.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_327.png b/target/classes/vslam/self_made_dataset/frames/frame_327.png deleted file mode 100644 index c91c7a6422ed24cfdee74d19e68d384ab1c3caa5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_327.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_328.png b/target/classes/vslam/self_made_dataset/frames/frame_328.png deleted file mode 100644 index 502cfeb56e56f23a9f66800b0e9071c213ca7796..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_328.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_329.png b/target/classes/vslam/self_made_dataset/frames/frame_329.png deleted file mode 100644 index 0c1111329918c0683f9440f4bc8ee99920fa2f84..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_329.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_33.png b/target/classes/vslam/self_made_dataset/frames/frame_33.png deleted file mode 100644 index 76aa05d9c4d71163fe1c9f6ec0760b9d61779a9f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_33.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_330.png b/target/classes/vslam/self_made_dataset/frames/frame_330.png deleted file mode 100644 index 1c8115f681b9eae7b141f17cd90caabe5d471884..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_330.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_331.png b/target/classes/vslam/self_made_dataset/frames/frame_331.png deleted file mode 100644 index 397e002ba29552cb50d5652d9c8b51bb737ab3ff..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_331.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_332.png b/target/classes/vslam/self_made_dataset/frames/frame_332.png deleted file mode 100644 index 85ea83a22c5f78e93247ae38be2db4ec6f1b3d47..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_332.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_333.png b/target/classes/vslam/self_made_dataset/frames/frame_333.png deleted file mode 100644 index 80a8d1d961b8fa355f21a3160c332ab42b43c9c5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_333.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_334.png b/target/classes/vslam/self_made_dataset/frames/frame_334.png deleted file mode 100644 index dbaba40ff8f617a226be74d5f6b57669c7270d6a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_334.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_335.png b/target/classes/vslam/self_made_dataset/frames/frame_335.png deleted file mode 100644 index bbd4b290fee5168656a95ba8bafa67e3cbc2f5b3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_335.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_336.png b/target/classes/vslam/self_made_dataset/frames/frame_336.png deleted file mode 100644 index 1de37738e999d1e3827045ffa478185a245501f9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_336.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_337.png b/target/classes/vslam/self_made_dataset/frames/frame_337.png deleted file mode 100644 index c4b7b246f026dd655e6d5b2109d67a53576876a5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_337.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_338.png b/target/classes/vslam/self_made_dataset/frames/frame_338.png deleted file mode 100644 index f834d719119629ce70acbda322c63bced0495c7b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_338.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_339.png b/target/classes/vslam/self_made_dataset/frames/frame_339.png deleted file mode 100644 index 7f1895a44af3e6e620830b54b996c9c0b3e6b274..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_339.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_34.png b/target/classes/vslam/self_made_dataset/frames/frame_34.png deleted file mode 100644 index 2627ad5f47752d30a2bb45dc3dc8c969efdea0ed..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_34.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_340.png b/target/classes/vslam/self_made_dataset/frames/frame_340.png deleted file mode 100644 index 80b7d5df87b95a23a4bbaff17f8e52bb4b168cc0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_340.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_341.png b/target/classes/vslam/self_made_dataset/frames/frame_341.png deleted file mode 100644 index c0bc448ae86b64e6ac1c0bc69d862ae3f37014d3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_341.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_342.png b/target/classes/vslam/self_made_dataset/frames/frame_342.png deleted file mode 100644 index b9c986fbaea2e45baa6b161ebe4c4567f45d79f1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_342.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_343.png b/target/classes/vslam/self_made_dataset/frames/frame_343.png deleted file mode 100644 index ede22b240f0d145dae9eff521c2f7953380657f1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_343.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_344.png b/target/classes/vslam/self_made_dataset/frames/frame_344.png deleted file mode 100644 index e5261a6b5f1e87f91439f1c8252a571c93cecc4d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_344.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_345.png b/target/classes/vslam/self_made_dataset/frames/frame_345.png deleted file mode 100644 index 78beb0ad923b30182335eea16c4562fb53b23a1e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_345.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_346.png b/target/classes/vslam/self_made_dataset/frames/frame_346.png deleted file mode 100644 index ba19c6dc2fb3162c02c531223e8f55af3c7180a8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_346.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_347.png b/target/classes/vslam/self_made_dataset/frames/frame_347.png deleted file mode 100644 index e607736be123bcc867af3686619fb8edebdb2e73..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_347.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_348.png b/target/classes/vslam/self_made_dataset/frames/frame_348.png deleted file mode 100644 index 8c7cdd3ce7bf37431dca36f6ac89fdafb0416543..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_348.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_349.png b/target/classes/vslam/self_made_dataset/frames/frame_349.png deleted file mode 100644 index 546e1551e57d31372f1b016db328da9ad10e8b9b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_349.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_35.png b/target/classes/vslam/self_made_dataset/frames/frame_35.png deleted file mode 100644 index 2625ceac0efe013a2307098c31557bf97f80ef31..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_35.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_350.png b/target/classes/vslam/self_made_dataset/frames/frame_350.png deleted file mode 100644 index 060eb5c0f58a0ba3199d9591e9e3ee71eabbd42d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_350.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_351.png b/target/classes/vslam/self_made_dataset/frames/frame_351.png deleted file mode 100644 index 37808f6d34ba54cb60cdd4190b198133bb601222..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_351.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_352.png b/target/classes/vslam/self_made_dataset/frames/frame_352.png deleted file mode 100644 index 5f77f9af6fb6ba17232d3bae8268946b08f4ad69..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_352.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_353.png b/target/classes/vslam/self_made_dataset/frames/frame_353.png deleted file mode 100644 index 7ade4562158a25fbee484aa9a8f6831935782ece..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_353.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_354.png b/target/classes/vslam/self_made_dataset/frames/frame_354.png deleted file mode 100644 index 191cca98ae3406e22c7fdf3193a8211e5ba35a72..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_354.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_355.png b/target/classes/vslam/self_made_dataset/frames/frame_355.png deleted file mode 100644 index d607de2710cee59a1dfcf856f85373638e747b5a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_355.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_356.png b/target/classes/vslam/self_made_dataset/frames/frame_356.png deleted file mode 100644 index 604c6771a445e9d7343fa47daad579c209f7d031..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_356.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_357.png b/target/classes/vslam/self_made_dataset/frames/frame_357.png deleted file mode 100644 index e7f14d90a5cbeab01d80c12cd2bc86739d4fa9f8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_357.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_358.png b/target/classes/vslam/self_made_dataset/frames/frame_358.png deleted file mode 100644 index 433aa6443e8885880845d0dc868c89844370d8c9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_358.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_359.png b/target/classes/vslam/self_made_dataset/frames/frame_359.png deleted file mode 100644 index 9ea87bb660269272abb9dada8e47815f6aae9cd9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_359.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_36.png b/target/classes/vslam/self_made_dataset/frames/frame_36.png deleted file mode 100644 index 42fdfced847ece50540e292c43b6855cafcc0ddc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_36.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_360.png b/target/classes/vslam/self_made_dataset/frames/frame_360.png deleted file mode 100644 index ea415b60f0c3bcdaace11dcd4688f73d1357ba8c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_360.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_361.png b/target/classes/vslam/self_made_dataset/frames/frame_361.png deleted file mode 100644 index 213ec3a3ad0f804c6a9333685a2150ddc8b52739..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_361.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_362.png b/target/classes/vslam/self_made_dataset/frames/frame_362.png deleted file mode 100644 index 96af92d8c6de0626de61bc1d180de966de98c40e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_362.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_363.png b/target/classes/vslam/self_made_dataset/frames/frame_363.png deleted file mode 100644 index 3ef65d838b201ece654b373614fdd5e238b577c0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_363.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_364.png b/target/classes/vslam/self_made_dataset/frames/frame_364.png deleted file mode 100644 index c3a90f6fcae024dbf450f26092c7dde957f504a2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_364.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_365.png b/target/classes/vslam/self_made_dataset/frames/frame_365.png deleted file mode 100644 index 20a500b92066db8b0def7cd7187a91c63bf48696..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_365.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_366.png b/target/classes/vslam/self_made_dataset/frames/frame_366.png deleted file mode 100644 index 28fb1c89e4c1a9a20a18fb810fe9271d3f48fb53..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_366.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_367.png b/target/classes/vslam/self_made_dataset/frames/frame_367.png deleted file mode 100644 index 8920e05f6e8a1e6cad38d74137986810b2a77a3c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_367.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_368.png b/target/classes/vslam/self_made_dataset/frames/frame_368.png deleted file mode 100644 index 51d137d4450a85de99829d073627ba730e51c17c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_368.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_369.png b/target/classes/vslam/self_made_dataset/frames/frame_369.png deleted file mode 100644 index fb31f648eca61ac3185b7e21a3b60381ad34c5f9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_369.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_37.png b/target/classes/vslam/self_made_dataset/frames/frame_37.png deleted file mode 100644 index 0999b2080dd60cb5b7d9c1c9c5e84e906674c2cd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_37.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_370.png b/target/classes/vslam/self_made_dataset/frames/frame_370.png deleted file mode 100644 index 23adc8dce923c06bc59cf3bf20278ea03725bf24..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_370.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_371.png b/target/classes/vslam/self_made_dataset/frames/frame_371.png deleted file mode 100644 index 8c09e34bb0e99b689705c90669b622e9f6883413..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_371.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_372.png b/target/classes/vslam/self_made_dataset/frames/frame_372.png deleted file mode 100644 index 21ccc8fcaa4bfb07b5d985d35814df7aa5bca3ab..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_372.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_373.png b/target/classes/vslam/self_made_dataset/frames/frame_373.png deleted file mode 100644 index d3cfcc17113cc0ef47c451f9b5cbfaed3b7f2974..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_373.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_374.png b/target/classes/vslam/self_made_dataset/frames/frame_374.png deleted file mode 100644 index b85d423a1f49a9c5e573b7480385245601add015..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_374.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_375.png b/target/classes/vslam/self_made_dataset/frames/frame_375.png deleted file mode 100644 index ca27dbdb9ff514f62fcf9c81e65f0937dcd346f8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_375.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_376.png b/target/classes/vslam/self_made_dataset/frames/frame_376.png deleted file mode 100644 index 4fc2a83c884ee883919a66bdfb5c27c244f30436..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_376.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_377.png b/target/classes/vslam/self_made_dataset/frames/frame_377.png deleted file mode 100644 index 67cc84a8ecd1762bd0f264ee096e078c292a9971..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_377.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_378.png b/target/classes/vslam/self_made_dataset/frames/frame_378.png deleted file mode 100644 index b60701ab5424e1b1f07011f3d001033617e600cd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_378.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_379.png b/target/classes/vslam/self_made_dataset/frames/frame_379.png deleted file mode 100644 index 2ba705fd7a4bfe2270d7a64a618e321bd41bbb2c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_379.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_38.png b/target/classes/vslam/self_made_dataset/frames/frame_38.png deleted file mode 100644 index 0b001d28f7e59afa9766bdd1b28bad1d3d7c7d04..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_38.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_380.png b/target/classes/vslam/self_made_dataset/frames/frame_380.png deleted file mode 100644 index 23424650a91dc77fbc21c1ea06bdb71c649b568c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_380.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_381.png b/target/classes/vslam/self_made_dataset/frames/frame_381.png deleted file mode 100644 index c4b03e0546a263f54508a298897f60981fa363a6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_381.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_382.png b/target/classes/vslam/self_made_dataset/frames/frame_382.png deleted file mode 100644 index 786429b1ed5c637bd71e733cae340fa235529d63..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_382.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_383.png b/target/classes/vslam/self_made_dataset/frames/frame_383.png deleted file mode 100644 index dee8f6ee334bb7083cc8c5ae9003fb311546da7f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_383.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_384.png b/target/classes/vslam/self_made_dataset/frames/frame_384.png deleted file mode 100644 index c23685edafc44c2e6bd5e0e3e93272d86fdd80b3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_384.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_385.png b/target/classes/vslam/self_made_dataset/frames/frame_385.png deleted file mode 100644 index ed99b7c9173227a1929453cd7d6d49b1035ec8af..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_385.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_386.png b/target/classes/vslam/self_made_dataset/frames/frame_386.png deleted file mode 100644 index 588ce9d3c2201d2314eea4697a8c3a779a6600ab..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_386.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_387.png b/target/classes/vslam/self_made_dataset/frames/frame_387.png deleted file mode 100644 index ab02ba5e4d8a118dbbd4de3e9c0aab01d99fc002..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_387.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_388.png b/target/classes/vslam/self_made_dataset/frames/frame_388.png deleted file mode 100644 index 971ce71831bbb5da520bebff59dfd5f71b416dd9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_388.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_389.png b/target/classes/vslam/self_made_dataset/frames/frame_389.png deleted file mode 100644 index 209a2466b6f1e5eac911353e8e4287ee1aef60b5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_389.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_39.png b/target/classes/vslam/self_made_dataset/frames/frame_39.png deleted file mode 100644 index c6def41f157fb26097ba96247edb613d275a618f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_39.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_390.png b/target/classes/vslam/self_made_dataset/frames/frame_390.png deleted file mode 100644 index 0b1a56a2abcc8397adbf46dd3d11888cba014e0a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_390.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_391.png b/target/classes/vslam/self_made_dataset/frames/frame_391.png deleted file mode 100644 index 8c676beea34c0ee6328807343e911fe64254b8d5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_391.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_392.png b/target/classes/vslam/self_made_dataset/frames/frame_392.png deleted file mode 100644 index 49fe7426263a962735df2832b3ddd8f20e5c27fe..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_392.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_393.png b/target/classes/vslam/self_made_dataset/frames/frame_393.png deleted file mode 100644 index e7863d4f2488447b5018073dfca1a6055411d582..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_393.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_394.png b/target/classes/vslam/self_made_dataset/frames/frame_394.png deleted file mode 100644 index 8e9b7ed7660f037a28c5e34de8669c6b5c9fb1cf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_394.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_395.png b/target/classes/vslam/self_made_dataset/frames/frame_395.png deleted file mode 100644 index 7b330af6ba0df7d15f6eeda0f9830a1100827408..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_395.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_396.png b/target/classes/vslam/self_made_dataset/frames/frame_396.png deleted file mode 100644 index 1e0d0528a44da1d91fdf7fcb4e54c7fc722fdb52..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_396.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_397.png b/target/classes/vslam/self_made_dataset/frames/frame_397.png deleted file mode 100644 index 27aab4b5d44d43afe77f474d091a02fb93345637..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_397.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_398.png b/target/classes/vslam/self_made_dataset/frames/frame_398.png deleted file mode 100644 index 4fe781c48e8cddf1cd38eeee44304352d904db88..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_398.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_399.png b/target/classes/vslam/self_made_dataset/frames/frame_399.png deleted file mode 100644 index 6dfd6eb9b65a5df72adf4ecd20bc394a151f5952..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_399.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_4.png b/target/classes/vslam/self_made_dataset/frames/frame_4.png deleted file mode 100644 index 937873a16e39995ceb1766e29a83b7927599bc47..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_4.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_40.png b/target/classes/vslam/self_made_dataset/frames/frame_40.png deleted file mode 100644 index f6523d16ce3690b448cefcf1d3eb3a5c9d5f2dd2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_40.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_400.png b/target/classes/vslam/self_made_dataset/frames/frame_400.png deleted file mode 100644 index 673af863032f0b8ae1cb4ef1c4f5a31a8bed4c2e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_400.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_401.png b/target/classes/vslam/self_made_dataset/frames/frame_401.png deleted file mode 100644 index a93f855f409e0f0132aa5fb59dc5d8176c77780a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_401.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_402.png b/target/classes/vslam/self_made_dataset/frames/frame_402.png deleted file mode 100644 index 8997d9f0ecc610129b189fcd6559f6ab5d865448..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_402.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_403.png b/target/classes/vslam/self_made_dataset/frames/frame_403.png deleted file mode 100644 index db7fbd423c87af4599cda5b49f497f999d437e56..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_403.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_404.png b/target/classes/vslam/self_made_dataset/frames/frame_404.png deleted file mode 100644 index 2b87b271918e7962d54665ffd5d6b9b70df88db5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_404.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_405.png b/target/classes/vslam/self_made_dataset/frames/frame_405.png deleted file mode 100644 index e6d67a6c0970f93dcc735068065e38670a41ddc8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_405.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_406.png b/target/classes/vslam/self_made_dataset/frames/frame_406.png deleted file mode 100644 index fbf8becda9621434ab635f675eccac9578867958..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_406.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_407.png b/target/classes/vslam/self_made_dataset/frames/frame_407.png deleted file mode 100644 index 5f8fc81fa52f219495263b038c6cfc1349453ed8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_407.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_408.png b/target/classes/vslam/self_made_dataset/frames/frame_408.png deleted file mode 100644 index 40826340a0e42489e70220008cc63df824543c55..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_408.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_409.png b/target/classes/vslam/self_made_dataset/frames/frame_409.png deleted file mode 100644 index f058cc435f64b03c162516c6c3c8917cf95fb5a0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_409.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_41.png b/target/classes/vslam/self_made_dataset/frames/frame_41.png deleted file mode 100644 index 24fa89548025c3d0023578c7624fad77f263f5d4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_41.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_410.png b/target/classes/vslam/self_made_dataset/frames/frame_410.png deleted file mode 100644 index 988cae3c1584313f98480443dc364a1bd9001724..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_410.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_411.png b/target/classes/vslam/self_made_dataset/frames/frame_411.png deleted file mode 100644 index c8877f61607956dd207f7a8c78f022030c569364..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_411.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_412.png b/target/classes/vslam/self_made_dataset/frames/frame_412.png deleted file mode 100644 index 96edd6f7dd2ad4eb9e2a7f5e020446ecd9958a09..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_412.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_413.png b/target/classes/vslam/self_made_dataset/frames/frame_413.png deleted file mode 100644 index 4a3f5f9c550d09c220eeec500d7b41629b3a4939..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_413.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_414.png b/target/classes/vslam/self_made_dataset/frames/frame_414.png deleted file mode 100644 index 268b572a14678859c8791a8ae16501c0c123ceb0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_414.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_415.png b/target/classes/vslam/self_made_dataset/frames/frame_415.png deleted file mode 100644 index a3ddf0533d76056faaecfe0e2a5aecba1498cd0d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_415.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_416.png b/target/classes/vslam/self_made_dataset/frames/frame_416.png deleted file mode 100644 index 63f2a34da6a9fef61cd244c9f5226fbab48dccce..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_416.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_417.png b/target/classes/vslam/self_made_dataset/frames/frame_417.png deleted file mode 100644 index 7eab15d5e1327946d235f7660ea60d7626a6d5c7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_417.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_418.png b/target/classes/vslam/self_made_dataset/frames/frame_418.png deleted file mode 100644 index b47e951f60a64e514c3e13ceb54a39ab7c05a6bc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_418.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_419.png b/target/classes/vslam/self_made_dataset/frames/frame_419.png deleted file mode 100644 index 5a79f79ebd2ce3d89dd9c3e035415992fc9b12ed..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_419.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_42.png b/target/classes/vslam/self_made_dataset/frames/frame_42.png deleted file mode 100644 index 79e6fe0eb9b93d0682490483c419e791753c3c6a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_42.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_420.png b/target/classes/vslam/self_made_dataset/frames/frame_420.png deleted file mode 100644 index 4eca38b3ac42521b85e3ce0e322c0f5afe4db250..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_420.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_421.png b/target/classes/vslam/self_made_dataset/frames/frame_421.png deleted file mode 100644 index c87fd612ed1ea2e0708562ca7323dd36eb9f1740..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_421.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_422.png b/target/classes/vslam/self_made_dataset/frames/frame_422.png deleted file mode 100644 index 7904dccf550eb25086eef56130797ab4f7a7699f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_422.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_423.png b/target/classes/vslam/self_made_dataset/frames/frame_423.png deleted file mode 100644 index 1408e6799b7905dcb80fbde1bbd3ffb25bfe607a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_423.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_424.png b/target/classes/vslam/self_made_dataset/frames/frame_424.png deleted file mode 100644 index 603e4bfefef86696b0fb005383672c401f27afe6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_424.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_425.png b/target/classes/vslam/self_made_dataset/frames/frame_425.png deleted file mode 100644 index 2de1b30647d76dc41226807e2544308974e1de4f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_425.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_426.png b/target/classes/vslam/self_made_dataset/frames/frame_426.png deleted file mode 100644 index 384af7ab26217995a6de6c03f66738f6b3db33ed..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_426.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_427.png b/target/classes/vslam/self_made_dataset/frames/frame_427.png deleted file mode 100644 index bc8e954784e95b0d3211e1b286e0c8ab1302e592..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_427.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_428.png b/target/classes/vslam/self_made_dataset/frames/frame_428.png deleted file mode 100644 index 0b73abefe8041b0d94e976f99b87d6fce353b6cf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_428.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_429.png b/target/classes/vslam/self_made_dataset/frames/frame_429.png deleted file mode 100644 index aad7ae2273b42ca54040faa3a7ff00ffe634d93f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_429.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_43.png b/target/classes/vslam/self_made_dataset/frames/frame_43.png deleted file mode 100644 index 6476043648856acce5fd89a1cb43acdd3d2c09b6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_43.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_430.png b/target/classes/vslam/self_made_dataset/frames/frame_430.png deleted file mode 100644 index c18e3b7818f0614ce4627bb4c9722df0656960ac..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_430.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_431.png b/target/classes/vslam/self_made_dataset/frames/frame_431.png deleted file mode 100644 index 740167e207313103cfeb8ee357f0fb0a832e4bff..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_431.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_432.png b/target/classes/vslam/self_made_dataset/frames/frame_432.png deleted file mode 100644 index fa17a52397c99b591136022468c94bde99e3f7b4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_432.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_433.png b/target/classes/vslam/self_made_dataset/frames/frame_433.png deleted file mode 100644 index 9f16c526231f489c2d772a5984f8fc553d8cbb4d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_433.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_434.png b/target/classes/vslam/self_made_dataset/frames/frame_434.png deleted file mode 100644 index cbca8cbbf4f80eac8337596355698f28d9703cb4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_434.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_435.png b/target/classes/vslam/self_made_dataset/frames/frame_435.png deleted file mode 100644 index b2667b4244fbb3df5bab0273017f4871a936101c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_435.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_436.png b/target/classes/vslam/self_made_dataset/frames/frame_436.png deleted file mode 100644 index 3ac73d035690fcf40b613323b6a3fa59508d03c6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_436.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_437.png b/target/classes/vslam/self_made_dataset/frames/frame_437.png deleted file mode 100644 index bb8defcdb2b497a2c171118c8d36805dffd9bd0c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_437.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_438.png b/target/classes/vslam/self_made_dataset/frames/frame_438.png deleted file mode 100644 index 77ffc7d71df757d2b39ee697b46b028ed16eb9ac..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_438.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_439.png b/target/classes/vslam/self_made_dataset/frames/frame_439.png deleted file mode 100644 index dc2faec900d0cf43fe67131790eabd0b19ac418c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_439.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_44.png b/target/classes/vslam/self_made_dataset/frames/frame_44.png deleted file mode 100644 index 15b0f2f995855839965a605fcc78324a71a5ab3a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_44.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_440.png b/target/classes/vslam/self_made_dataset/frames/frame_440.png deleted file mode 100644 index 83c0c619a25ce9a43a18ff21d52773f256b2db04..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_440.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_441.png b/target/classes/vslam/self_made_dataset/frames/frame_441.png deleted file mode 100644 index 280b15fc2b72acf18cc0ff0340d5faa57aa7a684..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_441.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_442.png b/target/classes/vslam/self_made_dataset/frames/frame_442.png deleted file mode 100644 index 08c728fc1488d33bc06fb3570cfdea1ac9390af0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_442.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_443.png b/target/classes/vslam/self_made_dataset/frames/frame_443.png deleted file mode 100644 index 990736c88b77cc2eefff91308fc07830998b00e4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_443.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_444.png b/target/classes/vslam/self_made_dataset/frames/frame_444.png deleted file mode 100644 index da564da29c829030ed85db8a52cd1eb95fa38266..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_444.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_445.png b/target/classes/vslam/self_made_dataset/frames/frame_445.png deleted file mode 100644 index 84cd0b0c39ed09e30e4aa00abd0af57ad7a46141..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_445.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_446.png b/target/classes/vslam/self_made_dataset/frames/frame_446.png deleted file mode 100644 index 4a5465a3249814a3ee49e17eac576b32825401dd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_446.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_447.png b/target/classes/vslam/self_made_dataset/frames/frame_447.png deleted file mode 100644 index 0742ae076670498faa1d75e6fea8e69d40fff92d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_447.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_448.png b/target/classes/vslam/self_made_dataset/frames/frame_448.png deleted file mode 100644 index e6f18cc8cd1f1dd9d115766d9852f5ff424a5727..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_448.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_449.png b/target/classes/vslam/self_made_dataset/frames/frame_449.png deleted file mode 100644 index c30d0d5437e27dfb651eb9fe09e04997980a9028..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_449.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_45.png b/target/classes/vslam/self_made_dataset/frames/frame_45.png deleted file mode 100644 index b383f508013ed329e4832db8574278c58dc07f1b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_45.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_450.png b/target/classes/vslam/self_made_dataset/frames/frame_450.png deleted file mode 100644 index 921eb10b6ada0c19e5468d354352b6fdc4672af4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_450.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_451.png b/target/classes/vslam/self_made_dataset/frames/frame_451.png deleted file mode 100644 index 2ff44c31c495013f0bed8589b8527da0547d3138..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_451.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_452.png b/target/classes/vslam/self_made_dataset/frames/frame_452.png deleted file mode 100644 index 743b16dd28078b405d03d41d477d17aba471e03e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_452.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_453.png b/target/classes/vslam/self_made_dataset/frames/frame_453.png deleted file mode 100644 index 4ea9097173b55bfdbcdf1c3e773035d7887d8e72..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_453.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_454.png b/target/classes/vslam/self_made_dataset/frames/frame_454.png deleted file mode 100644 index 25045981a1933e69a1d8aed903a32652fdf56a1f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_454.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_455.png b/target/classes/vslam/self_made_dataset/frames/frame_455.png deleted file mode 100644 index 56be4b0b3b5f1ce1f4c6a7ff3446a10e47aa912c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_455.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_456.png b/target/classes/vslam/self_made_dataset/frames/frame_456.png deleted file mode 100644 index 344ca1da7cab6793f215a6468a78c5d3818a551e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_456.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_457.png b/target/classes/vslam/self_made_dataset/frames/frame_457.png deleted file mode 100644 index ecba37b9e0ca72ea478208eb070caf5870e35b6d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_457.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_458.png b/target/classes/vslam/self_made_dataset/frames/frame_458.png deleted file mode 100644 index 8405c20904e675ec0c0ecaa17633df5c6e8f3574..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_458.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_459.png b/target/classes/vslam/self_made_dataset/frames/frame_459.png deleted file mode 100644 index c04f17c0cc44a04f409af90ee5c57b4a52d4786f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_459.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_46.png b/target/classes/vslam/self_made_dataset/frames/frame_46.png deleted file mode 100644 index 227d541a865b44deb0e02aa2c177d8b920eff8fc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_46.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_460.png b/target/classes/vslam/self_made_dataset/frames/frame_460.png deleted file mode 100644 index ba202fbc4933c0a17e78104675555644174d6dd3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_460.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_461.png b/target/classes/vslam/self_made_dataset/frames/frame_461.png deleted file mode 100644 index 13ffef8f21d27ca50666087fed7b037887c9271f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_461.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_462.png b/target/classes/vslam/self_made_dataset/frames/frame_462.png deleted file mode 100644 index 66a571af8d39ed2b8357b80fb8fde4aaa7dde049..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_462.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_463.png b/target/classes/vslam/self_made_dataset/frames/frame_463.png deleted file mode 100644 index 8a99eaa79c43e16b51c12a7cda3642f2310d8306..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_463.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_464.png b/target/classes/vslam/self_made_dataset/frames/frame_464.png deleted file mode 100644 index 8866a817419a0f3e1c2f4323c74a8d1fe8c551d2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_464.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_465.png b/target/classes/vslam/self_made_dataset/frames/frame_465.png deleted file mode 100644 index e03823d66da96dbfb22e877fb4f88312f7117adc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_465.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_466.png b/target/classes/vslam/self_made_dataset/frames/frame_466.png deleted file mode 100644 index e2e7ab1511e7d782178007622c2ad6da24686868..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_466.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_467.png b/target/classes/vslam/self_made_dataset/frames/frame_467.png deleted file mode 100644 index 600b0ef4cc5d258596746dfa13b596b019936984..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_467.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_468.png b/target/classes/vslam/self_made_dataset/frames/frame_468.png deleted file mode 100644 index 654d5112d26d7815b2be977282d851ee567d176f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_468.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_469.png b/target/classes/vslam/self_made_dataset/frames/frame_469.png deleted file mode 100644 index e08f232b8f517e2dd9ee030a3ea3e23b5f154171..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_469.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_47.png b/target/classes/vslam/self_made_dataset/frames/frame_47.png deleted file mode 100644 index 11b71c27622e595f28655ebe53803c3461728742..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_47.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_470.png b/target/classes/vslam/self_made_dataset/frames/frame_470.png deleted file mode 100644 index 9883c3826b7ad754b55011f85af63278b68d9c5f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_470.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_471.png b/target/classes/vslam/self_made_dataset/frames/frame_471.png deleted file mode 100644 index b000abbaf725155d79c8b92f2c6dfc64483ca9bf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_471.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_472.png b/target/classes/vslam/self_made_dataset/frames/frame_472.png deleted file mode 100644 index 57015ce8f56b51ad777ec2a00d7ac674e734e7c7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_472.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_473.png b/target/classes/vslam/self_made_dataset/frames/frame_473.png deleted file mode 100644 index 0a0f10d75faeb9c7cba7dd35ecc354cb37d19453..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_473.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_474.png b/target/classes/vslam/self_made_dataset/frames/frame_474.png deleted file mode 100644 index a152cbe5a2965946922e9d815bcfe066b37d7f81..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_474.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_475.png b/target/classes/vslam/self_made_dataset/frames/frame_475.png deleted file mode 100644 index de07fc111cb3a2888fb7599d412bb8eeb90cd336..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_475.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_476.png b/target/classes/vslam/self_made_dataset/frames/frame_476.png deleted file mode 100644 index 5a3d2a035a4083552223560f2cd3e1169f717d25..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_476.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_477.png b/target/classes/vslam/self_made_dataset/frames/frame_477.png deleted file mode 100644 index 8cb4a835c4a2dff3f8ef2abb9385690942d3494d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_477.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_478.png b/target/classes/vslam/self_made_dataset/frames/frame_478.png deleted file mode 100644 index 7fa27ba921f8860abbb40c9a7ae7bfd902d24984..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_478.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_479.png b/target/classes/vslam/self_made_dataset/frames/frame_479.png deleted file mode 100644 index 0de4284b9f514ed2d905756eb8e5b20accd8e2ba..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_479.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_48.png b/target/classes/vslam/self_made_dataset/frames/frame_48.png deleted file mode 100644 index 19746960d15df551278af475f606313fe071ad4d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_48.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_480.png b/target/classes/vslam/self_made_dataset/frames/frame_480.png deleted file mode 100644 index cf10da705b83b6502dbd15e07ad626be325bf4ad..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_480.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_481.png b/target/classes/vslam/self_made_dataset/frames/frame_481.png deleted file mode 100644 index 79b037274332cc1cb96bfd59b3ba5e4aff53ee5d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_481.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_482.png b/target/classes/vslam/self_made_dataset/frames/frame_482.png deleted file mode 100644 index 61caa8f867ffc4b43843deb12ef4ab94252e3c6c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_482.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_483.png b/target/classes/vslam/self_made_dataset/frames/frame_483.png deleted file mode 100644 index b3eff7e7fe0a69bd2a2931bc28f7b96d4e57d238..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_483.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_484.png b/target/classes/vslam/self_made_dataset/frames/frame_484.png deleted file mode 100644 index 5591087b4dc1eae8a98429bd06ee8029fda36f69..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_484.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_485.png b/target/classes/vslam/self_made_dataset/frames/frame_485.png deleted file mode 100644 index 2c745dfd0f2b684d73b6d6f1ba8392cbe79d809d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_485.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_486.png b/target/classes/vslam/self_made_dataset/frames/frame_486.png deleted file mode 100644 index a587e55dabd91c4b4ef5a3ab4beea4c583b21a6e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_486.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_487.png b/target/classes/vslam/self_made_dataset/frames/frame_487.png deleted file mode 100644 index b0b6d477308c6046873be4291cc6a6698777aed0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_487.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_488.png b/target/classes/vslam/self_made_dataset/frames/frame_488.png deleted file mode 100644 index a76b6d9c95eb5a55cc8f4864b7d4d5096d38451f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_488.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_489.png b/target/classes/vslam/self_made_dataset/frames/frame_489.png deleted file mode 100644 index 36313cd0d39bb5d4fde1571361435d725fed4e4d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_489.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_49.png b/target/classes/vslam/self_made_dataset/frames/frame_49.png deleted file mode 100644 index cf7b37d4dd42f6c860e18cc72988f7f5f1a778db..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_49.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_490.png b/target/classes/vslam/self_made_dataset/frames/frame_490.png deleted file mode 100644 index b5f9fcdfcf0cc5a425711bb9565f109622695162..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_490.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_491.png b/target/classes/vslam/self_made_dataset/frames/frame_491.png deleted file mode 100644 index bcc5b4641be87bd903c81b6751e924ae13e5f9ed..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_491.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_492.png b/target/classes/vslam/self_made_dataset/frames/frame_492.png deleted file mode 100644 index 01cb5e4ca51a746b6b55e0d2282dbc68d95fb522..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_492.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_493.png b/target/classes/vslam/self_made_dataset/frames/frame_493.png deleted file mode 100644 index 97fded3fb43b0fa8582aa8079d2c7fc42b347a32..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_493.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_494.png b/target/classes/vslam/self_made_dataset/frames/frame_494.png deleted file mode 100644 index 5ee6f7e03397e1586fdcc9dec2c64dbf82083284..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_494.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_495.png b/target/classes/vslam/self_made_dataset/frames/frame_495.png deleted file mode 100644 index bb3cc81b25dac8595f4cb9c88e9ea9cffd19eb55..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_495.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_496.png b/target/classes/vslam/self_made_dataset/frames/frame_496.png deleted file mode 100644 index 32dc9132f15a05ea9d2b3d329eb4c108f1b82b4c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_496.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_497.png b/target/classes/vslam/self_made_dataset/frames/frame_497.png deleted file mode 100644 index 94ef3c762a610a4951ab2e78ed26ac68dfb588ab..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_497.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_498.png b/target/classes/vslam/self_made_dataset/frames/frame_498.png deleted file mode 100644 index 45a2f92be6953c6068d0df897fd3de364178bc01..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_498.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_499.png b/target/classes/vslam/self_made_dataset/frames/frame_499.png deleted file mode 100644 index 5d187ffe71c1446c602aeb496956a776a3ee93f5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_499.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_5.png b/target/classes/vslam/self_made_dataset/frames/frame_5.png deleted file mode 100644 index d8f5243571cf851a7d68950b03b8ff66bb64baa7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_5.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_50.png b/target/classes/vslam/self_made_dataset/frames/frame_50.png deleted file mode 100644 index 21b9a420c2ac863c7b267769ad03ee9a3a0e7d8c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_50.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_500.png b/target/classes/vslam/self_made_dataset/frames/frame_500.png deleted file mode 100644 index 0290b002387ae0ae97bca51f0974d933eeecee78..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_500.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_501.png b/target/classes/vslam/self_made_dataset/frames/frame_501.png deleted file mode 100644 index 53381ec194ef106b1fab6b2321c0f2eb25361726..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_501.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_502.png b/target/classes/vslam/self_made_dataset/frames/frame_502.png deleted file mode 100644 index 10d08a9e723d575dba3a03931a07b448bc9c394c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_502.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_503.png b/target/classes/vslam/self_made_dataset/frames/frame_503.png deleted file mode 100644 index 481150f225c8bc9d347ed97addc4deb5d6375b2d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_503.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_504.png b/target/classes/vslam/self_made_dataset/frames/frame_504.png deleted file mode 100644 index 3bf834ee1e293c3f9aa89cfc14839a862b3e9d27..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_504.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_505.png b/target/classes/vslam/self_made_dataset/frames/frame_505.png deleted file mode 100644 index 7a9feddfae87565652dee85a03dee874bdbe96e4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_505.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_506.png b/target/classes/vslam/self_made_dataset/frames/frame_506.png deleted file mode 100644 index d8c384abcb1ae4baae43ed0e7b317002fa41b09e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_506.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_507.png b/target/classes/vslam/self_made_dataset/frames/frame_507.png deleted file mode 100644 index 5490a9d9b1c12cea143520d50403e6a8dad7c86c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_507.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_508.png b/target/classes/vslam/self_made_dataset/frames/frame_508.png deleted file mode 100644 index 1ec0c57163e5e6cd7b7f6a35c5caaa4c1682c0ae..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_508.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_509.png b/target/classes/vslam/self_made_dataset/frames/frame_509.png deleted file mode 100644 index c4be4fd6c792f7f85b8ef43889476f9bd2e90af3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_509.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_51.png b/target/classes/vslam/self_made_dataset/frames/frame_51.png deleted file mode 100644 index 793fa1b0391519729a2990c0bfcb554af3d97186..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_51.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_510.png b/target/classes/vslam/self_made_dataset/frames/frame_510.png deleted file mode 100644 index c84bad3883412f4ac64ed6625f8f87f581f3f617..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_510.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_511.png b/target/classes/vslam/self_made_dataset/frames/frame_511.png deleted file mode 100644 index 133d127d49bd87ed34ce6324c2adb766040c63f2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_511.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_512.png b/target/classes/vslam/self_made_dataset/frames/frame_512.png deleted file mode 100644 index 961915d4268a59ea034b8b3e4d1ef0148300f18e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_512.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_513.png b/target/classes/vslam/self_made_dataset/frames/frame_513.png deleted file mode 100644 index f5d1e8ea721fb6dafff9f1f668d7e1269fba5515..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_513.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_514.png b/target/classes/vslam/self_made_dataset/frames/frame_514.png deleted file mode 100644 index b0dd15b8d14e345fca9a6e34b1cdf48c75406bee..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_514.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_515.png b/target/classes/vslam/self_made_dataset/frames/frame_515.png deleted file mode 100644 index 1b2dfccd7d72b215f6578de2808594804323e7c7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_515.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_516.png b/target/classes/vslam/self_made_dataset/frames/frame_516.png deleted file mode 100644 index 8a5454efce5c0c55c45bed1ff46428eedc400d30..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_516.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_517.png b/target/classes/vslam/self_made_dataset/frames/frame_517.png deleted file mode 100644 index ff09582c5bd510c791f73187cec72c2a6285a9f1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_517.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_518.png b/target/classes/vslam/self_made_dataset/frames/frame_518.png deleted file mode 100644 index ebf3e267092219c21bf442f81f499fab935cb5ca..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_518.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_519.png b/target/classes/vslam/self_made_dataset/frames/frame_519.png deleted file mode 100644 index 24b684d821f20159868934dbbaeb8ded4d6976f4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_519.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_52.png b/target/classes/vslam/self_made_dataset/frames/frame_52.png deleted file mode 100644 index a6585e74e2db85d1b94f7ae566c31f599c5f9523..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_52.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_520.png b/target/classes/vslam/self_made_dataset/frames/frame_520.png deleted file mode 100644 index c4fd5aae2630ad872f1013df64187f2bbc0288f0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_520.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_521.png b/target/classes/vslam/self_made_dataset/frames/frame_521.png deleted file mode 100644 index c9ccb4c0ceabc41968739b55caa551e1e66a9ad6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_521.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_522.png b/target/classes/vslam/self_made_dataset/frames/frame_522.png deleted file mode 100644 index 4806700131e799008830274765e05c90341b3f54..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_522.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_523.png b/target/classes/vslam/self_made_dataset/frames/frame_523.png deleted file mode 100644 index 8c53104871e5f4db26d323d90f11d9c4f3df37f2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_523.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_524.png b/target/classes/vslam/self_made_dataset/frames/frame_524.png deleted file mode 100644 index 78423c575419fa1abe390ce9039dc48c175f61a7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_524.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_525.png b/target/classes/vslam/self_made_dataset/frames/frame_525.png deleted file mode 100644 index 97c3fb0f580b8ca02a05795979d63f7204b7c9c7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_525.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_526.png b/target/classes/vslam/self_made_dataset/frames/frame_526.png deleted file mode 100644 index fdf79dda53656a41bd347b424ca11ef3f9fcd3b4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_526.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_527.png b/target/classes/vslam/self_made_dataset/frames/frame_527.png deleted file mode 100644 index 9e28822d0c65c226070bcd7fd2b0f5c9da43f92d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_527.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_528.png b/target/classes/vslam/self_made_dataset/frames/frame_528.png deleted file mode 100644 index 455739c05573086e63566fd2b2b62da042adfded..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_528.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_529.png b/target/classes/vslam/self_made_dataset/frames/frame_529.png deleted file mode 100644 index 3f438cdc4d4b1410648ccebaabae3293b698099d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_529.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_53.png b/target/classes/vslam/self_made_dataset/frames/frame_53.png deleted file mode 100644 index e87ca2117b68827f3ee8e3b03dae2b952f5462ad..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_53.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_530.png b/target/classes/vslam/self_made_dataset/frames/frame_530.png deleted file mode 100644 index 95be11dd7d07ee973b2abfa4d1d0b0cbab40af7c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_530.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_531.png b/target/classes/vslam/self_made_dataset/frames/frame_531.png deleted file mode 100644 index 31686aaee6cfb6d70b573b884a1b6985d8847f42..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_531.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_532.png b/target/classes/vslam/self_made_dataset/frames/frame_532.png deleted file mode 100644 index 405deb38ffd3932e6d3b8f7626c4a17a285745ba..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_532.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_533.png b/target/classes/vslam/self_made_dataset/frames/frame_533.png deleted file mode 100644 index 09be1f03e653d14f581d5e2a7a7d6410c84b26c5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_533.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_534.png b/target/classes/vslam/self_made_dataset/frames/frame_534.png deleted file mode 100644 index 2dcd3f80b1645bc2e2c16f99c7440603b0a9da70..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_534.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_535.png b/target/classes/vslam/self_made_dataset/frames/frame_535.png deleted file mode 100644 index d1bb2e0ea789943d7fc33d9132f5e141585004ed..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_535.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_536.png b/target/classes/vslam/self_made_dataset/frames/frame_536.png deleted file mode 100644 index ecf3f41f681dc3f91496f4bc3b250b76f98f8ef1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_536.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_537.png b/target/classes/vslam/self_made_dataset/frames/frame_537.png deleted file mode 100644 index ef2e6ad9fdcc6af9d398a724c07224ac810afbd2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_537.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_538.png b/target/classes/vslam/self_made_dataset/frames/frame_538.png deleted file mode 100644 index 3104103d70c2fb1022d712aa22485827e1a9b2d8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_538.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_539.png b/target/classes/vslam/self_made_dataset/frames/frame_539.png deleted file mode 100644 index 3de2df6557fe81f25a2fb86a26e51cdd953753b3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_539.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_54.png b/target/classes/vslam/self_made_dataset/frames/frame_54.png deleted file mode 100644 index c7b47e46e9ad0fcf5f3d52d15f3496345cb996ff..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_54.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_540.png b/target/classes/vslam/self_made_dataset/frames/frame_540.png deleted file mode 100644 index 40da803bd7f6a119d6692a9588c9e6196328c3dc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_540.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_541.png b/target/classes/vslam/self_made_dataset/frames/frame_541.png deleted file mode 100644 index d553a6ea4a6e469d535802e7e8e7d4cffb876da6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_541.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_542.png b/target/classes/vslam/self_made_dataset/frames/frame_542.png deleted file mode 100644 index ecd8e188958a1a9297adb356ce8546e762b14f6e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_542.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_543.png b/target/classes/vslam/self_made_dataset/frames/frame_543.png deleted file mode 100644 index f8f9dd1fa9ee44062ede25f02ba184b54be696ae..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_543.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_544.png b/target/classes/vslam/self_made_dataset/frames/frame_544.png deleted file mode 100644 index 1444279c79604e041748e89ea21f9e122b346745..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_544.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_545.png b/target/classes/vslam/self_made_dataset/frames/frame_545.png deleted file mode 100644 index 3eed05fba3b9389c5069e905277b1dac555d01f0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_545.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_546.png b/target/classes/vslam/self_made_dataset/frames/frame_546.png deleted file mode 100644 index a1980b65cbbc592e0f1e4b974a06d8ee5bfeb149..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_546.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_547.png b/target/classes/vslam/self_made_dataset/frames/frame_547.png deleted file mode 100644 index be22a8235e9a52069ccfe203a5c37a804e7a6e09..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_547.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_548.png b/target/classes/vslam/self_made_dataset/frames/frame_548.png deleted file mode 100644 index 7594c29c4c21782eac32e11cf753315aa1afdb17..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_548.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_549.png b/target/classes/vslam/self_made_dataset/frames/frame_549.png deleted file mode 100644 index b39068c5a31eeb0a61a2653b28917f3494d26c17..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_549.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_55.png b/target/classes/vslam/self_made_dataset/frames/frame_55.png deleted file mode 100644 index 878bcdb8d7375b6ad667feedea6fd8a44196ca6b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_55.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_550.png b/target/classes/vslam/self_made_dataset/frames/frame_550.png deleted file mode 100644 index ef9880b207b0b8bcc9647da0dd3cc44c5c2aa23c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_550.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_551.png b/target/classes/vslam/self_made_dataset/frames/frame_551.png deleted file mode 100644 index e2eb4fbc5df79b3569bc4ba59725d2954259c5a2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_551.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_552.png b/target/classes/vslam/self_made_dataset/frames/frame_552.png deleted file mode 100644 index ad932a195ed1b5d52339101bb9678a9ddf916c8a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_552.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_553.png b/target/classes/vslam/self_made_dataset/frames/frame_553.png deleted file mode 100644 index de4f644c715b0a30dd35bf7bb522d2b578d49329..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_553.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_554.png b/target/classes/vslam/self_made_dataset/frames/frame_554.png deleted file mode 100644 index ad9ce97b29d780dc0db202f1a1c43c5299c75603..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_554.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_555.png b/target/classes/vslam/self_made_dataset/frames/frame_555.png deleted file mode 100644 index a7ed49bc2ec7400a1d119e2b2cb3797f94d693f0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_555.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_556.png b/target/classes/vslam/self_made_dataset/frames/frame_556.png deleted file mode 100644 index 8d692b770d0cfe0972076e827a0208eab5c8da83..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_556.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_557.png b/target/classes/vslam/self_made_dataset/frames/frame_557.png deleted file mode 100644 index 8d7f0846acdbe82721a668752a3da5f079f7b4b7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_557.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_558.png b/target/classes/vslam/self_made_dataset/frames/frame_558.png deleted file mode 100644 index 5e2195e7435dca6be507b7d6d7a015515b6f4cf9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_558.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_559.png b/target/classes/vslam/self_made_dataset/frames/frame_559.png deleted file mode 100644 index 4acc84991adba9300927875f04eeb55665cb356b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_559.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_56.png b/target/classes/vslam/self_made_dataset/frames/frame_56.png deleted file mode 100644 index caa17338096ceb32c49b56f5e7c41c83b2158b37..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_56.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_560.png b/target/classes/vslam/self_made_dataset/frames/frame_560.png deleted file mode 100644 index 7876458bc2727479ee53d2118565537c7a5da8e2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_560.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_561.png b/target/classes/vslam/self_made_dataset/frames/frame_561.png deleted file mode 100644 index ebe2aafbfeac159f8369a9d7e45f484d612cb335..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_561.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_562.png b/target/classes/vslam/self_made_dataset/frames/frame_562.png deleted file mode 100644 index 100d389db3a978bbfb513508ecc7cd31d9154b71..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_562.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_563.png b/target/classes/vslam/self_made_dataset/frames/frame_563.png deleted file mode 100644 index 645b06825d5e734f5373fedde2c245977e608f36..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_563.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_564.png b/target/classes/vslam/self_made_dataset/frames/frame_564.png deleted file mode 100644 index 870f16a7c68f9472d81c75c5b3d5027a28a4326f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_564.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_565.png b/target/classes/vslam/self_made_dataset/frames/frame_565.png deleted file mode 100644 index 273cafcd4e8f21bbdf9f27f91635484dda613bc2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_565.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_566.png b/target/classes/vslam/self_made_dataset/frames/frame_566.png deleted file mode 100644 index a654996212d4c65af30ad303a60d9a2f6d71145b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_566.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_567.png b/target/classes/vslam/self_made_dataset/frames/frame_567.png deleted file mode 100644 index 6bed789b531baacb20cf63390a58ad6b24458c3b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_567.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_568.png b/target/classes/vslam/self_made_dataset/frames/frame_568.png deleted file mode 100644 index 760b71da7f7da2f49ae9ce46ee34a3d44d6a6947..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_568.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_569.png b/target/classes/vslam/self_made_dataset/frames/frame_569.png deleted file mode 100644 index 5187a8b9af176b06ce24c69b8a5d617594ac4618..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_569.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_57.png b/target/classes/vslam/self_made_dataset/frames/frame_57.png deleted file mode 100644 index 8a5a1c2ccfa7a379ac20118d6ac4890f2e5e679d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_57.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_570.png b/target/classes/vslam/self_made_dataset/frames/frame_570.png deleted file mode 100644 index fd75216c359aafd4ae8f03deed0ee197f953002e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_570.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_571.png b/target/classes/vslam/self_made_dataset/frames/frame_571.png deleted file mode 100644 index 7ca02b93efcf57538c78e1ae897ad6fcd3892ac7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_571.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_572.png b/target/classes/vslam/self_made_dataset/frames/frame_572.png deleted file mode 100644 index 3dd22dd95c1e23ee3e45896082feeaf18e5e3022..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_572.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_573.png b/target/classes/vslam/self_made_dataset/frames/frame_573.png deleted file mode 100644 index 49448f3b2d09fea1dce741d6c4d29f1a34601a67..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_573.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_574.png b/target/classes/vslam/self_made_dataset/frames/frame_574.png deleted file mode 100644 index e7f6fa2b7f89dfb94c145dc68fb448763a52a185..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_574.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_575.png b/target/classes/vslam/self_made_dataset/frames/frame_575.png deleted file mode 100644 index 30e071053bdc9c5dea3683e465f60bc810be3d40..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_575.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_576.png b/target/classes/vslam/self_made_dataset/frames/frame_576.png deleted file mode 100644 index 3c3a20baf52ff698e676488ffe1a46b21fdcf9f1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_576.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_577.png b/target/classes/vslam/self_made_dataset/frames/frame_577.png deleted file mode 100644 index cc14c07f7835cd94c179cd7c1d13d2b9b3b1546c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_577.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_578.png b/target/classes/vslam/self_made_dataset/frames/frame_578.png deleted file mode 100644 index 7fd5780ad2cd528e289a65051dbcda331b0c9e2b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_578.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_579.png b/target/classes/vslam/self_made_dataset/frames/frame_579.png deleted file mode 100644 index 197f4a45b8ee035c8be61bf06c87c02b5a7dfe74..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_579.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_58.png b/target/classes/vslam/self_made_dataset/frames/frame_58.png deleted file mode 100644 index 1c9df22f1b4934a8dde597371491f10e7487a030..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_58.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_580.png b/target/classes/vslam/self_made_dataset/frames/frame_580.png deleted file mode 100644 index eeb2eecfacd418f2872a7f85fa4db1e90ee6bb72..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_580.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_581.png b/target/classes/vslam/self_made_dataset/frames/frame_581.png deleted file mode 100644 index d681801e812eee49a3d4d60a0e7f01afb1dd581b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_581.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_582.png b/target/classes/vslam/self_made_dataset/frames/frame_582.png deleted file mode 100644 index a158f4e5934f328f94b03c9c4fd7f8834365fcf8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_582.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_583.png b/target/classes/vslam/self_made_dataset/frames/frame_583.png deleted file mode 100644 index 090768bb557d8aa5127b5c7d6b93400dee7451f5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_583.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_584.png b/target/classes/vslam/self_made_dataset/frames/frame_584.png deleted file mode 100644 index 873cd56c6c937f15b8600ce6642e83103a47821c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_584.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_585.png b/target/classes/vslam/self_made_dataset/frames/frame_585.png deleted file mode 100644 index e6e12d15370255f55bda728fe42f5a451916f5eb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_585.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_586.png b/target/classes/vslam/self_made_dataset/frames/frame_586.png deleted file mode 100644 index 383e7828213876e79abc98f82aa05347f70f1edb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_586.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_587.png b/target/classes/vslam/self_made_dataset/frames/frame_587.png deleted file mode 100644 index c32dea3af10eaaf355da8fc89ea4a4cafc80951f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_587.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_588.png b/target/classes/vslam/self_made_dataset/frames/frame_588.png deleted file mode 100644 index 3121c8d2d1c7fde19bfed0ea4f1de8bac25a5148..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_588.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_589.png b/target/classes/vslam/self_made_dataset/frames/frame_589.png deleted file mode 100644 index 649ac4ba395e0180829c13031d5ddf4825f32d2b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_589.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_59.png b/target/classes/vslam/self_made_dataset/frames/frame_59.png deleted file mode 100644 index a2c34609ee703f6fdfa750e63c74a4754f9ae6e9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_59.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_590.png b/target/classes/vslam/self_made_dataset/frames/frame_590.png deleted file mode 100644 index 6140b670effc45930b5840b7101e9022b5f33b54..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_590.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_591.png b/target/classes/vslam/self_made_dataset/frames/frame_591.png deleted file mode 100644 index 8cca8a861f66b16c1a997f306c2c2ec0c1ad1131..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_591.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_592.png b/target/classes/vslam/self_made_dataset/frames/frame_592.png deleted file mode 100644 index 21b7b4c4f9009188104ab4fb964d5c20860240ec..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_592.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_593.png b/target/classes/vslam/self_made_dataset/frames/frame_593.png deleted file mode 100644 index a1bedc6638c632aa8be0f940c14a45bf5266cb11..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_593.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_6.png b/target/classes/vslam/self_made_dataset/frames/frame_6.png deleted file mode 100644 index 723156d9daa549d3a18c814440c02e93775ebab9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_6.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_60.png b/target/classes/vslam/self_made_dataset/frames/frame_60.png deleted file mode 100644 index 8a0c02bcc78913301f1c073e61a4f3dea3dd2974..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_60.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_61.png b/target/classes/vslam/self_made_dataset/frames/frame_61.png deleted file mode 100644 index 56a00384eeeb762589d15c00d5b7bf982996ee97..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_61.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_62.png b/target/classes/vslam/self_made_dataset/frames/frame_62.png deleted file mode 100644 index cd1c762551ec61326ab2f50ae87b51e3516eeb35..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_62.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_63.png b/target/classes/vslam/self_made_dataset/frames/frame_63.png deleted file mode 100644 index 47f5b7203a74ac981d141ec68e075dea6fb73dcc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_63.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_64.png b/target/classes/vslam/self_made_dataset/frames/frame_64.png deleted file mode 100644 index 636f6cdf7092ec06fef9a4bbfaed210929371749..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_64.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_65.png b/target/classes/vslam/self_made_dataset/frames/frame_65.png deleted file mode 100644 index 6c0d670df21f73f7948df4e10bc66f33627a8885..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_65.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_66.png b/target/classes/vslam/self_made_dataset/frames/frame_66.png deleted file mode 100644 index 6dbb8287ba8bb7fe98f103acdc2385c9987accc5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_66.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_67.png b/target/classes/vslam/self_made_dataset/frames/frame_67.png deleted file mode 100644 index 5c380dce929c47c1a0c3f68fcc93e63697317310..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_67.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_68.png b/target/classes/vslam/self_made_dataset/frames/frame_68.png deleted file mode 100644 index 32a1ab217e04b5fd06324e6b6d50478a05f604fb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_68.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_69.png b/target/classes/vslam/self_made_dataset/frames/frame_69.png deleted file mode 100644 index 0855c1bea06cdfd0f1b2fc32a6dd14eaafc126fa..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_69.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_7.png b/target/classes/vslam/self_made_dataset/frames/frame_7.png deleted file mode 100644 index b6a78092349db3823b320706428b2b42c008f9a3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_7.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_70.png b/target/classes/vslam/self_made_dataset/frames/frame_70.png deleted file mode 100644 index d325a55398d5bd1675082c00485db45357fc5368..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_70.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_71.png b/target/classes/vslam/self_made_dataset/frames/frame_71.png deleted file mode 100644 index e5e83a0f2fcb4f681a62ca508d592ba34802582f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_71.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_72.png b/target/classes/vslam/self_made_dataset/frames/frame_72.png deleted file mode 100644 index d9787d81bc63a6b01072511a0819d5258f8fda75..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_72.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_73.png b/target/classes/vslam/self_made_dataset/frames/frame_73.png deleted file mode 100644 index b6982b1c12b429e5e25866cae9967eaf6db09805..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_73.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_74.png b/target/classes/vslam/self_made_dataset/frames/frame_74.png deleted file mode 100644 index d16ff49c67b2261bc73565b2f11b8bd728288cf7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_74.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_75.png b/target/classes/vslam/self_made_dataset/frames/frame_75.png deleted file mode 100644 index c9d99bf3e8d5cdc842f15bbe79d32d8d40738d85..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_75.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_76.png b/target/classes/vslam/self_made_dataset/frames/frame_76.png deleted file mode 100644 index 0e90c356f2a69bae60b5ec0c9082458a49f32768..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_76.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_77.png b/target/classes/vslam/self_made_dataset/frames/frame_77.png deleted file mode 100644 index 184df963673c0d59ac1fd6339e8f1225aadcf148..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_77.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_78.png b/target/classes/vslam/self_made_dataset/frames/frame_78.png deleted file mode 100644 index 2e28f7b23e78de80eae2bee3604bba34543db8e8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_78.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_79.png b/target/classes/vslam/self_made_dataset/frames/frame_79.png deleted file mode 100644 index 14c724eb356987f7086aea8cb4601309ac58a119..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_79.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_8.png b/target/classes/vslam/self_made_dataset/frames/frame_8.png deleted file mode 100644 index bf9e136cfa561965c1bd8c43894ccf45e5b1d59d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_8.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_80.png b/target/classes/vslam/self_made_dataset/frames/frame_80.png deleted file mode 100644 index 9da9f9fd26f5e476916051281e1eb369efa6f872..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_80.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_81.png b/target/classes/vslam/self_made_dataset/frames/frame_81.png deleted file mode 100644 index 03dff77e2830d9d87de52d73b7f9150dcd7942d9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_81.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_82.png b/target/classes/vslam/self_made_dataset/frames/frame_82.png deleted file mode 100644 index dcc1ee7f4241e45a7eb66ca93c227d0fcf4b1517..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_82.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_83.png b/target/classes/vslam/self_made_dataset/frames/frame_83.png deleted file mode 100644 index 3fec1c1719e8eea69fee066cdf8c7818c2e25721..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_83.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_84.png b/target/classes/vslam/self_made_dataset/frames/frame_84.png deleted file mode 100644 index 94126854e4b757dba31301a148b559c528227653..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_84.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_85.png b/target/classes/vslam/self_made_dataset/frames/frame_85.png deleted file mode 100644 index 5249aea80aeb186e19fcde2d589b7053a8e00fdb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_85.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_86.png b/target/classes/vslam/self_made_dataset/frames/frame_86.png deleted file mode 100644 index 43601df459f03a6bf698a273e5819ab0f2983ad7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_86.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_87.png b/target/classes/vslam/self_made_dataset/frames/frame_87.png deleted file mode 100644 index 0dee669d33230c52cddfe344eec907143b6d778c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_87.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_88.png b/target/classes/vslam/self_made_dataset/frames/frame_88.png deleted file mode 100644 index b74838f91b0bd30910c44ce5d0b5abac754481d7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_88.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_89.png b/target/classes/vslam/self_made_dataset/frames/frame_89.png deleted file mode 100644 index 7c3f2e23f31a61ae0f176277a02fcd2ff95efc72..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_89.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_9.png b/target/classes/vslam/self_made_dataset/frames/frame_9.png deleted file mode 100644 index c02dd353bf605648abd4e200e55073270e58e0f2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_9.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_90.png b/target/classes/vslam/self_made_dataset/frames/frame_90.png deleted file mode 100644 index 3d3bae42ac8a3b452f00af2cfc3cd089cc8df9d7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_90.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_91.png b/target/classes/vslam/self_made_dataset/frames/frame_91.png deleted file mode 100644 index e6417594bc87c90a3cee62d421827eb5148884ac..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_91.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_92.png b/target/classes/vslam/self_made_dataset/frames/frame_92.png deleted file mode 100644 index 79157f952e4d49c44dfe40774f9b8c9711fa3205..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_92.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_93.png b/target/classes/vslam/self_made_dataset/frames/frame_93.png deleted file mode 100644 index 3055089450605f8ae72b984fadefe853607faafd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_93.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_94.png b/target/classes/vslam/self_made_dataset/frames/frame_94.png deleted file mode 100644 index ecbbf4414ee5d1882c6bb4e4fb45ceabe3c0636d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_94.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_95.png b/target/classes/vslam/self_made_dataset/frames/frame_95.png deleted file mode 100644 index ff8a9f6763b7f9aaf193a13e90b0b0902471a8c0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_95.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_96.png b/target/classes/vslam/self_made_dataset/frames/frame_96.png deleted file mode 100644 index c0aa2c8ad2b7975a504348933655de6843ac4e68..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_96.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_97.png b/target/classes/vslam/self_made_dataset/frames/frame_97.png deleted file mode 100644 index 5ee28ab5773dc8eb27d5a9d57249885679d76950..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_97.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_98.png b/target/classes/vslam/self_made_dataset/frames/frame_98.png deleted file mode 100644 index 00bac6861572a39260e49cabaeca8d43d3aaebd5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_98.png and /dev/null differ diff --git a/target/classes/vslam/self_made_dataset/frames/frame_99.png b/target/classes/vslam/self_made_dataset/frames/frame_99.png deleted file mode 100644 index f20d875c683db98be95d6c9d475a5f9e936cb451..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/self_made_dataset/frames/frame_99.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/.DS_Store b/target/classes/vslam/tum_rgbd/.DS_Store deleted file mode 100644 index eb50baa3790ceac8cd83262e4e5489a4c20e03a1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/.DS_Store and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0002.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0002.csv deleted file mode 100644 index 7149c3ed717a933138c6bde7b9181bcb45d279fa..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0002.csv +++ /dev/null @@ -1,15 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.991214,13,260,230,222 -chair,0.980755,375,234,159,200 -bottle,0.961823,286,28,26,82 -bottle,0.957514,183,36,27,74 -book,0.945173,239,210,71,40 -bottle,0.940999,336,121,19,72 -bottle,0.900926,363,137,19,57 -bottle,0.881014,387,145,15,41 -bottle,0.857820,159,32,26,72 -book,0.798744,182,143,21,74 -book,0.762961,199,144,21,73 -book,0.740952,168,145,20,72 -book,0.674328,214,145,15,71 -cup,0.589066,532,201,21,27 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0003.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0003.csv deleted file mode 100644 index a7adf25445dfbfce760706ddb89172f00747fd74..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0003.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.993628,45,260,217,220 -bottle,0.966564,201,35,26,75 -bottle,0.909630,347,122,20,71 -chair,0.907653,389,225,148,196 -bottle,0.900924,178,30,24,73 -bottle,0.893842,375,138,18,54 -bottle,0.883497,302,28,24,83 -book,0.847446,257,209,68,39 -book,0.688758,186,144,17,70 -bottle,0.668038,397,145,15,40 -book,0.593541,201,142,18,72 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0004.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0004.csv deleted file mode 100644 index 071b5c66d893782e8731c88046cd4bdd242f5397..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0004.csv +++ /dev/null @@ -1,15 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.994488,74,268,212,215 -bottle,0.959047,202,35,27,71 -chair,0.944166,401,220,165,193 -bottle,0.906478,298,29,15,75 -bottle,0.900678,175,30,27,73 -book,0.897603,275,206,61,39 -bottle,0.859623,376,132,21,53 -cup,0.790246,543,190,22,25 -bottle,0.743919,350,121,20,67 -bottle,0.693538,397,139,16,41 -book,0.655426,199,144,24,73 -book,0.609850,208,142,38,74 -bottle,0.529348,308,27,20,76 -book,0.504230,234,142,18,72 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0005.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0005.csv deleted file mode 100644 index 3cae0b69a3cfb7cc39f7ce0cdd6225050efbe842..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0005.csv +++ /dev/null @@ -1,17 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.991244,151,270,183,204 -chair,0.977068,427,218,173,186 -bottle,0.936772,341,34,19,78 -book,0.903235,314,208,54,36 -bottle,0.901248,240,42,24,72 -bottle,0.894778,329,35,15,73 -bottle,0.880812,402,136,18,50 -book,0.807948,249,147,21,71 -bottle,0.806649,421,142,12,38 -bottle,0.784035,374,133,15,57 -bottle,0.747702,215,39,19,70 -book,0.698251,236,146,17,70 -book,0.649110,273,146,15,70 -cup,0.636067,562,189,23,25 -bottle,0.550091,383,121,14,54 -sports ball,0.540607,207,200,46,52 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0006.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0006.csv deleted file mode 100644 index 5472f02470111e4ca5b7f64534e4e37b8bd078e2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0006.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.975160,226,268,176,205 -bottle,0.953051,376,6,20,78 -bottle,0.945507,391,5,23,84 -bottle,0.941225,289,12,26,80 -bottle,0.899972,455,115,18,54 -chair,0.861566,481,200,158,199 -bottle,0.835486,471,124,11,41 -bottle,0.788429,260,8,21,78 -bottle,0.737901,428,101,25,64 -book,0.704844,373,195,54,36 -book,0.678914,294,125,37,80 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0007.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0007.csv deleted file mode 100644 index cba5486bad94b2fe160fddcbbe6f4a3227f41413..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0007.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.979044,378,8,25,96 -bottle,0.967433,267,21,30,94 -bottle,0.964849,359,10,24,91 -chair,0.908203,236,341,182,136 -book,0.863367,369,221,67,42 -bottle,0.850949,233,16,23,88 -chair,0.705046,479,216,162,211 -bottle,0.698702,418,114,21,81 -book,0.612678,280,150,31,87 -book,0.537183,316,149,17,84 -bottle,0.533482,436,133,14,50 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0008.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0008.csv deleted file mode 100644 index ebc46983014ea8d5d4c43ded15f76429c3260445..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0008.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.991148,342,34,27,104 -bottle,0.990311,318,37,27,96 -book,0.934545,349,267,87,52 -bottle,0.920227,222,55,38,105 -bottle,0.790026,412,160,23,64 -bottle,0.775506,176,49,32,97 -book,0.692979,253,199,59,92 -book,0.654873,243,200,34,96 -book,0.514031,229,209,28,93 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0009.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0009.csv deleted file mode 100644 index 48edfd1a8e6d5cdbbd50da3b0b1795aa7a1e4a28..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0009.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.982832,168,36,49,125 -bottle,0.965569,267,21,31,107 -bottle,0.948319,298,16,30,115 -book,0.944805,322,273,110,66 -book,0.819436,222,204,56,126 -bottle,0.732490,368,159,26,64 -chair,0.669043,426,219,203,234 -book,0.638524,190,221,38,120 -book,0.573994,258,200,32,110 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0010.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0010.csv deleted file mode 100644 index d07542a4e20d36d6c25d19914ce5289451bc4ae5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0010.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.991636,306,7,32,120 -bottle,0.991530,341,3,31,126 -bottle,0.982920,217,24,53,136 -book,0.943158,376,273,126,70 -book,0.710189,285,200,58,138 -scissors,0.679922,447,243,25,29 -book,0.628074,254,220,47,127 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0011.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0011.csv deleted file mode 100644 index 74cc45c45ad44dccd301d51f52d2ddcb0906fa21..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0011.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.966262,330,-1,34,113 -bottle,0.965202,266,14,47,135 -book,0.880435,411,252,124,64 -bottle,0.784961,367,0,31,117 -book,0.726390,324,190,62,137 -book,0.585340,304,207,46,120 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0012.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0012.csv deleted file mode 100644 index 9f7642e31c90f2a4d33da90d425e028a3c27bb7d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0012.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.984907,369,25,34,105 -bottle,0.962553,400,25,38,109 -book,0.875409,439,259,105,58 -bottle,0.859166,341,39,32,119 -book,0.807379,376,194,40,128 -book,0.617287,359,211,32,115 -chair,0.506381,425,410,215,69 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0013.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0013.csv deleted file mode 100644 index fb35e5f156b72ba4076740253ac39d0a6a4478c0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0013.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.935593,428,12,34,106 -book,0.856403,413,177,31,113 -bottle,0.832295,408,15,21,93 -book,0.624023,429,171,31,104 -chair,0.533993,482,355,157,124 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0014.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0014.csv deleted file mode 100644 index d0d75f423d1b8fae45a53da560aac94910a24ae8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0014.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -book,0.748623,410,152,41,118 -chair,0.728600,498,319,139,161 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0015.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0015.csv deleted file mode 100644 index 25b75d4065fe78caf8431468ba262161ff743e82..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0015.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.915603,470,260,171,216 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0016.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0016.csv deleted file mode 100644 index 6c9f3ad141fc237f510f84bb02aadcf4a5b7e286..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0016.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.915032,476,245,166,233 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0017.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0017.csv deleted file mode 100644 index 0d3251f8d4f84f801fc447d2b0fc294a0b630173..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0017.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.867054,479,241,164,234 -teddy bear,0.759920,114,85,76,99 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0018.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0018.csv deleted file mode 100644 index 7fd311c7f7d7ae5cf19bf9213f09f74e9e285064..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0018.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.921366,70,83,77,108 -chair,0.870267,464,165,176,249 -book,0.618901,129,166,62,26 -tvmonitor,0.506349,185,79,55,121 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0019.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0019.csv deleted file mode 100644 index a95976954f01e2f4dd1f38b60cecd4278455a534..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0019.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.918642,42,78,85,124 -chair,0.908298,469,139,171,240 -tvmonitor,0.861915,193,69,46,117 -mouse,0.610153,102,253,34,20 -book,0.517391,122,164,69,29 -book,0.507250,153,195,102,41 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0020.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0020.csv deleted file mode 100644 index 7a35bd4f52ff4ba64c712072154ceccf0380559f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0020.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.928609,-1,92,77,115 -chair,0.893634,431,138,185,223 -mouse,0.684753,69,265,40,22 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0021.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0021.csv deleted file mode 100644 index c3fd4dc128c6377be157d7421548f16c7a416c26..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0021.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.988700,95,271,36,20 -chair,0.700106,431,144,157,212 -teddy bear,0.587217,-1,100,61,117 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0022.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0022.csv deleted file mode 100644 index 89b7782fe8cd05ef6121dd881f5d9a621eb39dd7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0022.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.992161,190,274,36,21 -teddy bear,0.940446,14,101,99,119 -chair,0.867481,-1,283,167,197 -keyboard,0.862832,174,215,73,55 -book,0.592142,213,182,53,25 -chair,0.523947,499,153,136,208 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0023.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0023.csv deleted file mode 100644 index 5f82a6f3e9530523e5fd5d6c60b781acd49ba6d1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0023.csv +++ /dev/null @@ -1,12 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.977467,238,251,36,20 -keyboard,0.950393,201,195,84,53 -keyboard,0.938995,178,131,40,30 -chair,0.930092,4,258,210,221 -tvmonitor,0.753839,274,66,70,115 -teddy bear,0.742930,15,84,111,123 -chair,0.659686,534,117,105,209 -book,0.646415,231,159,60,30 -book,0.579811,175,163,60,37 -cup,0.576244,370,165,32,20 -tvmonitor,0.566574,203,61,38,74 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0024.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0024.csv deleted file mode 100644 index ffbec9a190c372bc19567facf42a74d118109f59..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0024.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.992864,188,272,39,23 -tvmonitor,0.914497,89,69,56,91 -keyboard,0.829594,127,218,101,51 -tvmonitor,0.764003,179,73,105,124 -chair,0.738410,473,85,85,202 -keyboard,0.636108,74,156,52,30 -mouse,0.611088,216,202,29,31 -chair,0.546050,1,307,167,172 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0025.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0025.csv deleted file mode 100644 index eccbd69d54cc1a16e29a2b8d208e4771e0e0668c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0025.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.986098,150,298,39,29 -keyboard,0.975784,59,237,126,59 -book,0.919274,1,211,91,51 -tvmonitor,0.821281,104,75,136,164 -bottle,0.787676,201,205,29,65 -chair,0.785182,426,73,68,198 -tvmonitor,0.766901,-1,79,58,91 -book,0.536501,74,184,79,42 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0026.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0026.csv deleted file mode 100644 index 3dabc0044f38fb70f8c36d2c15b89a824cab6aa0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0026.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.973950,52,373,52,42 -bottle,0.883179,108,254,36,81 -chair,0.663597,362,99,23,76 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0027.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0027.csv deleted file mode 100644 index 2c8d94d4b2d778dce155bd02fda2c30295a3aa8a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0027.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.967445,60,262,47,94 -mouse,0.948472,5,404,64,63 -refrigerator,0.662003,328,-1,90,87 -book,0.646098,193,186,112,67 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0028.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0028.csv deleted file mode 100644 index b76d943d61f5637e485e9f85fc60ffb826af02a4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0028.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.969635,157,257,48,112 -mouse,0.734208,110,415,57,63 -keyboard,0.631240,0,323,130,98 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0029.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0029.csv deleted file mode 100644 index 0bcb922238dae5fd7445d5e3e041d2ba405490be..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0029.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.987263,285,281,42,115 -keyboard,0.975372,1,302,242,148 -tvmonitor,0.967129,64,29,282,304 -book,0.866326,0,211,117,73 -book,0.578921,463,226,177,86 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0030.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0030.csv deleted file mode 100644 index 154b5788d0e8b8c4e83b92870d6dff3b9d61a0e6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0030.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.995250,426,273,63,135 -keyboard,0.977495,97,251,280,198 -mouse,0.968501,26,168,67,26 -book,0.934197,113,150,130,73 -book,0.922402,-3,175,156,119 -tvmonitor,0.886913,219,-4,359,320 -tvmonitor,0.862711,0,-1,88,110 -keyboard,0.679393,0,84,61,77 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0031.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0031.csv deleted file mode 100644 index 1acba5f731d2766511c52b18de3a078d52652946..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0031.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.995033,74,149,51,23 -keyboard,0.940059,209,245,287,210 -book,0.929667,104,161,161,102 -keyboard,0.901127,67,67,113,72 -tvmonitor,0.890707,331,-8,306,348 -book,0.846032,225,138,128,74 -tvmonitor,0.782391,119,-2,88,90 -bottle,0.761804,553,299,86,145 -mouse,0.711269,152,312,47,50 -mouse,0.593742,145,147,59,24 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0032.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0032.csv deleted file mode 100644 index 500a5370b6764fb938a17ec03579b9a1d65e0f9d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0032.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.983317,193,114,100,68 -mouse,0.981905,200,192,47,23 -keyboard,0.978130,327,302,311,177 -book,0.938540,231,209,157,100 -book,0.914894,346,192,130,75 -tvmonitor,0.738426,458,4,182,363 -tvmonitor,0.712951,239,1,108,133 -chair,0.588148,-1,86,171,359 -mouse,0.509890,266,194,57,24 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0033.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0033.csv deleted file mode 100644 index e88374395b272386a91024e9ac66016589243fa4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0033.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997562,212,137,111,68 -keyboard,0.996383,410,308,229,170 -mouse,0.992464,241,218,47,22 -book,0.947921,286,227,160,99 -tvmonitor,0.859953,503,3,136,323 -book,0.806508,361,170,110,49 -book,0.805319,395,199,123,76 -tvmonitor,0.666292,258,8,103,147 -book,0.539590,314,291,135,49 -mouse,0.505975,312,213,51,27 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0034.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0034.csv deleted file mode 100644 index 377754835c367b11e6da34ed0e5a91385957ce07..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0034.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996964,188,154,123,63 -mouse,0.992975,244,231,44,24 -keyboard,0.987773,440,296,200,131 -book,0.963011,307,225,153,114 -tvmonitor,0.926246,496,6,143,311 -book,0.790831,399,194,105,73 -tvmonitor,0.775170,225,26,112,130 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0035.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0035.csv deleted file mode 100644 index 8cdd79148d894016875b1b5a217bd1d22995fe22..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0035.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997949,147,156,136,59 -mouse,0.996970,236,228,42,28 -keyboard,0.990181,462,264,176,96 -book,0.965534,313,205,149,111 -tvmonitor,0.956561,166,19,126,137 -tvmonitor,0.930411,469,-3,171,276 -mouse,0.815282,307,208,38,27 -book,0.785083,383,169,96,63 -chair,0.520709,0,211,208,258 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0036.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0036.csv deleted file mode 100644 index 4b70357de2f272797735dccfb5be7b24e0b29dcd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0036.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.997674,204,214,41,29 -keyboard,0.996554,80,146,156,55 -keyboard,0.987407,451,230,189,80 -tvmonitor,0.934023,431,-1,209,219 -book,0.928793,295,182,142,106 -tvmonitor,0.851107,80,3,160,129 -cell phone,0.581624,278,188,33,38 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0037.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0037.csv deleted file mode 100644 index 744ad122c3b5f1843c7fc8a6b62b7aef39dc092c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0037.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.998367,207,246,47,40 -keyboard,0.991541,48,166,186,64 -keyboard,0.984209,500,255,141,81 -book,0.869997,324,210,154,120 -tvmonitor,0.668058,457,-1,185,223 -tvmonitor,0.656260,14,0,223,173 -cell phone,0.645459,293,211,31,42 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0038.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0038.csv deleted file mode 100644 index 367ffe7acf81c1ac590c72fe3b0f01269cc58fe7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0038.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.998042,132,306,53,52 -keyboard,0.992938,448,276,190,88 -keyboard,0.990395,1,225,151,64 -tvmonitor,0.954444,390,1,250,213 -tvmonitor,0.867936,-1,15,149,191 -book,0.712787,266,247,160,139 -cell phone,0.527076,226,254,29,65 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0039.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0039.csv deleted file mode 100644 index 9fbb6f7383bf4fa1fe16433504d41cbb8bcdfaf1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0039.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.993252,32,330,72,70 -keyboard,0.983607,423,295,217,113 -keyboard,0.958430,0,227,68,78 -tvmonitor,0.934154,350,1,288,219 -tvmonitor,0.864281,0,2,59,221 -book,0.538316,265,265,130,160 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0040.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0040.csv deleted file mode 100644 index b08f031a5f7483fb4e781508a345add6a3282a34..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0040.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.996772,93,321,77,72 -keyboard,0.988262,-1,155,164,129 -tvmonitor,0.902315,-2,-1,170,171 -book,0.683100,343,310,166,168 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0041.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0041.csv deleted file mode 100644 index 9370653d4ab8be62e8bf3d1ea2d0f25f314ac51e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0041.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997031,114,116,230,149 -mouse,0.995179,259,309,75,60 -tvmonitor,0.868870,171,-1,232,158 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0042.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0042.csv deleted file mode 100644 index 6bd0f82e111476005f4a18637a786ff57a7ebed1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0042.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.841598,496,423,98,57 -tvmonitor,0.770743,433,-2,207,291 -teddy bear,0.646202,0,-6,251,493 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0043.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0043.csv deleted file mode 100644 index 87ebd380ee3419d689979a9b24ea337240e704c1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0043.csv +++ /dev/null @@ -1,3 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.953503,13,-7,396,484 -keyboard,0.577163,557,170,83,148 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0044.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0044.csv deleted file mode 100644 index 16d190c72012e6e429bbf6f5d9cc2bce3d7a5020..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0044.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.921151,151,-5,349,483 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0045.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0045.csv deleted file mode 100644 index d158871dcc810dbb794bbdb604877cb57c73ddb7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0045.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.970806,231,11,379,464 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0046.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0046.csv deleted file mode 100644 index 2b85834a9a5c0a87f1b8f9098695ccc103fb91ba..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0046.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.943422,220,102,340,370 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0047.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0047.csv deleted file mode 100644 index 32b12b6f397f167585738324112d521eb8ebb697..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0047.csv +++ /dev/null @@ -1,2 +0,0 @@ -Class,Confidence,X,Y,Width,Height -teddy bear,0.950549,214,99,337,374 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0048.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0048.csv deleted file mode 100644 index 3a8c5723e4e33bdb1d9de6e77124a7e7a7c95190..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0048.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.959411,546,182,94,75 -teddy bear,0.912603,253,91,283,355 -tvmonitor,0.677425,586,6,54,204 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0049.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0049.csv deleted file mode 100644 index 6e79d6ed3e0482553896f74841b30242f8c66dd7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0049.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997796,471,154,166,70 -teddy bear,0.954548,238,101,256,270 -tvmonitor,0.919535,493,11,147,160 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0050.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0050.csv deleted file mode 100644 index 6b186eac2d83d9e5e11a8f8b5edebc70d236ce54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0050.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.995139,425,147,156,49 -mouse,0.988544,587,204,30,23 -tvmonitor,0.952972,434,13,168,137 -teddy bear,0.938436,225,109,259,253 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0051.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0051.csv deleted file mode 100644 index ef545f8fa13754a0fbd34626b86955f57156f1ba..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0051.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997336,347,195,140,31 -mouse,0.975241,508,229,22,20 -tvmonitor,0.956177,344,70,133,120 -chair,0.907744,207,262,246,216 -book,0.609980,595,202,44,45 -teddy bear,0.578413,205,163,246,218 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0052.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0052.csv deleted file mode 100644 index 32e460a81bc197f0f623f1bedd3abf8f743b7cce..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0052.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.988408,291,198,129,39 -chair,0.955053,166,302,250,173 -tvmonitor,0.827685,267,77,148,118 -book,0.571689,486,181,141,64 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0053.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0053.csv deleted file mode 100644 index 1abb3e8d203d5210de225a90a6b6fd01b861dee5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0053.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.986321,505,143,119,38 -keyboard,0.970156,192,162,147,40 -tvmonitor,0.938241,156,31,152,126 -mouse,0.914936,364,187,25,23 -book,0.887403,427,147,91,43 -tvmonitor,0.867441,436,-1,180,137 -teddy bear,0.727997,77,185,290,265 -bottle,0.645256,594,84,30,60 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0054.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0054.csv deleted file mode 100644 index 1cf1b46f4ab07ecb8d3fb7cab01f5be8bc0c56f6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0054.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.998075,106,174,170,70 -mouse,0.992344,306,194,32,23 -keyboard,0.980599,439,120,103,45 -tvmonitor,0.967005,356,0,152,123 -book,0.957511,359,136,96,49 -bottle,0.904279,505,56,22,60 -tvmonitor,0.855593,29,28,203,173 -book,0.629848,305,122,86,41 -mouse,0.588135,545,120,33,15 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0055.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0055.csv deleted file mode 100644 index 560cc0a34a3b068cdf0043e1f95eadf4c62393a3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0055.csv +++ /dev/null @@ -1,13 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996552,101,154,171,91 -mouse,0.982217,304,168,33,22 -chair,0.951795,485,57,157,316 -book,0.925306,341,103,98,50 -tvmonitor,0.920464,321,0,133,93 -tvmonitor,0.877540,0,7,215,195 -bottle,0.840664,458,22,20,64 -teddy bear,0.821970,113,200,278,226 -book,0.746269,279,95,88,43 -book,0.743132,341,132,98,31 -mouse,0.740291,501,79,31,15 -keyboard,0.583483,416,80,82,49 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0056.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0056.csv deleted file mode 100644 index 4f476a15da8fa49d8be237cf62e1d526c9220e75..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0056.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996385,95,146,170,99 -mouse,0.973729,297,156,37,21 -chair,0.953819,462,42,177,295 -tvmonitor,0.928498,295,-2,124,84 -bottle,0.863727,426,2,19,64 -book,0.849478,327,88,95,48 -tvmonitor,0.772511,-4,0,203,211 -teddy bear,0.713502,173,187,280,217 -keyboard,0.621182,390,63,81,44 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0057.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0057.csv deleted file mode 100644 index c9f70368941b853900d85de90dcf597e6afb8a96..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0057.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.996073,123,133,154,103 -mouse,0.992576,312,137,38,21 -chair,0.962427,476,8,164,294 -tvmonitor,0.900902,286,-1,114,70 -tvmonitor,0.815468,-1,1,211,189 -book,0.811682,328,65,97,49 -teddy bear,0.711216,278,162,271,207 -keyboard,0.629492,385,40,69,42 -book,0.610875,329,93,95,33 -bottle,0.515433,408,0,18,37 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0058.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0058.csv deleted file mode 100644 index ebdb6b64bc899216c154e95c259c6845fd76e65c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0058.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.997266,241,139,121,85 -mouse,0.991515,394,140,35,18 -mouse,0.948363,496,53,27,15 -tvmonitor,0.926669,355,-2,88,88 -bottle,0.900493,454,7,17,48 -tvmonitor,0.582670,141,2,155,186 -book,0.570701,407,108,76,25 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0059.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0059.csv deleted file mode 100644 index 3d44de72b124befa950e45d14242968d710a4529..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0059.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.995426,373,155,106,88 -mouse,0.984117,508,156,39,18 -mouse,0.929485,578,67,29,15 -tvmonitor,0.859698,296,18,114,185 -tvmonitor,0.708192,451,1,73,91 -bottle,0.694783,533,22,18,50 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0060.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0060.csv deleted file mode 100644 index 12fbae70e91a6a6ab159aa0451543c57d7143e4e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0060.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.992563,410,139,87,84 -mouse,0.960352,521,138,37,19 -tvmonitor,0.889681,346,4,78,182 -tvmonitor,0.822492,450,0,61,85 -mouse,0.748765,560,56,27,15 -bottle,0.587968,520,13,17,46 -bottle,0.537090,118,107,26,80 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0061.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0061.csv deleted file mode 100644 index c23855ca17680460ebfa7983c25c0a325164df4d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0061.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.980371,472,97,35,16 -keyboard,0.953998,390,100,61,76 -bowl,0.702804,250,378,129,99 -tvmonitor,0.700526,320,1,67,142 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0062.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0062.csv deleted file mode 100644 index 567ef985c30da1fb764734c431121df44dd9b38f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0062.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.975339,60,16,96,109 -bowl,0.897614,327,372,117,105 -mouse,0.691093,464,86,33,14 -bottle,0.664471,185,171,48,81 -chair,0.662926,29,0,68,39 -tvmonitor,0.606069,333,3,56,148 -bowl,0.536005,30,212,50,35 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0063.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0063.csv deleted file mode 100644 index fc8cbf12b9d0b770fad855d7f0ea828ceb77e69c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0063.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -keyboard,0.939368,367,109,51,51 -bowl,0.907529,321,356,109,111 -chair,0.872639,2,36,93,110 -mouse,0.816080,412,95,29,14 -tvmonitor,0.746171,302,0,52,161 -bottle,0.718847,181,167,47,86 -chair,0.589135,453,5,76,119 -teddy bear,0.542085,520,38,120,194 -bottle,0.520179,347,7,16,46 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0064.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0064.csv deleted file mode 100644 index 660ab86cbd3fff875c765ddf268886f89aa5d46b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0064.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.940358,11,58,103,114 -bowl,0.920934,358,351,104,118 -keyboard,0.793169,387,121,49,46 -bottle,0.778224,230,129,42,122 -mouse,0.759731,422,108,27,14 -chair,0.653612,447,22,74,113 -chair,0.601762,-1,136,38,101 -bottle,0.597234,206,43,15,25 -tvmonitor,0.590153,323,12,58,146 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0065.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0065.csv deleted file mode 100644 index 49530d69733f99f8609d5f8924bddc12c0d88dc9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0065.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.919779,239,113,54,137 -bowl,0.904013,379,341,101,97 -chair,0.794649,0,72,89,98 -chair,0.684401,411,19,77,92 -laptop,0.671250,314,19,127,144 -keyboard,0.530139,375,113,56,46 -teddy bear,0.529551,509,30,133,156 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0066.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0066.csv deleted file mode 100644 index 53f722a62abcfac969ec2909b73b14254961ec3b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0066.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -laptop,0.936216,271,42,106,125 -bottle,0.822224,129,72,30,88 -mouse,0.726340,340,109,24,13 -cup,0.675442,39,224,37,41 -bottle,0.606103,218,119,50,125 -teddy bear,0.576097,442,28,134,135 -bowl,0.562613,358,323,86,82 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0067.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0067.csv deleted file mode 100644 index 87b7747ee0f4eed4090b71b79b5f7199adf8681e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0067.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.909545,117,69,42,92 -bottle,0.691796,153,95,22,53 -teddy bear,0.592047,441,-1,113,118 -cup,0.507913,69,223,39,40 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0068.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0068.csv deleted file mode 100644 index 39910412682128a932b89c922da5624cadc6bf24..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0068.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.868912,281,113,46,115 -bottle,0.732050,89,0,43,60 -teddy bear,0.723237,439,12,82,111 -bottle,0.683770,59,-1,51,69 -bottle,0.634657,30,-1,50,73 -bottle,0.617646,150,114,25,55 -bottle,0.537103,110,90,36,83 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0069.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0069.csv deleted file mode 100644 index fda90b8754f069a328135c0df1f42e634679d985..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0069.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -cup,0.969409,174,267,31,40 -bottle,0.928067,149,34,33,70 -bottle,0.775592,176,154,29,56 -bottle,0.754805,203,156,22,51 -bottle,0.725004,352,154,40,109 -teddy bear,0.695578,472,76,85,97 -bowl,0.676720,212,292,42,33 -bottle,0.602451,123,34,39,74 -chair,0.552979,-3,261,151,147 -bottle,0.543496,226,160,21,52 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0070.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0070.csv deleted file mode 100644 index 370c485e51d1245b3b39fdba5997762b1a994f02..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0070.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.941032,86,2,47,82 -knife,0.914250,110,263,60,32 -bottle,0.876633,112,4,37,77 -cup,0.849544,184,245,33,42 -bottle,0.805667,180,133,26,53 -bottle,0.757878,361,124,36,109 -bottle,0.730657,150,128,31,63 -chair,0.678632,2,265,226,213 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0071.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0071.csv deleted file mode 100644 index 14521e0b6ba47e56ad6d7fe9eb1d98b495a9b75f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0071.csv +++ /dev/null @@ -1,13 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.912676,89,2,48,81 -knife,0.823033,140,245,52,33 -bottle,0.800369,177,117,28,59 -bottle,0.781677,372,102,33,107 -bottle,0.771924,199,121,15,48 -book,0.761658,21,118,38,71 -cup,0.663716,212,223,32,41 -bottle,0.658701,211,133,19,48 -bottle,0.642427,157,126,30,56 -bottle,0.635608,44,14,35,62 -bowl,0.632454,262,242,41,29 -bottle,0.616369,139,108,30,77 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0072.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0072.csv deleted file mode 100644 index 51731bef0f9a85facfbd1913369db9d276b431a7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0072.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -chair,0.932518,3,229,249,244 -bottle,0.911102,375,78,31,107 -bottle,0.900526,200,116,21,51 -cup,0.858831,225,204,32,40 -book,0.809790,0,106,21,73 -bottle,0.798626,183,106,18,49 -bottle,0.719835,142,105,31,63 -bottle,0.695042,162,105,28,57 -bowl,0.634067,279,220,41,28 -bottle,0.538070,132,101,23,68 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0073.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0073.csv deleted file mode 100644 index 7fb41fd532bc6995de9f889e400a87535cb846b7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0073.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -cup,0.959012,172,211,34,42 -bottle,0.931839,299,72,35,101 -person,0.599536,515,0,55,43 -cup,0.592651,139,206,35,31 -bottle,0.572120,102,130,29,52 -spoon,0.511327,95,247,42,42 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0074.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0074.csv deleted file mode 100644 index c6204501e428cbcee8c9e3febd9b646bf5f140d0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0074.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.983779,281,70,41,103 -bottle,0.836020,58,153,34,51 -cup,0.832425,175,224,35,47 -cup,0.791209,125,222,35,32 -spoon,0.767191,97,272,33,48 -person,0.719033,423,0,49,36 -cup,0.648319,152,158,35,34 -bottle,0.603458,12,147,22,39 -bottle,0.576179,28,137,27,39 -bottle,0.510712,113,140,36,55 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0075.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0075.csv deleted file mode 100644 index e907f5cb89368d7b2c543c92166a58cf21d81f48..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0075.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.993498,217,49,43,115 -cup,0.989619,133,224,41,47 -cup,0.974215,70,230,39,35 -bottle,0.889706,28,137,48,69 -knife,0.826264,62,286,21,57 -cup,0.655175,80,159,39,39 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0076.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0076.csv deleted file mode 100644 index 88779b9fc8c845f7cd9a35607e0abd852ade7e64..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0076.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.986627,223,49,49,115 -cup,0.939366,167,234,45,55 -cup,0.892030,88,246,45,40 -bottle,0.843273,22,150,53,73 -knife,0.721257,102,310,11,65 -person,0.609807,259,0,42,20 -cup,0.555802,78,168,43,44 -chair,0.538598,0,385,163,94 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0077.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0077.csv deleted file mode 100644 index d4782f1194bf0857334cc0e15a7a80a2b7666167..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0077.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -cup,0.978837,182,257,49,61 -bottle,0.970952,190,51,59,122 -knife,0.686071,118,357,30,74 -cup,0.611543,85,287,50,41 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0078.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0078.csv deleted file mode 100644 index ba56329f4a7ee2955224170fe087e6efca73711b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0078.csv +++ /dev/null @@ -1,8 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.975020,56,156,70,98 -knife,0.974880,234,360,58,92 -cup,0.958840,192,275,81,47 -cup,0.943338,311,246,54,69 -bottle,0.869546,301,8,50,147 -cup,0.581817,131,175,49,53 -spoon,0.574316,380,233,74,16 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0079.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0079.csv deleted file mode 100644 index fff98cb86b050814af49cd25928446e7890f0851..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0079.csv +++ /dev/null @@ -1,13 +0,0 @@ -Class,Confidence,X,Y,Width,Height -knife,0.979353,386,305,72,98 -cup,0.962333,275,126,43,55 -cup,0.956638,473,208,61,70 -cup,0.949319,345,227,79,42 -bottle,0.905583,115,130,52,97 -scissors,0.797074,0,339,54,141 -scissors,0.766448,21,269,209,209 -bottle,0.701709,-1,138,46,164 -spoon,0.691452,535,208,89,18 -bottle,0.640640,43,123,67,90 -bottle,0.508092,213,99,49,97 -bottle,0.503067,19,151,87,116 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0080.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0080.csv deleted file mode 100644 index 45020c4431a14e9a3e4eb89ab9387dd3afb369a1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0080.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.995203,173,259,87,75 -cup,0.976171,514,181,61,39 -cup,0.962889,429,98,37,49 -bottle,0.950547,239,81,47,127 -bottle,0.947335,162,64,71,160 -book,0.897206,-1,318,132,155 -bottle,0.860015,299,92,31,85 -scissors,0.822301,280,211,156,102 -bottle,0.681953,-1,0,66,57 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0081.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0081.csv deleted file mode 100644 index 6a91dbd0d4b4556ced971cc5dd024d3e6ae77f65..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0081.csv +++ /dev/null @@ -1,9 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.985833,238,121,53,153 -bottle,0.947099,299,143,44,111 -cup,0.935909,558,227,51,39 -scissors,0.911014,255,304,72,70 -book,0.639325,33,362,184,118 -bottle,0.589223,68,0,93,115 -bottle,0.575294,347,145,29,80 -cell phone,0.516686,322,250,50,40 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0082.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0082.csv deleted file mode 100644 index e38c4b4fc822f3373f20ffb81dfdd56ed13f9573..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0082.csv +++ /dev/null @@ -1,10 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.986961,341,317,57,61 -bottle,0.874087,179,0,77,142 -bottle,0.841351,405,173,26,76 -book,0.829093,156,365,148,114 -bottle,0.753484,374,173,32,97 -bottle,0.738448,318,156,41,128 -cup,0.713853,512,181,30,40 -book,0.575512,44,252,77,161 -bottle,0.512976,357,169,23,83 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0083.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0083.csv deleted file mode 100644 index 0a5f5db52321335cf00d7b156e1c7569bda213d2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0083.csv +++ /dev/null @@ -1,11 +0,0 @@ -Class,Confidence,X,Y,Width,Height -scissors,0.955194,492,289,54,48 -book,0.891456,335,313,122,115 -bottle,0.829451,377,2,49,103 -bottle,0.678437,502,153,24,77 -bottle,0.661043,357,0,32,103 -chair,0.654496,154,191,137,158 -bottle,0.639039,141,0,88,132 -bottle,0.568850,453,142,26,92 -clock,0.568327,0,0,122,135 -bottle,0.565356,553,158,21,71 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0084.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0084.csv deleted file mode 100644 index b24446eff69a4f4af60affcc10b829a61b6613bc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0084.csv +++ /dev/null @@ -1,6 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.988348,344,-1,49,146 -bottle,0.960537,293,-2,46,132 -bottle,0.954284,523,0,43,125 -chair,0.947201,318,213,122,143 -bottle,0.870651,552,0,55,137 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0085.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0085.csv deleted file mode 100644 index 3359dcbb15ee0377355e8d0afa8c829cd1b538b8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0085.csv +++ /dev/null @@ -1,5 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.951186,465,43,67,140 -bottle,0.847318,422,37,51,122 -book,0.632008,563,410,77,71 -book,0.552315,405,241,124,165 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0086.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0086.csv deleted file mode 100644 index bac84178d14db33874e80cffd9dfc5b581a681d1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0086.csv +++ /dev/null @@ -1,7 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.899552,276,12,46,100 -bottle,0.808870,300,21,54,123 -bottle,0.708675,534,254,55,81 -bottle,0.667095,454,49,57,119 -bottle,0.630533,491,215,66,108 -book,0.558406,328,328,126,102 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0087.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0087.csv deleted file mode 100644 index 44f1b2511844a16a0a8f185381822e8b58e2fba4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0087.csv +++ /dev/null @@ -1,13 +0,0 @@ -Class,Confidence,X,Y,Width,Height -bottle,0.970868,272,2,33,128 -bottle,0.964375,97,5,45,122 -bottle,0.930590,59,1,43,115 -bottle,0.876013,258,8,21,117 -book,0.830113,194,283,113,73 -bottle,0.810374,367,173,33,73 -bottle,0.640560,331,148,32,101 -bottle,0.627324,398,182,23,56 -scissors,0.600947,335,275,45,29 -book,0.599429,82,180,80,116 -book,0.551116,146,179,28,116 -bottle,0.524740,386,169,15,49 diff --git a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0088.csv b/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0088.csv deleted file mode 100644 index fe240d39175b94eea0ed63d068a1c4d0bcee1d33..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/BoundedInfo/KeyFrame_0088.csv +++ /dev/null @@ -1,17 +0,0 @@ -Class,Confidence,X,Y,Width,Height -book,0.962877,184,295,87,56 -chair,0.940300,384,273,219,206 -bottle,0.937822,50,60,51,111 -bottle,0.937150,14,58,47,110 -bottle,0.899431,212,41,33,111 -cup,0.887063,532,228,30,34 -bottle,0.879451,196,44,21,106 -bottle,0.861647,322,178,21,67 -bottle,0.838200,342,182,18,54 -bottle,0.801270,286,161,23,93 -book,0.782889,59,217,55,108 -book,0.755576,91,212,56,107 -cup,0.671659,470,235,26,21 -scissors,0.554068,293,271,40,29 -bowl,0.526537,561,237,31,17 -bottle,0.512134,276,177,12,64 diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0002.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0002.png deleted file mode 100644 index 105f1b9ad0104cc141eaf8d613da51a06b73f700..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0002.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0003.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0003.png deleted file mode 100644 index 64075873ce04603e49016db44d6a2fe17dcb80db..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0003.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0004.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0004.png deleted file mode 100644 index 0c8fbf980d0d50d9492c6ac0c92563d263cb09dc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0004.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0005.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0005.png deleted file mode 100644 index 847cd3796cd06943b4f40e40e69a5b96da55607e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0005.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0006.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0006.png deleted file mode 100644 index 6d59c5705d410f59272f4a68a4aa43becf483e1c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0006.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0007.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0007.png deleted file mode 100644 index 39d3f8a2c9d7e8d0e993236fffa8b37c0171d140..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0007.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0008.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0008.png deleted file mode 100644 index fae8d46869e516d02991105f0f56e6f803da7534..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0008.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0009.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0009.png deleted file mode 100644 index e6c896dc4c419a8724b25743fe3a66afcac3f63b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0009.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0010.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0010.png deleted file mode 100644 index 316b37dff47e192c4cbcde8e5408a20e78691b80..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0010.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0011.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0011.png deleted file mode 100644 index e4442b9dde6e6094e21e6b3273e5bbc2899e1355..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0011.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0012.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0012.png deleted file mode 100644 index 8e769c66c6f47aaa9803a7f5d39e06990c423fdd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0012.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0013.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0013.png deleted file mode 100644 index 21e60842d274560e1337cc29008363238b682aff..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0013.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0014.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0014.png deleted file mode 100644 index 4fc72dd1a2e83b8043e29743c56d8f5cef019126..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0014.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0015.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0015.png deleted file mode 100644 index da65b0d9055e1bf88d6bf940836aa9fee2938d40..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0015.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0016.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0016.png deleted file mode 100644 index 126577ac8d24dd67f32c291e43dd2f395d85dc26..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0016.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0017.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0017.png deleted file mode 100644 index 4dd0dd417be0aacfb495b5a5ade7882eb100e950..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0017.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0018.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0018.png deleted file mode 100644 index 9a9a89927126198e4e9f0be0fc4c0dd4c49a82c3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0018.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0019.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0019.png deleted file mode 100644 index 2d0d60e7efa91fe0094dd00bd9ba46617e99e1fa..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0019.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0020.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0020.png deleted file mode 100644 index 4d50223b004f4278455feeb135fdf797f86445f0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0020.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0021.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0021.png deleted file mode 100644 index aa9bd5bd6daf31ae6af2f101102807957c40b7be..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0021.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0022.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0022.png deleted file mode 100644 index 186c97ce3960bc55e3d278f141b25f217d579d79..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0022.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0023.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0023.png deleted file mode 100644 index 38560249fe349ccc1a3f88f9b6b6cb37b1d72b9f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0023.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0024.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0024.png deleted file mode 100644 index e0c49722656c39bb56fd900c8c64faa6df71c60c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0024.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0025.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0025.png deleted file mode 100644 index 952407e4049f5bdcf76f993615112e2b9db07be8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0025.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0026.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0026.png deleted file mode 100644 index c199a2f8295458d7b6a79f1192816a7a2dd3eef5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0026.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0027.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0027.png deleted file mode 100644 index 287b606ae458d3bb0bb9ab9be9161f6bea5d009c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0027.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0028.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0028.png deleted file mode 100644 index 1d7ad9bd4aadc8cd5de23318a32ad5bd5022fe33..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0028.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0029.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0029.png deleted file mode 100644 index 5d2504864168ae3b01c6e9c24abc791011f21702..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0029.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0030.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0030.png deleted file mode 100644 index 8dd12864a8e11263a8424458be8df0b2a6c667b7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0030.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0031.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0031.png deleted file mode 100644 index 4860d93855880a53c4e7598e13192d8b375d8e76..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0031.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0032.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0032.png deleted file mode 100644 index 3191b5eebc516b02a266d7f15336925ebf34371e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0032.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0033.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0033.png deleted file mode 100644 index 9be49c308d7630c6a84d004110625770dd738927..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0033.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0034.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0034.png deleted file mode 100644 index 5bcecb0cd2c24ff829ced2ca554a19136a7e2e69..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0034.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0035.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0035.png deleted file mode 100644 index 18afd2ddd889a5d74b7c982eb72bacce21bb926f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0035.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0036.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0036.png deleted file mode 100644 index 9bedd60be8ec0394f5dccfb0cb5fa4a38ae7fac8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0036.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0037.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0037.png deleted file mode 100644 index 3e8856f3f9e95ffb9006e578ea398d1359cbae38..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0037.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0038.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0038.png deleted file mode 100644 index b4c158f9e236da73e1782889d1597f3f09c58c34..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0038.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0039.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0039.png deleted file mode 100644 index 7de2a31047bfaaf23d5c8b36e77828912c654457..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0039.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0040.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0040.png deleted file mode 100644 index b659d910269040c751838b4a7d0a46ce2dfd47de..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0040.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0041.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0041.png deleted file mode 100644 index fb92bf16abff62982bc0a96d72358bc9736c25fa..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0041.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0042.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0042.png deleted file mode 100644 index 5f1414441cc2b1d62a468c50509715adaf7bd5c4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0042.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0043.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0043.png deleted file mode 100644 index 871ab16a80a211177349220367eec1eb9db1f5fd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0043.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0044.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0044.png deleted file mode 100644 index a261a68becd40ac593c10200587e70727e62877f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0044.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0045.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0045.png deleted file mode 100644 index b94c5894f4cfa255009c8b8f7861ffa68ae214e1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0045.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0046.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0046.png deleted file mode 100644 index 836c9588a97b35b62ca64d96939a5c9ae72c72ef..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0046.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0047.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0047.png deleted file mode 100644 index b9c84dec1b853a590110acdfb676aad89b4b86f5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0047.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0048.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0048.png deleted file mode 100644 index e561c1b93c3e19c77755031791208890ae888df0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0048.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0049.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0049.png deleted file mode 100644 index f95b0cd215abb3c242fab96585f070c303f62a51..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0049.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0050.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0050.png deleted file mode 100644 index 6ebcb11ff0573fe7cce7c64922996d91b7c8dc7a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0050.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0051.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0051.png deleted file mode 100644 index cdf0eedd8f5fc936010447cb76b8dcb192d73d5c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0051.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0052.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0052.png deleted file mode 100644 index 3b4d15386153b579adb02263b03e5ce30bbff693..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0052.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0053.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0053.png deleted file mode 100644 index 3a5b0186a2fd8e910ccf0c4d497285f5ef11a22b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0053.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0054.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0054.png deleted file mode 100644 index f73404daf880503d7c0116d43f9e70b0ee261089..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0054.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0055.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0055.png deleted file mode 100644 index e3b0a024c69253fd37ed1a4e564d8932e9d1c6f3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0055.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0056.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0056.png deleted file mode 100644 index bdfeff1686f51d7dc223316c1564ca26e11cd189..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0056.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0057.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0057.png deleted file mode 100644 index bb54d861f600cf44daec236aa179c5318bcec77d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0057.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0058.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0058.png deleted file mode 100644 index cb3d2e39a05c3221ce0cbb17a38cbb6d5ac2fb09..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0058.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0059.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0059.png deleted file mode 100644 index 9f3f5bd731acc097dd75dd9c1692f2559219fda3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0059.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0060.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0060.png deleted file mode 100644 index ed1e9271ed2e2664d9750ef328854c0034c5c9ee..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0060.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0061.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0061.png deleted file mode 100644 index e3ae76ea5be2e2d4bb3fd96ff70ea84af78d7546..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0061.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0062.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0062.png deleted file mode 100644 index 5fbdadee5c0e644aaded99096cfe133dc4cad3ed..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0062.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0063.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0063.png deleted file mode 100644 index d11ddddf4eed0542629b46394b7048b177692c74..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0063.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0064.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0064.png deleted file mode 100644 index 53ac241360bae281eb575b3830e3283ad1a0f9d8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0064.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0065.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0065.png deleted file mode 100644 index a17ebd2b4672af95d986b677efd285d7e2cac67e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0065.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0066.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0066.png deleted file mode 100644 index 6e4538b49ac21abee38fd45283042c7a8fbcfa6a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0066.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0067.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0067.png deleted file mode 100644 index 76d86636ed4efd84564f6656f3b28442f5063fc1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0067.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0068.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0068.png deleted file mode 100644 index c52c76049d6210fa2d4764bed74ecaf68cf35b1c..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0068.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0069.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0069.png deleted file mode 100644 index a2554e2d0c34642931f1efb206b19fbac77539aa..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0069.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0070.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0070.png deleted file mode 100644 index f84ac0322baa8f8e34e4ba24b0ebfe95fa56ff09..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0070.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0071.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0071.png deleted file mode 100644 index a57c53354440f21579b2e84eeeb763f0077926e3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0071.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0072.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0072.png deleted file mode 100644 index fd650a439adf238e5b27888e1bd4326fec80b215..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0072.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0073.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0073.png deleted file mode 100644 index 7dd099909320e7ad5500f56f35cdd2db5afc8342..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0073.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0074.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0074.png deleted file mode 100644 index aab78d568487066216a0d84b5328b2449aafb382..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0074.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0075.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0075.png deleted file mode 100644 index e3af83fc7b69a9791016907c525d3708eff6e7b5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0075.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0076.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0076.png deleted file mode 100644 index 15c70024f704bcfa64a198e2a71b3ccbf4aa0625..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0076.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0077.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0077.png deleted file mode 100644 index bf3abf19cbdf98bd472bd168ebddb63dc9ecad42..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0077.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0078.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0078.png deleted file mode 100644 index 05e3ac4238f3e5fa348aa66468c3d34ac6be60ad..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0078.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0079.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0079.png deleted file mode 100644 index 14eda866fdb71429b8d62d991c8df297ca32091a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0079.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0080.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0080.png deleted file mode 100644 index eb12b9dbcf11c2d6d66855053b0004d624121788..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0080.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0081.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0081.png deleted file mode 100644 index 4d6cc3ae32213c649243e0242cff4ce484d0146e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0081.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0082.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0082.png deleted file mode 100644 index 6ebbaf08a0b913be2baf83d870764ca129d09b7d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0082.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0083.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0083.png deleted file mode 100644 index e70c01294a143985df1dc50c361562c2d0a33f28..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0083.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0084.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0084.png deleted file mode 100644 index 64ec496e726201e3cfcfabb8716636fbbdd477b5..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0084.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0085.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0085.png deleted file mode 100644 index 9defcc905e1aa5aa567de4099ff154faa3bd5f10..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0085.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0086.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0086.png deleted file mode 100644 index 57dfa297f5d7e22f7d903c7add50783378dfea3e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0086.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0087.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0087.png deleted file mode 100644 index 45df0d993d85829030d89c9561955b1c28209045..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0087.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0088.png b/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0088.png deleted file mode 100644 index c73f7e486fe418de4d88b16c18efc1427b90d456..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/BoundedKeyFrames/KeyFrame_0088.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/CameraIntrinsics.csv b/target/classes/vslam/tum_rgbd/CameraIntrinsics.csv deleted file mode 100644 index 17f6c0e735d283c5b45488520c523ac4bca66378..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraIntrinsics.csv +++ /dev/null @@ -1,6 +0,0 @@ -535.4,539.2,0 -320.1,247.6,0 -480,640,0 -535.4,0,320.1 -0,539.2,247.6 -0,0,1 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0001.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0001.csv deleted file mode 100644 index ee64b6d45d1da701f12650efc684763bf9796c5c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0001.csv +++ /dev/null @@ -1,4 +0,0 @@ --0,-0,-0 -1,0,0 -0,1,0 -0,0,1 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0002.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0002.csv deleted file mode 100644 index 5ffec0169fb2b5d2dca5cc4584a96793c34e82fd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0002.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.0401760279331333,0.000383555244338586,-0.0104002649425277 -0.999852682264212,-0.0114102146667664,0.0128226662718817 -0.0114809078748916,0.999919222850105,-0.00545312105221778 --0.0127594092116365,0.00559953356094934,0.999902916637645 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0003.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0003.csv deleted file mode 100644 index eceebe471b45fbb0bda55538f312ea3a2300f36b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0003.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.195473568660018,0.0190504882563568,-0.0186452997103276 -0.999974663356886,-0.0064397565730188,-0.00303350944644811 -0.00648362564192468,0.999871210930964,0.0146807407845424 -0.00293857836662654,-0.0147000369634845,0.999887630521778 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0004.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0004.csv deleted file mode 100644 index 69453995184caba178ff930c31152995b4bbf97e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0004.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.341841955082963,-0.00441086130105874,-0.0298879807551862 -0.989968381202513,-0.0395046784237913,0.135653914804948 -0.0424584997558054,0.998918505148811,-0.0189498250585691 --0.134758599049417,0.0245193893459224,0.990575044874613 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0005.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0005.csv deleted file mode 100644 index 89129e61dba5b0b1112e4e4b7c46bca7185902d6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0005.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.684242793322861,0.00399938760929348,-0.0512978967878339 -0.984001914896437,-0.0625956086301257,0.166799344304377 -0.064302909162645,0.997918644036718,-0.00484930480991638 --0.166148630308428,0.0154974083040673,0.985978936378709 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0006.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0006.csv deleted file mode 100644 index e32d8d115db75efe855daaf9902de24096d0b99b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0006.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.94348336331847,-0.0131599813091051,0.148552521498531 -0.978241798309376,-0.0821408912736201,0.190514718647177 -0.0805942332448388,0.996620713392074,0.0158657872653785 --0.191174144716576,-0.000166188594852422,0.981556121051281 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0007.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0007.csv deleted file mode 100644 index a1d7f470f20c2a53843265bc96637d337374f89c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0007.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.05916972383367,-0.157091857176053,0.457564666880591 -0.943067377762572,-0.137966807513219,0.302636879815792 -0.140066669191247,0.990030467522954,0.0148661211468127 --0.301670762888446,0.0283695858428042,0.952989988099251 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0008.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0008.csv deleted file mode 100644 index a5eac5f9a70fe8c56a100da95f0c719e5e9430cb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0008.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.15362191522966,-0.328886200260955,0.765022356497663 -0.864354171246799,-0.213875611222903,0.455136341739801 -0.229299905165081,0.973111346311276,0.021814242401256 --0.44756387269254,0.0855074885860037,0.890154508642275 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0009.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0009.csv deleted file mode 100644 index 05f351b987af96714df5a38a36e0a515cb369c81..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0009.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.22541305007618,-0.417797754693413,1.08941297215495 -0.737192896418902,-0.277821586289046,0.61592353394017 -0.297084019349418,0.951992483898991,0.0738335699192782 --0.606867134483904,0.128551455813103,0.784338450091303 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0010.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0010.csv deleted file mode 100644 index 90f121196cca48a8451a2886ab77cdc50e704d38..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0010.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.31243719614625,-0.446445516866993,1.30066262645766 -0.7050179157813,-0.295638266543498,0.644629935530881 -0.335931390598602,0.939738162655765,0.0635789781205702 --0.624579730088867,0.171727112022306,0.761846414809833 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0011.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0011.csv deleted file mode 100644 index 62c3121cc41d659a7fc35e976a315beafd5ca47b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0011.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.47654301289622,-0.498480416136735,1.38373210156234 -0.660123565336551,-0.3381307111426,0.670749208474791 -0.372919899945921,0.922662014196428,0.0981099168449099 --0.652048791664922,0.18537105961069,0.735166609379891 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0012.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0012.csv deleted file mode 100644 index 230aec33c896b9cfaac3a97b168b7348f31f9872..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0012.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.7130257377615,-0.580775898188737,1.41254776580535 -0.643173443274679,-0.299785375570367,0.704596799922003 -0.315292989408841,0.942232495936133,0.113085164507115 --0.697795279932323,0.149421056735987,0.700539146021171 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0013.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0013.csv deleted file mode 100644 index 0ace8607cc67b4eb0ee20f5a93b00434baa79df9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0013.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.95470057739088,-0.626726733919375,1.46007692832872 -0.605449808914804,-0.350375172121216,0.71461022078197 -0.369519909261183,0.918991835245659,0.13751015748454 --0.704901103378789,0.180807205367608,0.685874032853352 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0014.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0014.csv deleted file mode 100644 index beceed379f6715701d5fa7d265ae88294aafc745..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0014.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.08692386179973,-0.705346297302068,1.57718665903632 -0.48977759412396,-0.412399802486503,0.768143418381775 -0.440938021946292,0.877235149187217,0.189821373487215 --0.752124703155159,0.245733383852449,0.611492874009329 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0015.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0015.csv deleted file mode 100644 index faafa5a8ee38c9e213ddd2ea68bbd261fc071471..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0015.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.23804168955207,-0.815668931878683,1.71116956652475 -0.335324237949053,-0.423972490500995,0.841311465951981 -0.46482532487085,0.851206028436432,0.243691843343567 --0.819448029348168,0.309347093815119,0.482503163456515 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0016.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0016.csv deleted file mode 100644 index 2068f5eaad159147d84dd72fb46c448ed6923424..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0016.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.35783640427594,-0.910903815286782,1.8810780768677 -0.247456922483617,-0.440323655043042,0.863064395236227 -0.469967208309602,0.833511759431581,0.290497796898615 --0.847287374288451,0.333726273611782,0.413195933756102 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0017.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0017.csv deleted file mode 100644 index ccec20692558dd64143266ff95b9b68612abf8a2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0017.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.42310292039435,-1.07505856931298,2.14066559747902 -0.0987989779257493,-0.445995783184017,0.889565356420147 -0.474051452731157,0.807079919952988,0.351990373408363 --0.874936558914021,0.386923460377831,0.291163620126104 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0018.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0018.csv deleted file mode 100644 index f9e3aa68f416b5e98096611a7cde21c6937b46f4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0018.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.49897645663964,-1.2099954044833,2.39028907445303 --0.0749218921911898,-0.459708089700696,0.884904052614875 -0.486585640454994,0.757727441480869,0.43483737066846 --0.870414340744392,0.463160443788751,0.166916981568419 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0019.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0019.csv deleted file mode 100644 index 5b0af7aef9e0c3f52ed2f41d1a6e1727311832f1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0019.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.48692263549694,-1.28079884558685,2.53882742532733 --0.157798154067405,-0.468753854540867,0.869119995412601 -0.502899663949929,0.719306534390749,0.479259885220764 --0.849818610393988,0.512706478831554,0.122230912588354 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0020.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0020.csv deleted file mode 100644 index 211ae92c2892de293b5c6fba722edd723cac898e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0020.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.50477479545427,-1.33318131149873,2.63202925208578 --0.270885526877295,-0.446285470662154,0.852906976172824 -0.486594315881546,0.701013334446733,0.52135043558018 --0.830570287862611,0.556245974011258,0.0272656068351125 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0021.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0021.csv deleted file mode 100644 index e9d1dd5596379159d99c7137af555735b62790dc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0021.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.52212788153887,-1.46769169580506,2.86635105826063 --0.366294866648263,-0.418024281869403,0.831314483474636 -0.447354775241896,0.704268024583834,0.551253348848837 --0.815905494365251,0.573813775816122,-0.0709646034882292 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0022.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0022.csv deleted file mode 100644 index a9bb999a25bbbe6a465efdde1e33e1f768108e90..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0022.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.39395726176475,-1.62941224144139,3.13569874419004 --0.376290158408298,-0.419864783430838,0.825905127917022 -0.442806207420522,0.701523291479277,0.558379561035265 --0.813835597252241,0.575828650856014,-0.0780575780973997 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0023.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0023.csv deleted file mode 100644 index 9155560c3e28615b3f95512a4d3148bf8fb56567..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0023.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.33376279535517,-1.72945528935342,3.38599209148117 --0.443089414103258,-0.422370611587773,0.790743218482841 -0.430340389625939,0.673571344199442,0.600923284063742 --0.786434307597416,0.606551490592783,-0.116689198700847 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0024.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0024.csv deleted file mode 100644 index 8dc7f383713fafca79d804a0cbcc0d82f1ec42f0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0024.csv +++ /dev/null @@ -1,4 +0,0 @@ --2.17718976695087,-1.77135164615758,3.48950937982583 --0.647954875120463,-0.328842572887553,0.687034964222579 -0.42232626522669,0.595540856931242,0.683353212786241 --0.633873020018443,0.73293495617435,-0.247004745926881 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0025.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0025.csv deleted file mode 100644 index 69c9cb5be06a97a749a0aef06ccf5bf17a5e9a19..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0025.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.96931074818174,-1.76276428512368,3.50622544886341 --0.772121012651553,-0.270441303300812,0.575057078289538 -0.366166228223823,0.550258526286471,0.750425111225218 --0.519376005539609,0.789985478169061,-0.325839698550868 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0026.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0026.csv deleted file mode 100644 index 5b31f1ff30cae1ff3d8f95b787e5393358fbcef4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0026.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.68373604526783,-1.71336716694263,3.50002830648747 --0.918334915337159,-0.177454763688447,0.35379484184619 -0.203414005620341,0.555190201390344,0.806465487542794 --0.339534572010246,0.812572241172701,-0.473753762291544 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0027.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0027.csv deleted file mode 100644 index 958fc8048fc8e0680fbf0aca233251ed52d4c0a4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0027.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.49652089774975,-1.64124925948627,3.46512220812284 --0.974115806886328,-0.106664741874117,0.199301348753903 -0.118163555513803,0.511346944849029,0.851211886748476 --0.192706431969805,0.852729109878683,-0.485507256632663 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0028.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0028.csv deleted file mode 100644 index 383f5ff6d2f9e3e153b33f2af10525598b557b5d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0028.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.35608240078287,-1.52983424913882,3.43130568374257 --0.92940862611938,-0.179351317362829,0.322541021662523 -0.176569952755454,0.551352182893453,0.815373425003882 --0.324071994283405,0.814766147663759,-0.480763421177542 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0029.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0029.csv deleted file mode 100644 index 56991e2963f13b1ccb09b329e73a0d0ba21ce169..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0029.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.21518655278922,-1.46300948196566,3.37165464679193 --0.84172873034412,-0.26497387626858,0.47040577101953 -0.255115735269549,0.572674435766412,0.779076345576927 --0.475824238696552,0.77577885735229,-0.414437520446716 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0030.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0030.csv deleted file mode 100644 index 4ea02d9be496d18125173899c277bcc83b88a486..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0030.csv +++ /dev/null @@ -1,4 +0,0 @@ --1.05768622533453,-1.37453095918581,3.34397066416153 --0.69979492701309,-0.412259010159113,0.583377723837114 -0.319106486065924,0.550238839124869,0.77162702808363 --0.639107276345218,0.72614029530191,-0.253499824184265 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0031.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0031.csv deleted file mode 100644 index b7b3b62d18992d09fcca53f20ed0001a1dfac133..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0031.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.984638842389425,-1.37166750816627,3.37676953561105 --0.570149394632848,-0.479954197838514,0.666763553125833 -0.368642505497964,0.575841572611292,0.729732270351762 --0.73418823944543,0.661853798984143,-0.1513842060133 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0032.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0032.csv deleted file mode 100644 index 125b3ca832a30da7c9c08932d7c05818f6937d9c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0032.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.921183584610345,-1.40051161186993,3.41917890881939 --0.433319339484666,-0.454088469966026,0.778484432389297 -0.434786807057152,0.651296716326162,0.621910781150968 --0.789426869594404,0.607960729608972,-0.0847877869489889 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0033.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0033.csv deleted file mode 100644 index 17407976dd7582561d04de099688ae11fd6e5f85..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0033.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.855106634900069,-1.50331268875064,3.53316444597626 --0.507037421863885,-0.402280093983834,0.762288514155882 -0.457492759810918,0.623932634592153,0.633568024928251 --0.730488485569906,0.669984174048352,-0.132316964046688 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0034.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0034.csv deleted file mode 100644 index 998adaba8aafff9ca12ca567699462afa5987b3c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0034.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.792727910011664,-1.61408322350495,3.64693678810897 --0.632799786668605,-0.336524563624179,0.697363354406957 -0.444081786328573,0.580054066674756,0.682882601026928 --0.634315218990836,0.741814328394669,-0.217613660290374 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0035.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0035.csv deleted file mode 100644 index 5fd735f9acd5c1fd197d351c60438ae389294d00..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0035.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.652311303723364,-1.72476872531904,3.76136628917968 --0.783039532944969,-0.25891554567406,0.565519080185301 -0.390542994341733,0.502967642588595,0.771038079526209 --0.484071543695679,0.824612812607938,-0.292725895449835 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0036.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0036.csv deleted file mode 100644 index 99f002c3ac377483363a203221621b334eebce70..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0036.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.492321903649029,-1.7489350368161,3.84546503217162 --0.89458298473662,-0.196512879416159,0.401377592353247 -0.27748400281691,0.459788813352465,0.843562016271855 --0.350319727678052,0.866012087294111,-0.356790068611884 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0037.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0037.csv deleted file mode 100644 index b80e8ecd274f2ba31b582243f34ef4cdd2d8ead0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0037.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.309905863487099,-1.66769877313488,3.71933516537351 --0.92415955196102,-0.156760571956969,0.348360798022584 -0.258167254036607,0.415852721506236,0.872018453336313 --0.281564897425807,0.89581953377652,-0.343843818385635 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0038.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0038.csv deleted file mode 100644 index 86529f084b3729c453b30d7da871f71038bd21e0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0038.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.246568933951078,-1.63399292935416,3.62042219074137 --0.977213804231923,-0.0533288755972028,0.205448805900914 -0.168664605250886,0.392532072698223,0.904140930850274 --0.128862064837314,0.918190940344532,-0.374593066293396 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0039.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0039.csv deleted file mode 100644 index 54dd464ab1fdf874b03636fd2c596d2915cb58f1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0039.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.222172802258302,-1.50151511792223,3.48608351217969 --0.989834247081332,-0.0661096030861107,0.125927295233118 -0.0972461603873109,0.331509430430362,0.938426705622588 --0.103785102952483,0.941132837550329,-0.321710482405545 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0040.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0040.csv deleted file mode 100644 index 73cae1bdfad8022087a75663e095878313fccd39..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0040.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.161753158514809,-1.41926466121542,3.42021562528325 --0.919019573189726,-0.28151344358038,0.27595870194232 -0.162696327901932,0.366768461394539,0.915975327513525 --0.359072317202818,0.886696722002398,-0.291266191324706 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0041.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0041.csv deleted file mode 100644 index cd69ecce3190986da835f9380044be3702b9e797..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0041.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.0860660545674529,-1.40258397979417,3.46465045864883 --0.750554359496875,-0.454149763178447,0.480016818502431 -0.274547182420841,0.446433223971323,0.851657924967148 --0.601075700777376,0.771002833418614,-0.210386864598187 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0042.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0042.csv deleted file mode 100644 index 50d25928d555304ec5e651bbee4d357c3245f246..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0042.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.0549903017436491,-1.42659619338254,3.5039546864242 --0.451866085528234,-0.57676155213125,0.680560910376538 -0.39038031913467,0.558119578590672,0.732192421721288 --0.802134806115346,0.59653050884001,-0.0270389504488293 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0043.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0043.csv deleted file mode 100644 index c48aecf0d538eb4a622ad2008e4433c0dbb69fe6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0043.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.14425644583706,-1.41553321261991,3.52243667417541 --0.178820835161215,-0.651074477869249,0.737648380449338 -0.485602542720097,0.593648164735092,0.641694652471434 --0.85569461808289,0.472952302852987,0.210006761343615 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0044.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0044.csv deleted file mode 100644 index 930949bbabbbc2d21126394cb24255294b27d70a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0044.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.170182918085907,-1.4235982898089,3.53174993278623 -0.170807505668914,-0.593301407204206,0.786650008718409 -0.488784216228119,0.744241926024907,0.455185616548898 --0.855520184433674,0.306752988178186,0.41711847030589 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0045.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0045.csv deleted file mode 100644 index f0fe80d8a89034930a8e7e6ac63ecb1f1eea114f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0045.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.110615623896939,-1.50776449094968,3.59314484056672 -0.131424743183786,-0.597655555318152,0.790907942858351 -0.519541870855841,0.721007331996626,0.458502640815427 --0.844277076146622,0.350651200489117,0.405265288778662 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0046.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0046.csv deleted file mode 100644 index c9b60d08490f50c66b725d35ccdbac09b098b62f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0046.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.0197863719143536,-1.59384998087628,3.64336103977734 --0.0898708025576924,-0.501555982824695,0.860444556575489 -0.537915292897663,0.702648542171974,0.465759770536723 --0.838194712769329,0.504704490049726,0.206647045004733 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0047.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0047.csv deleted file mode 100644 index b5abd650bd068bd77bb0a41c9b8512c8292f56c8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0047.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.0656717565584237,-1.67422841432824,3.75790416078935 --0.287665934683431,-0.480093766139727,0.828708806358712 -0.533994640414255,0.637900733092071,0.554916551140304 --0.795045932026294,0.602156649414728,0.0728651873947327 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0048.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0048.csv deleted file mode 100644 index b20123aeb6546c1384d6ad7f475cf872f10a3751..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0048.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.105467643779746,-1.84148395253103,3.96446438314504 --0.47302751436413,-0.432697192947014,0.767475152607736 -0.470486124737689,0.612435910812935,0.635267708589098 --0.74490789839,0.661585515532577,-0.086121011104658 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0049.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0049.csv deleted file mode 100644 index 922e68f3ed12397b97c60076f63e67f2bddc1a13..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0049.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.0796362812563803,-1.96056510804132,4.15245495860003 --0.675774015982353,-0.343416405167878,0.652222854540268 -0.403589654144354,0.568035875178815,0.717252142260641 --0.616802132284515,0.747930756936369,-0.245264576402437 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0050.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0050.csv deleted file mode 100644 index 14f2d141c1fdaa43a47857a16a20d620d5b2d679..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0050.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.0352419661185296,-2.05323543298655,4.27667272696313 --0.815064352880064,-0.240703247320303,0.527002891257405 -0.345381263027401,0.528451447444246,0.775532623971215 --0.465168661684985,0.814125920496051,-0.347587545465394 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0051.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0051.csv deleted file mode 100644 index 8413df3fc34b65f149e7e021b1178a8ac1d71728..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0051.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.381436692338605,-2.14074007540553,4.3778466482967 --0.970531233690164,-0.0702914430135033,0.230495634385832 -0.151963284922397,0.563814791584977,0.81180049324054 --0.187019476171446,0.822904607976568,-0.536518146667463 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0052.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0052.csv deleted file mode 100644 index 6c944ffa3774c3253565196c4f93c1effac8c4be..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0052.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.498779077733802,-2.19854673705197,4.32974384503357 --0.996295275127892,0.060914182225083,0.0607057424111272 -0.084019295449001,0.538885966548176,0.838178186932642 -0.0183434661416598,0.840173421063346,-0.542007508978079 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0053.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0053.csv deleted file mode 100644 index 135db9bd86dcaa8addc4f9d01a3d88daa93673da..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0053.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.670590949739922,-2.12707871277898,4.25975837524139 --0.968138909024437,0.161418758392346,-0.191444606275667 --0.0912318558572081,0.484605673327993,0.869962119781759 -0.233203347552778,0.859710024262481,-0.454439074984516 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0054.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0054.csv deleted file mode 100644 index c4a81f81c184f879de7fa1cdc013dff9f65ef863..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0054.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.798459164436133,-2.02777142545253,4.04278571551295 --0.86332933587278,0.31931667988976,-0.390767598152209 --0.21047564161347,0.475938682385046,0.853921761578298 -0.458652877576129,0.819462768253547,-0.343683443501967 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0055.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0055.csv deleted file mode 100644 index 7ea154dea717a21aa6b1a14cd1b6430fff545248..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0055.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.997654745862835,-1.94017562188893,3.93787504640108 --0.75085188837493,0.428837977248747,-0.502314076045062 --0.277378480152711,0.485473275354059,0.829081948703006 -0.599401885609291,0.761848861773912,-0.245568099194138 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0056.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0056.csv deleted file mode 100644 index d8cd4f40dd4f95745687c2c316a92c284c222ecf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0056.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.0974098782368,-1.88933674315125,3.85649038180006 --0.667258401938155,0.487275790671132,-0.563319206905607 --0.322051869215806,0.493206930899123,0.808102417300971 -0.671601681488027,0.720631131119722,-0.172168389327324 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0057.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0057.csv deleted file mode 100644 index e4ae3822b24fada8f15fa85dbcb1b934c1a1355a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0057.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.23177516450548,-1.81923258323928,3.75245714779323 --0.580417673951021,0.54537935669633,-0.604712064585109 --0.34434839444757,0.508557028227361,0.789172941934743 -0.737929201893154,0.666281551845804,-0.107374981551939 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0058.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0058.csv deleted file mode 100644 index 3a20474d90627d384600dcba55941b49ae0d0cec..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0058.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.50359275147792,-1.78884667396761,3.65894859657421 --0.573461378161353,0.521897091729027,-0.63147879885398 --0.333347680612805,0.555467472737307,0.761797355312351 -0.748345756710991,0.647363354211229,-0.144565957393301 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0059.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0059.csv deleted file mode 100644 index 11d780198360ba959fa12f99b1ea21319c890bdb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0059.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.67075173900914,-1.68326907553148,3.4171262227508 --0.580436804629045,0.507140198657055,-0.637104335833706 --0.320640612919477,0.576843388238028,0.751293087145552 -0.748520349208121,0.64035968357803,-0.172211388906769 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0060.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0060.csv deleted file mode 100644 index 2a29bc9cc7144d3db38dce5a3c101814070c48a1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0060.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.82082996800699,-1.59916294607393,3.26400340551694 --0.499767216992493,0.533209927153291,-0.68258325675683 --0.364224808832325,0.585624511847901,0.724143783895135 -0.785858140793003,0.610517079784087,-0.0984676487039073 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0061.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0061.csv deleted file mode 100644 index 01e2088b0d6263bb6623e2c52c81eeffd4d6e008..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0061.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.97372493337198,-1.52387984081478,3.16175264621967 --0.345039769088562,0.586034957354168,-0.733151134832519 --0.422321007814673,0.600645875062333,0.678873698952172 -0.838207924148723,0.543863550469696,0.0402481597689368 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0062.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0062.csv deleted file mode 100644 index a7a9de15bc99dcf355a3c3a93a93d3f4e961a259..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0062.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.08296797209927,-1.44919612590906,2.9852470048372 --0.200602372666158,0.608192962268795,-0.768023442824121 --0.381206727266421,0.673715088910686,0.633079307876107 -0.902463361675992,0.419772914348668,0.0966984033564816 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0063.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0063.csv deleted file mode 100644 index a2bcc0ffce2aa6d7bf6409950c9f9d657a70b14a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0063.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.21618407245295,-1.40513393204845,2.86743194998449 --0.0582325365532795,0.587107466026877,-0.807411787765122 --0.416018981868084,0.720939266854475,0.554233506956025 -0.90748949217719,0.368173052847205,0.202265728053855 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0064.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0064.csv deleted file mode 100644 index 1759f416426e9086f640c2ae7bb040f24fc70342..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0064.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.3113316390865,-1.34673531373086,2.72879533760163 --0.0116206655143714,0.558095853654125,-0.829695111632627 --0.417802036726855,0.751139749201462,0.511107166136864 -0.908463768259304,0.352587712922102,0.224444840565487 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0065.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0065.csv deleted file mode 100644 index edb3e230cb451f5de41dc9ca90073217068f216b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0065.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.33508977570137,-1.27607409570607,2.58032429339401 -0.101811042442848,0.552274593924037,-0.827422071583023 --0.400019837248126,0.784265657876818,0.47424836075945 -0.910834036169424,0.282701522424417,0.300767697358333 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0066.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0066.csv deleted file mode 100644 index 3ed0cc9a8dea9ee7621519d050de2a203a5002d3..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0066.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.44670906972111,-1.19928336028238,2.42241163038465 -0.277302730485141,0.499722403135874,-0.820597779347222 --0.385061465930837,0.840303194127573,0.381599540610564 -0.88024477454892,0.210161989291846,0.425442211276942 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0067.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0067.csv deleted file mode 100644 index 3663399f17a292e6c21e478244d0ef673cde05da..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0067.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.45177895354472,-1.07587336447357,2.21456259526314 -0.405786488279345,0.462368921662148,-0.788385886613212 --0.313962866020728,0.880623481284287,0.354865612550432 -0.858349954674646,0.103524221763438,0.502511781770644 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0068.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0068.csv deleted file mode 100644 index 0598589d41af8b9735bc753149e71b7b37d0313c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0068.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.41179073161707,-0.970393072479734,1.99723798884218 -0.512315490409374,0.401303518285282,-0.759268282294511 --0.29034232275651,0.912983502046504,0.28663994942655 -0.808229035548066,0.0735976304153531,0.584250986215932 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0069.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0069.csv deleted file mode 100644 index c09c0f8bc77eb580c85aa88d79692877f3f3cb75..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0069.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.36996150023236,-0.872436457808634,1.76599771871816 -0.521068626064437,0.341616849087816,-0.782167127505774 --0.319269864103077,0.927891966430004,0.192570123618029 -0.791551792877082,0.149380142769957,0.592563357067499 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0070.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0070.csv deleted file mode 100644 index d17a10c43f8e963f86d83e604bfcbdfbd48e6bfb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0070.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.23829291550758,-0.759133476719251,1.59409791976508 -0.635342533745111,0.333572235445408,-0.696469258872419 --0.298380234833303,0.937889933349547,0.177007650632408 -0.712256344496254,0.0953521717714651,0.695412728574405 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0071.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0071.csv deleted file mode 100644 index aee6fddc52f52d2ae59b6920f35c65d3c9e96023..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0071.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.20754105856691,-0.640348943902309,1.38620635125093 -0.707772613202689,0.295361251884525,-0.641731765526254 --0.263125694234429,0.953258080159403,0.148539225945403 -0.655608722512053,0.0637241202058984,0.752407096903065 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0072.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0072.csv deleted file mode 100644 index fc1ddeede928c2d5846fb190dde3264c4a9736c8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0072.csv +++ /dev/null @@ -1,4 +0,0 @@ -2.07665366754752,-0.543048614720989,1.24677529874483 -0.784192702989286,0.268455795146336,-0.55944015822133 --0.233253501466447,0.962979964423925,0.13513841856311 -0.575008355271469,0.0245168140353657,0.817780115432966 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0073.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0073.csv deleted file mode 100644 index dbb4e0439972728089b8f832bbfcc651cddadad2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0073.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.89008411646085,-0.455908128032822,1.11934199951975 -0.924768271905411,0.124089873823267,-0.359729546314458 --0.101666434370462,0.991541697406691,0.0806783640529128 -0.36669821297557,-0.038036370993873,0.929562077046036 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0074.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0074.csv deleted file mode 100644 index 472c57b325cb872349a9d0c2944e006f6a1863b6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0074.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.63210871663172,-0.445315585863366,1.12021790489022 -0.974369137308866,0.0240349556717799,-0.223667398531464 --0.00776417738539677,0.997276589916417,0.0733424894192402 -0.224821043964984,-0.0697260647859811,0.971902142234472 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0075.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0075.csv deleted file mode 100644 index a7e82cce21556dfb0ffd49001bbbbf33582ecb75..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0075.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.44666564830878,-0.402548358965646,1.1296917929347 -0.993348763703931,-0.10807907571427,-0.0397133106227735 -0.111147295872536,0.990115295245679,0.0855451970643855 -0.0300751104419369,-0.0893902428305839,0.995542501462692 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0076.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0076.csv deleted file mode 100644 index 0cb81b5bdacdecf0e2b8ac6e39386a174e1fc62b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0076.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.21934262122648,-0.428986040215895,1.21788773203211 -0.982563562135105,-0.177506539245141,0.0553197513514533 -0.171788423857165,0.980536831167181,0.0950592454908791 --0.0711166913814506,-0.0838984579705572,0.993933330237556 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0077.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0077.csv deleted file mode 100644 index 85c73a1165adc55141cb5d22817b21c12f310b78..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0077.csv +++ /dev/null @@ -1,4 +0,0 @@ -1.0224338596507,-0.459793508896499,1.34865073206341 -0.92745082716789,-0.318420984578053,0.196068966861002 -0.301120931565461,0.946830446229564,0.113306181057669 --0.221723133115934,-0.0460454413929078,0.974021904049486 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0078.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0078.csv deleted file mode 100644 index 64f1a6afd6e854f3fed65d2764cc719457741537..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0078.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.832622429708555,-0.512847185444734,1.54377877445725 -0.945001385997887,-0.281347162066112,0.166781758173418 -0.262010882966142,0.956426642744349,0.128834678002764 --0.195761788072581,-0.0780503135555404,0.977540521351677 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0079.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0079.csv deleted file mode 100644 index 7ea6f38c1af7dcad630567925902838934181311..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0079.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.637762419796704,-0.47699294034493,1.56978295929104 -0.983985465135609,-0.163536401614735,0.0709115628706803 -0.154504729301645,0.980895971010278,0.118200603548496 --0.0888869676909032,-0.105351504036285,0.990454525746644 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0080.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0080.csv deleted file mode 100644 index a6f6951660eba7a7771dd653f3d7ffb1090e4dcb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0080.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.349931183229184,-0.422667955823119,1.43479076445965 -0.99405484691991,-0.108745376527947,0.00542258230275334 -0.107398232629372,0.98749521318516,0.115407207593297 --0.0179047743108435,-0.114138718322006,0.993303464222635 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0081.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0081.csv deleted file mode 100644 index 2fb2d764c44fff9aa486e812f166fb8199292f8b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0081.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.16968342400195,-0.439681843296965,1.3703794324861 -0.99104741460996,-0.120553077140344,0.0573757578329727 -0.119039833348941,0.992462609119177,0.0291116398818658 --0.0604527920874626,-0.022021014789273,0.997928121077105 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0082.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0082.csv deleted file mode 100644 index bf5f0a7c410664e64980e283e2e4592371f63d17..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0082.csv +++ /dev/null @@ -1,4 +0,0 @@ -0.00668921109179173,-0.416030817697108,1.27302561137125 -0.991803918976186,-0.113233666155232,0.0591871874016962 -0.115595933451083,0.992564189356963,-0.0381301740846805 --0.0544294632809376,0.0446594542644736,0.99751840417696 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0083.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0083.csv deleted file mode 100644 index f46d59fe7d6738a6d7e3d640fe9e75080ca1c204..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0083.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.203348510908144,-0.353569361047704,1.18788956493291 -0.997613976420195,-0.0229762381675744,-0.0651033526844331 -0.0214216309750113,0.99947084496238,-0.0244774140087642 -0.0656313018113859,0.0230243903253247,0.997578272454192 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0084.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0084.csv deleted file mode 100644 index 6196f7262a592e1d2070d03d1e9aa19af7381605..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0084.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.364636294391728,-0.34618738885432,1.1465635805024 -0.975832105316578,0.0554216708240906,-0.211376774117879 --0.0677199905375073,0.996380070918304,-0.0513882978744799 -0.207763579857044,0.0644607840466007,0.97605281732347 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0085.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0085.csv deleted file mode 100644 index b5c9fb6a933b12b51db1e0c7f373218dce163721..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0085.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.378325321374307,-0.308513922905481,1.10273497574784 -0.901240433977067,0.2306334977076,-0.366843113469486 --0.277673625426209,0.957312452831659,-0.0803132952636029 -0.332660544560808,0.174244246357208,0.926809529894851 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0086.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0086.csv deleted file mode 100644 index ee9d78e216167ce9dc971474ec6c78d5622b41a2..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0086.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.150922967413715,-0.237551807502044,0.962331008756693 -0.930095198087173,0.318591016949517,-0.182818725556916 --0.340066628604721,0.93499151651373,-0.100725131703931 -0.138843835313639,0.155854508970476,0.977973292799436 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0087.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0087.csv deleted file mode 100644 index d511f9041c2bf41b3fda722064742e6899177d54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0087.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.0671383921602429,-0.194710653083208,0.855592127394753 -0.995937474314594,0.0519294626945655,0.073565468530563 --0.0446003975643002,0.994187822043362,-0.0979866268313292 --0.0782262858186038,0.0943075044995335,0.992464983161672 diff --git a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0088.csv b/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0088.csv deleted file mode 100644 index 8a08f54dd0721630eb638e027daf12d40a847720..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/CameraPoses/Pose_0088.csv +++ /dev/null @@ -1,4 +0,0 @@ --0.114167826410657,-0.167827687130335,0.648654499875877 -0.981234201050046,-0.0840255679851307,0.173548686582338 -0.102902484504794,0.989365906652976,-0.102791932735388 --0.163066003116587,0.118721551023865,0.979446104668383 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0002.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0002.csv deleted file mode 100644 index 4661e82a833bcee1cd11fd49db287bba19a5fbce..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0002.csv +++ /dev/null @@ -1,599 +0,0 @@ -294.76,66.66401,7,-0.1118059,-0.8031949,2.329339 -286.6,70.60001,8,-0.1579158,-0.8512328,2.513234 -310.6,101.8,14,-0.04661852,-0.7168882,2.545132 -340,171,35,0.09621096,-0.3841698,2.635122 -454,175,36,0.6674956,-0.3669329,2.655963 -310,221,52,-0.05550765,-0.1302131,2.392483 -381.16,221.32,53,0.2524111,-0.1242279,2.295462 -250,243,57,-0.278825,-0.0303499,2.033715 -434,259,62,0.4063542,0.03494743,1.972964 -316,290,64,-0.02745589,0.2173582,2.938055 -488.2,299.8,65,0.636145,0.1977005,2.059876 -497,387,72,0.7942508,0.6364909,2.440806 -195.4,65.8,82,-0.527472,-0.777729,2.249757 -195.4,94.60001,88,-0.5210105,-0.6465979,2.209262 -313,93,89,-0.03320048,-0.7392386,2.516112 -315,116,94,-0.02606401,-0.5922402,2.363615 -466.3159,122.9277,96,0.7824151,-0.6381714,2.679657 -395,151,100,0.3805179,-0.4955376,2.685672 -92.23841,158.5936,101,-1.061226,-0.4354852,2.485504 -154.792,203.176,104,-0.7435114,-0.2174703,2.381599 -552,207,105,1.006834,-0.1799042,2.317267 -340.6,254.2,113,0.07091936,0.01953111,2.241735 -437,148,128,0.5818764,-0.5011947,2.656285 -565,216,134,1.125725,-0.145203,2.45081 -192,40,152,-0.6259592,-1.036742,2.629486 -319,374.2,172,-0.01849082,0.6219061,2.703593 -225.64,215.272,191,-0.4213988,-0.1614191,2.408276 -412.6,213.4,192,0.4014272,-0.1543072,2.361373 -346.6,217,193,0.1153381,-0.148359,2.414698 -248.2,239.8,197,-0.3049344,-0.04779926,2.162385 -434.728,255.016,198,0.4832591,0.02525796,2.292917 -346.6,128.2,206,0.1308893,-0.586825,2.576497 -517,161.8,212,0.9916028,-0.4258859,2.600442 -320.68,179.56,215,0.0002778895,-0.3483702,2.637278 -485.8,189.4,218,0.8215806,-0.2897499,2.638112 -193,217,222,-0.587678,-0.1599548,2.441677 -58.02401,279.208,230,-1.229071,0.1187549,2.496379 -226,353,234,-0.4686826,0.4878978,2.591469 -391,385,238,0.3067247,0.6172259,2.44529 -298,111,248,-0.0982656,-0.5866979,2.252029 -560,117,250,1.189504,-0.6428993,2.623503 -538.12,159.4,252,1.06408,-0.4298512,2.591582 -587.8,213.4,259,1.240456,-0.154767,2.466732 -474.472,267.112,263,0.5643993,0.06788823,1.992605 -433.9678,314.5284,266,0.4936157,0.289062,2.368109 -314.2,110.2,273,-0.0312191,-0.5970076,2.27358 -453.4,435.4,285,0.5348389,0.7690766,2.217997 -362.152,165.16,286,0.2092581,-0.4014837,2.63922 -381.4,391,292,0.2640099,0.635204,2.427239 -479.656,137.512,295,0.7880619,-0.5523933,2.618641 -497.8,234.28,307,0.7581363,-0.06364182,2.298134 -85.6029,103.0211,318,-0.9336023,-0.589262,2.114543 -506.2,399.4,328,0.8061589,0.6641698,2.356019 -313.48,116.2,332,-0.03308736,-0.5910901,2.367643 -434.728,173.8,338,0.5325827,-0.3434897,2.488334 -104.68,261.928,361,-0.8303013,0.03380465,2.026715 -507.304,305.128,362,0.7725838,0.2368893,2.232285 -244.6,430.6,363,-0.3308486,0.7340648,2.203331 -85.6029,282.1802,371,-0.8960729,0.09395908,1.999567 -217,342,372,-0.4078965,0.3442186,2.003175 -221.9629,341.4023,373,-0.3791027,0.3272055,1.96011 -381.16,389.8,374,0.2622467,0.6301755,2.426691 -83.94401,115.048,375,-1.008716,-0.5861475,2.275789 -484.84,170.92,380,0.8829952,-0.4127423,2.842584 -569.1665,370.1009,390,1.146351,0.5673044,2.474339 -424.0145,172.6941,393,0.564514,-0.4120147,2.88153 -129.9946,215.9909,394,-0.7389103,-0.1404877,2.046712 -572.9681,372.5201,397,1.124573,0.5566665,2.387867 -535.2401,157.96,404,1.010871,-0.4212781,2.498173 -545.3201,315.496,413,1.206174,0.3652779,2.857177 -443.368,320.68,414,0.5302658,0.3068846,2.33813 -324.136,375.976,417,0.004223342,0.5927805,2.52886 -453.7361,381.16,418,0.5851767,0.5911454,2.395327 -87.40001,115.048,419,-0.9582747,-0.5645028,2.191649 -282.1802,90.57954,426,-0.1685608,-0.7069344,2.369928 -202.1392,374.248,431,-0.5798935,0.5827966,2.567149 -502.6454,147.3133,437,0.8890345,-0.4893407,2.58714 -427,223,440,0.492263,-0.1215913,2.483405 -232.4138,321.9933,444,-0.3597232,0.272986,2.092366 -177.256,413.6465,448,-0.6256889,0.6810148,2.274414 -230.9208,210.0189,450,-0.3732704,-0.1732932,2.171932 -535.989,234.9021,457,0.9234618,-0.05600475,2.292724 -376.7364,237.3905,458,0.2415407,-0.05458717,2.359096 -432.3089,258.1264,459,0.3994708,0.03586097,1.977615 -92.58401,280.936,460,-0.8493337,0.101275,1.960543 -291.304,251.56,468,-0.1332852,0.003272308,2.254357 -457.192,363.88,472,0.6468565,0.5500148,2.556114 -180.712,147.88,475,-0.633674,-0.4644923,2.406781 -538.0625,202.1392,485,1.069591,-0.2239923,2.612046 -83.94402,191.7712,487,-1.189185,-0.302893,2.694486 -509.8118,194.4918,488,0.9359962,-0.2659387,2.616282 -171.2011,242.8648,495,-0.6427131,-0.03156056,2.263283 -190.1124,329.4583,499,-0.4271229,0.2400289,1.665331 -438.5297,380.4688,510,0.5096049,0.5797253,2.365254 -496.5905,133.7104,513,0.8346579,-0.53945,2.513469 -531.8417,258.1264,516,1.043314,0.05355105,2.369053 -555.8955,259.7853,517,0.3979939,0.2171687,2.216976 -422.632,365.608,519,0.6295816,0.5160511,2.436279 -319.505,369.2715,525,0.2642698,0.588692,2.479478 -318.2608,179.3296,529,1.007293,-0.1801156,2.355899 -90.57954,112.9744,532,1.070564,-0.1823664,2.421588 -286.12,248.104,534,0.9046385,-0.6817685,2.495009 -496.1758,147.8109,536,0.1940467,-0.4019875,2.842191 -532.5053,248.8367,542,0.8266533,0.03680073,2.111963 -381.16,187.624,556,1.008376,-0.1996268,2.585608 -528.524,207.5306,557,0.7482682,-0.0799233,2.388923 -488.3127,230.3236,558,1.105147,-0.05036806,2.735703 -135.3693,251.8227,560,0.4049241,0.04084651,2.031775 -430.9818,260.7807,561,0.3806623,0.2113841,2.133567 -505.6314,302.5845,563,-0.3547017,0.2601817,2.025144 -317.5144,177.1731,565,0.2831398,-0.3440349,2.539649 -433,274.024,575,-0.5346337,0.5415544,2.327912 -170.344,386.344,577,-0.3331261,-0.04740515,2.223631 -508.6174,115.4627,579,-0.004872784,-0.3488826,2.48725 -319.9032,176.5759,580,0.8163546,-0.4039491,2.745733 -452.4809,237.49,584,-0.7114568,-0.01642082,1.998958 -79,37,1,-0.9615177,-0.8531162,2.12451 -172,41,2,-0.681243,-0.9675868,2.463634 -173.8,43,3,-0.6636475,-0.9440879,2.426838 -148,56,4,-0.7205607,-0.8146017,2.233928 -170,61,5,-0.6667578,-0.8427171,2.370147 -136,64,6,-0.7721616,-0.7815563,2.232405 -193,87,9,-0.5561224,-0.7132972,2.324846 -69,90,10,-1.056128,-0.6798646,2.244036 -69,94,11,-1.185347,-0.7472382,2.528883 -210,92,12,-0.4902192,-0.7086744,2.378937 -192,95,13,-0.5635867,-0.6822877,2.33727 -542,101,15,1.038088,-0.6787227,2.482506 -523,103,16,1.002805,-0.7110357,2.614942 -471,117,17,0.7318001,-0.6349688,2.579381 -560,121,18,1.15186,-0.6042439,2.543468 -88,126,19,-1.034731,-0.5608171,2.378146 -351,131,20,0.1460777,-0.5605605,2.526409 -470,133,21,0.7584086,-0.5888994,2.670615 -497,133,22,0.7991158,-0.5417265,2.502619 -227,146,23,-0.4123841,-0.4589934,2.335407 -181,147,24,-0.610104,-0.4507918,2.326887 -396,147,25,0.386853,-0.5195267,2.705443 -445,147,26,0.6280709,-0.517298,2.671528 -397,147.4,27,0.3785601,-0.5039374,2.631745 -349,151,28,0.143561,-0.491203,2.656974 -533,150,29,1.018942,-0.4678787,2.545648 -536,159,30,1.033861,-0.4240596,2.54444 -517,162,31,0.9572707,-0.4164832,2.583538 -521,163,32,0.9392588,-0.3967497,2.488403 -380,170,33,0.282809,-0.3853373,2.57294 -455,170,34,0.715693,-0.4152921,2.816171 -398,185,37,0.4015228,-0.3357447,2.764593 -82,189,38,-1.169396,-0.3243375,2.625031 -501,188,39,0.8813995,-0.2952261,2.594605 -486,191,40,0.8196315,-0.2927457,2.644495 -346.6,191.8,41,0.1356497,-0.3000495,2.758557 -372,201,42,0.2413832,-0.2311829,2.524106 -102,206,43,-1.014612,-0.2181415,2.487175 -414,203,44,0.4233595,-0.2098949,2.425373 -317,206,45,-0.02020231,-0.2075834,2.506082 -418,205,46,0.4283791,-0.1960048,2.367804 -232,207,47,-0.4037911,-0.1986909,2.402557 -158,209,48,-0.6545324,-0.1706639,2.121245 -501,212,49,0.8549871,-0.1678579,2.518619 -296,219,50,-0.1192315,-0.1475153,2.475881 -330,220,51,0.03647994,-0.1388437,2.389008 -402,227,54,0.3208106,-0.0890438,2.173628 -278,233,55,-0.1912355,-0.07905418,2.319283 -265,243,56,-0.2477292,-0.03455666,2.296515 -287,249,58,-0.159582,-0.008542035,2.142898 -340,254,59,0.06961726,0.01488881,2.197198 -357,257,60,0.1340597,0.02733748,2.144832 -103,261.4,61,-0.8791541,0.03341907,2.135572 -71.8,268.6,63,-1.377822,0.08379954,2.970973 -430,315,66,0.4764879,0.2912566,2.370914 -444,319,67,0.5295234,0.3005561,2.337051 -215,345,68,-0.3977507,0.3357332,1.920283 -228,351,69,-0.4373282,0.4537655,2.457248 -425,365,70,0.4806536,0.5426742,2.511913 -389,374,71,0.3101837,0.5964633,2.549619 -176,416,73,-0.6143576,0.6712643,2.20964 -461,422,74,0.556603,0.7053534,2.176322 -243,429,75,-0.3321513,0.7130691,2.152976 -464,432,76,0.5697929,0.7457555,2.180197 -244,449,77,-0.3312369,0.7952564,2.174779 -299,43,78,-0.09510313,-0.9474331,2.445209 -148,60,79,-0.7111689,-0.7880011,2.200679 -309,64,80,-0.05146625,-0.8376825,2.440236 -187,65,81,-0.5743975,-0.7963084,2.295202 -189,73,83,-0.5778667,-0.7974931,2.346513 -172,80,84,-0.6447367,-0.7415524,2.316208 -140,84,85,-0.7327014,-0.6760522,2.158216 -294,89,86,-0.1196303,-0.7359838,2.439142 -139,92,87,-0.7497362,-0.6555483,2.196956 -110,102,90,-0.8877895,-0.6312529,2.225985 -296,111,91,-0.115983,-0.6403152,2.452619 -87,114,92,-0.9784795,-0.5774502,2.234659 -65,117,93,-1.281727,-0.6820114,2.701898 -562,121,95,1.177209,-0.6120512,2.576791 -555,132,97,1.178675,-0.5750535,2.658503 -170,147,98,-0.6683253,-0.4595694,2.3657 -398,147,99,0.402952,-0.5255848,2.74475 -365,169,102,0.2230552,-0.4021166,2.663284 -488,178,103,0.825913,-0.3643964,2.65157 -409,213,106,0.3794768,-0.1578624,2.333567 -402,215,107,0.3073443,-0.1346459,2.065822 -268,217,108,-0.2350353,-0.1617043,2.413861 -500,235,109,0.7555621,-0.05649931,2.259723 -242,241,110,-0.3325724,-0.04299613,2.209859 -263,241,111,-0.251802,-0.04192563,2.242132 -337,251,112,0.05614968,0.002483372,2.155363 -45.4,277,114,-0.8962933,0.07416483,1.710241 -549,303,115,1.234591,0.3075958,2.884182 -462,308,116,0.5990846,0.2538619,2.29555 -457,365,117,0.6229879,0.5363241,2.480789 -383,376,118,0.2838498,0.5952215,2.530892 -515,387,119,0.8696834,0.6260682,2.422563 -234,438,120,-0.3612854,0.7303058,2.108874 -206.2,58.6,121,-0.5244886,-0.8907725,2.459881 -174,88,122,-0.5979857,-0.6637184,2.169744 -81.4,103,123,-1.088914,-0.6795689,2.436966 -123,106,124,-0.8470246,-0.6231009,2.286721 -350,134,125,0.1500264,-0.5769341,2.663609 -480,136,126,0.7739265,-0.5479048,2.59856 -431.8,145,127,0.5461974,-0.5070793,2.592218 -483.4,184.6,129,0.8317829,-0.3157295,2.719932 -539,201,130,1.001314,-0.207567,2.437049 -375,205,131,0.2500992,-0.2076952,2.483914 -536,205,132,0.9374765,-0.1886989,2.320744 -413,214,133,0.3597476,-0.1388343,2.122556 -333,225,135,0.04914382,-0.1092209,2.332558 -160,241,136,-0.6268073,-0.04293367,2.047336 -343,251,137,0.07924341,0.003295361,2.143633 -343,255,138,0.08205467,0.02115665,2.197233 -474,330,139,0.6044579,0.3266549,2.145851 -222,347,140,-0.3856618,0.3609226,1.998073 -208,361,141,-0.4211096,0.3871452,1.907061 -379,379,142,0.2525744,0.5817045,2.410113 -120,432,143,-0.7665994,0.6612055,1.997788 -119,448,144,-0.7788386,0.7285039,2.015485 -453,177,145,0.6924657,-0.3734359,2.77025 -146,209,146,-0.6739982,-0.1639117,2.031168 -144,213,147,-0.7080737,-0.154477,2.117483 -270,219,148,-0.2330735,-0.1428348,2.396023 -569,217,149,1.144516,-0.140553,2.451501 -408,242,150,0.3453587,-0.0296153,2.165531 -506,309,151,0.7113833,0.2360042,2.077468 -296,40,153,-0.1071137,-0.9297101,2.373369 -314,96,154,-0.02882882,-0.7072254,2.441408 -539,99,155,1.032054,-0.7060207,2.505141 -488,175,156,0.8399333,-0.3686604,2.65641 -416,199,157,0.4484693,-0.2362357,2.513845 -275,217,158,-0.2057004,-0.1471879,2.327495 -303,222,159,-0.0832579,-0.1263798,2.406416 -160,229,160,-0.6374925,-0.09763972,2.094409 -473.8,267.4,161,0.5482925,0.0680958,1.946822 -511,396,162,0.813805,0.6337917,2.317514 -244,431,163,-0.3225403,0.7070801,2.115186 -454,436,164,0.5375047,0.7502391,2.185163 -287.8,46.6,165,-0.144489,-0.926424,2.430634 -198,51,166,-0.52456,-0.8582992,2.294333 -440,145,167,0.6201895,-0.5206295,2.686146 -188,217,168,-0.5872592,-0.1550454,2.338018 -47,268,169,-1.431408,0.0744707,2.803543 -417,301,170,0.3843538,0.2096113,2.189618 -207,363,171,-0.5051831,0.4773864,2.312644 -507,400,173,0.777556,0.6385372,2.264726 -196,66,174,-0.5303717,-0.7852955,2.269967 -560,259,175,1.012893,0.04807071,2.263455 -374,221,176,0.2349072,-0.1290538,2.3997 -65.8,44.2,177,-1.047622,-0.8535805,2.198447 -147.4,56.2,178,-0.7266094,-0.8188525,2.249354 -140.2,88.60001,179,-0.7216811,-0.6476733,2.125627 -169,91,180,-0.8157028,-0.8713239,2.904479 -189.4,91,181,-0.5752745,-0.7003023,2.344833 -293.8,89.8,182,-0.1210338,-0.7342716,2.440634 -313,95.8,183,-0.03341628,-0.6860713,2.368879 -106.12,96.04,184,-0.8946632,-0.6479626,2.224454 -542,105,185,0.9990471,-0.6401349,2.388985 -314.2,116.2,186,-0.02988102,-0.5706775,2.277745 -536.2,145,187,1.033033,-0.4888221,2.541909 -344,149,188,0.110883,-0.4776232,2.570091 -551.8,207.4,189,0.9895809,-0.1694565,2.283219 -191.8,217,190,-0.5940599,-0.1586567,2.44459 -564.04,224.2,194,1.07013,-0.1046958,2.346931 -580,225,195,1.147798,-0.1113268,2.353203 -242.2,241,196,-0.3317252,-0.04329347,2.206078 -433,259,199,0.4191153,0.03775508,2.037258 -207.4,361,200,-0.4229552,0.3864431,1.909024 -103,375,201,-0.7153878,0.3865126,1.708039 -170,386,202,-0.4897494,0.412431,1.659415 -119.8,431.8,203,-0.6903114,0.5909992,1.78124 -193,95.8,204,-0.5544656,-0.6683497,2.301651 -541,100.6,205,1.04503,-0.6915398,2.511353 -470.2,133,207,0.7525252,-0.5829028,2.666554 -496.6,133,208,0.8769877,-0.5421132,2.535522 -443.8,147.4,209,0.6073239,-0.5011541,2.624518 -532.6,149.8,210,1.043975,-0.4788826,2.605836 -77.8,154.6,211,-1.163275,-0.4729676,2.57221 -470.2,166.6,213,0.7736747,-0.4215502,2.740271 -457,169,214,0.7046554,-0.408524,2.736029 -397,184.6,216,0.3847198,-0.3246521,2.677214 -82.60001,189.4,217,-1.137319,-0.30225,2.556473 -316.6,205,219,-0.02082505,-0.2108227,2.507788 -417.4,205,220,0.3834039,-0.1772542,2.149702 -269,213,221,-0.2433636,-0.1749171,2.470592 -187,217,223,-0.6007904,-0.1569356,2.378522 -329.8,219.4,224,0.03664254,-0.1380011,2.391379 -309.4,220.6,225,-0.05669302,-0.134223,2.413303 -158.2,226.6,226,-0.6412225,-0.09805547,2.078543 -163,241,227,-0.6383916,-0.04876663,2.120081 -286.6,249.4,228,-0.1490947,-0.005078208,2.173929 -320,262,229,-0.01154143,0.05013375,2.330622 -545.8,316.6,231,1.204024,0.3663538,2.849692 -472.6,320.2,232,0.5839325,0.2881714,2.105446 -473.8,329.8,233,0.5905951,0.3186385,2.103059 -209.8,356.2,235,-0.3898306,0.3464223,1.783802 -437,355,236,0.5411263,0.495843,2.514338 -424.6,364.6,237,0.4941241,0.5564325,2.587277 -176.2,415,239,-0.581447,0.6298993,2.085485 -166.6,435.4,240,-0.6254876,0.716681,2.109616 -464.2,431.8,241,0.5747696,0.7512901,2.198481 -148.6,440.2,242,-0.6778651,0.7150736,2.048474 -195.4,46.6,243,-0.5869395,-0.9642952,2.524434 -65.8,55,244,-1.012097,-0.7805528,2.11971 -139,92.2,245,-0.7495918,-0.6562241,2.197836 -69.4,93.4,246,-1.094486,-0.6899225,2.332337 -538.6,99.4,247,1.070129,-0.711634,2.59182 -87.4,113.8,249,-0.993911,-0.5873896,2.27516 -181,147.4,251,-0.6121808,-0.4518345,2.336671 -487,177.4,253,0.8289648,-0.3403659,2.653784 -501.4,188.2,254,0.8778906,-0.2971104,2.588395 -388.6,199,255,0.3293029,-0.230211,2.608997 -159.4,205,256,-0.6661892,-0.1916986,2.182019 -152.2,208.6,257,-0.6809848,-0.1725876,2.132041 -401.8,214.6,258,0.3489108,-0.153311,2.327986 -436.6,218.2,260,0.4988141,-0.1327218,2.271184 -499,235,261,0.7455142,-0.04757596,2.243092 -407.8,242.2,262,0.3198724,-0.04043575,2.149696 -399.4,273.4,264,0.3356722,0.1048762,2.336401 -507.4,301,265,0.7443914,0.2123074,2.152087 -191.08,329.32,267,-0.4171684,0.2353127,1.635007 -496.6,387.4,268,0.7583213,0.6330149,2.424756 -242.2,428.2,269,-0.3362802,0.7193477,2.184769 -233.8,437.8,270,-0.3489633,0.6998122,2.022546 -291.4,47.8,271,-0.1370616,-0.9953042,2.611913 -177,59,272,-0.6398662,-0.8572993,2.386817 -73,128.2,274,-1.097474,-0.5489352,2.371414 -436.6,147.4,275,0.583247,-0.5044031,2.66128 -379,169,276,0.2737238,-0.3886869,2.538772 -340.6,171.4,277,0.08958323,-0.360348,2.451653 -407.8,213.4,278,0.3763678,-0.1570501,2.333973 -374.2,220.6,279,0.2404138,-0.1483097,2.396693 -74,283,280,-0.8939443,0.1051118,1.908642 -315.4,290.2,281,-0.03031027,0.2358768,3.197588 -215.8,345.4,282,-0.4120272,0.3527296,2.014726 -203.8,374.2,283,-0.5423688,0.5502763,2.423691 -195.4,389.8,284,-0.5693765,0.6064243,2.371323 -435.4,223,287,0.4540744,-0.1196092,2.232819 -541,227.8,288,0.8699506,-0.08555614,2.112208 -221.8,346.6,289,-0.369984,0.3345337,1.901461 -320.68,375.4,290,-0.01117084,0.6050208,2.603997 -574.6,373,291,1.177497,0.5849526,2.486526 -171.4,395.8,293,-0.5084128,0.4651845,1.744513 -135.4,63.4,294,-0.7555977,-0.7630714,2.174614 -222,147,296,-0.4348038,-0.4550296,2.340033 -413.8,203.8,297,0.4155769,-0.2064953,2.400403 -293.8,43,298,-0.1156708,-0.9320173,2.393701 -381.4,221.8,299,0.2531442,-0.1264884,2.288455 -311.8,110.2,300,-0.0399171,-0.6106976,2.330834 -87.4,114.76,301,-1.069453,-0.6313666,2.454229 -320.68,185.32,302,-0.00189143,-0.3012864,2.480332 -481.96,193.96,303,0.8269713,-0.2760826,2.718169 -185.32,215.56,304,-0.6189331,-0.1642039,2.425222 -435.88,218.44,305,0.4914237,-0.1303903,2.304934 -433,222.76,306,0.4501722,-0.1088705,2.170532 -49.96,260.2,308,-1.180022,0.02843085,2.32132 -503.56,263.08,309,0.6663088,0.05832395,1.971302 -474.76,267.4,310,0.5438587,0.06749128,1.930113 -93.16,280.36,311,-0.8751364,0.1014566,2.028228 -435.88,353.8,312,0.555964,0.5104819,2.614667 -457.48,363.88,313,0.6249416,0.5310137,2.478893 -202.6,373.96,314,-0.5210919,0.5239265,2.296443 -453.16,434.44,315,0.5362727,0.7692068,2.219005 -65.8,54.28,316,-1.004281,-0.7771065,2.102631 -99.4,59.8,317,-0.9087728,-0.7883968,2.192398 -339.4,165.16,319,0.091736,-0.4095308,2.58835 -502.12,186.76,320,0.8878508,-0.3029709,2.60077 -388.36,198.28,321,0.3237141,-0.2463302,2.566891 -587.08,212.68,322,1.259118,-0.1618636,2.509931 -346.6,219.88,323,0.113029,-0.1423388,2.378022 -433,258.76,324,0.4066511,0.03603626,1.992354 -47.08,267.4,325,-1.701813,0.08518151,3.351641 -206.92,361,326,-0.4450503,0.4083927,2.00728 -195.4,389.8,327,-0.5767802,0.6230714,2.410664 -242.92,428.68,329,-0.3421262,0.7327174,2.22199 -119.08,431.56,330,-0.7762951,0.6637118,2.012947 -103.24,101.8,331,-0.9443518,-0.6513054,2.321316 -533.8,116.2,333,0.9741035,-0.5978279,2.419987 -394.6,151,334,0.3587621,-0.4790601,2.581508 -538.12,153.64,335,1.037768,-0.4435388,2.529184 -516.52,160.84,336,0.9560217,-0.4330901,2.585279 -469,166.6,337,0.751846,-0.4160829,2.688823 -316.36,205.48,339,-0.02382289,-0.2058069,2.446433 -551.08,206.92,340,0.9766871,-0.1705486,2.265481 -227.08,215.56,341,-0.4362541,-0.1672473,2.460803 -309.16,221.32,342,-0.06076832,-0.1334755,2.422031 -373.96,219.88,343,0.2309319,-0.1321872,2.365943 -242.92,240.04,344,-0.3326483,-0.05058309,2.220997 -545.32,316.36,345,1.183375,0.3598616,2.811257 -471.88,319.24,346,0.5802693,0.2778571,2.093137 -209.8,356.68,347,-0.4069214,0.3635223,1.868965 -575.56,371.08,348,1.208282,0.5899746,2.546031 -514.6,387.4,349,0.8465772,0.618761,2.37258 -176.68,414.28,350,-0.5883786,0.6374049,2.119784 -463.24,431.56,351,0.5734469,0.7527019,2.208794 -78.76,68.68,352,-0.9981586,-0.7594623,2.213519 -541,100.36,353,1.075017,-0.7132462,2.574409 -496.36,133.48,354,0.8473113,-0.5487261,2.55367 -181,147.88,355,-0.6134253,-0.4530532,2.33886 -78.76,157.96,356,-1.153903,-0.4513652,2.555807 -486.28,189.64,357,0.8242907,-0.2924537,2.648634 -101.8,205.48,358,-1.023568,-0.2244068,2.508952 -575.56,202.6,359,1.269093,-0.2225085,2.640942 -287.56,248.68,360,-0.1469726,-0.01017645,2.160472 -189.64,91.72,364,-0.573987,-0.6950999,2.336457 -443.08,146.44,365,0.6183965,-0.5126921,2.671815 -81.64,189.64,366,-1.155863,-0.3015996,2.590573 -93.4,280.6,367,-0.8092486,0.09710465,1.873047 -314.92,291.88,368,-0.03245663,0.2253201,2.955147 -470.44,352.36,369,0.6755844,0.462901,2.432754 -453.16,379.72,370,0.5788707,0.5849047,2.379956 -411.4,212.68,376,0.4148314,-0.1661956,2.440594 -435.88,146.44,377,0.5651415,-0.5099359,2.627618 -414.28,215.56,378,0.4020273,-0.1410947,2.338457 -217,146.152,379,-0.4479498,-0.4489544,2.30909 -344.872,191.08,381,0.1206907,-0.2904019,2.650084 -491.752,189.352,382,0.9033197,-0.3033597,2.80064 -388.072,197.992,383,0.3197986,-0.2472585,2.566508 -555.688,210.088,384,1.063188,-0.1698015,2.407873 -374.248,220.456,385,0.2288546,-0.132296,2.365212 -378.3953,227.0224,386,0.2464705,-0.103382,2.363536 -229.096,310.312,387,-0.3604434,0.2229406,2.015188 -503.8481,308.584,388,0.7410507,0.246266,2.184489 -191.08,329.32,389,-0.4341215,0.245883,1.709054 -500.3921,396.712,391,0.8060387,0.6735147,2.436181 -534.952,113.32,392,1.040495,-0.6636826,2.568528 -533.2241,225.64,395,0.9326785,-0.1028318,2.343358 -502.1201,263.656,396,0.6704019,0.05735612,1.998093 -177.256,415.72,398,-0.574797,0.6302381,2.076154 -177.256,147.88,399,-0.6218155,-0.4446397,2.303821 -536.6801,203.176,400,0.9902636,-0.2088681,2.449985 -54.568,275.752,401,-1.415567,0.117079,2.851561 -381.16,389.8,402,0.2562638,0.6251453,2.398576 -81.87041,102.6064,403,-1.074174,-0.6730457,2.409272 -500.3921,187.624,405,0.876361,-0.291507,2.593953 -550.504,208.36,406,0.9786721,-0.1643621,2.276155 -306.856,220.456,407,-0.06720725,-0.1276257,2.347818 -434.728,220.456,408,0.4827461,-0.1258878,2.284765 -496.936,234.28,409,0.7251502,-0.0583581,2.209428 -242.92,241.192,410,-0.3322817,-0.04524934,2.234218 -557.4161,258.472,411,1.092032,0.04844335,2.457881 -419.8672,301.672,412,0.4004392,0.2189143,2.214413 -471.0161,320.68,415,0.5668302,0.2778262,2.065076 -578.152,367.336,416,1.227476,0.5739013,2.55246 -77.03201,153.064,420,-1.096181,-0.4494761,2.406774 -503.8481,161.704,421,0.8351263,-0.3970338,2.435363 -101.224,204.904,422,-1.013891,-0.2204023,2.474381 -185.896,215.272,423,-0.6072313,-0.1626731,2.382645 -400.168,274.024,424,0.3485448,0.1092273,2.389555 -505.576,398.44,425,0.8315175,0.6819108,2.435431 -540.136,101.224,427,1.00533,-0.6663944,2.42273 -63.20801,120.232,428,-1.308787,-0.6716328,2.741429 -317.224,204.904,429,-0.01991401,-0.2120714,2.48091 -225.64,350.056,430,-0.4572528,0.4593918,2.512649 -78.76001,158.248,432,-1.160643,-0.4527214,2.571312 -92.23841,108.8272,433,-0.978568,-0.6138726,2.281896 -88.09121,115.048,434,-1.020624,-0.6010512,2.346255 -531.8417,123.3424,435,1.043979,-0.6152597,2.621994 -502.8113,133.7104,436,0.8890817,-0.5541834,2.581346 -357.6592,177.256,438,0.1815021,-0.3529709,2.606959 -222.8752,214.5808,439,-0.441145,-0.1674721,2.388638 -558.7985,258.1264,441,0.9814292,0.04320319,2.206289 -519.4001,280.936,442,1.139295,0.1865659,3.045468 -546.3569,314.1136,443,1.2109,0.3543666,2.859342 -573.3137,370.1009,445,1.260063,0.6118994,2.668489 -382.5424,388.7632,446,0.2715233,0.6306273,2.45025 -504.8849,397.0576,447,0.8175548,0.6687973,2.397068 -218.728,146.152,449,-0.4504872,-0.4600017,2.34267 -556.7249,208.36,451,0.9419762,-0.1558253,2.140384 -475.8545,266.4208,452,0.5413103,0.06373364,1.909754 -401.2049,274.7152,453,0.3465624,0.1110937,2.341298 -191.7712,328.6288,454,-0.4030707,0.2258042,1.582443 -486.2225,208.36,455,0.772678,-0.1881563,2.489376 -330.7025,218.728,456,0.04038032,-0.1396326,2.356017 -506.9585,303.7456,461,0.7632421,0.2281101,2.210109 -394.9841,338.9969,462,0.3812783,0.4674204,2.791514 -349.3648,374.248,463,0.1270968,0.5914372,2.552061 -455.1185,380.4688,464,0.5788763,0.5764481,2.347422 -322.4081,185.5504,465,0.006549268,-0.2960896,2.474396 -185.5504,214.5808,466,-0.6333096,-0.1855062,2.499339 -334.8496,222.8752,467,0.05826866,-0.1200693,2.403455 -531.8417,249.832,469,0.8405941,0.007937977,2.134984 -224.9488,341.0704,470,-0.447951,0.4054532,2.439888 -421.9409,363.8801,471,0.4926153,0.5648479,2.644032 -104.68,376.3217,473,-0.6738347,0.3696323,1.614986 -515.2529,384.6161,474,0.8783028,0.6234785,2.439546 -502.8113,185.5504,476,0.8764746,-0.2974495,2.563032 -550.5041,208.36,477,0.9875079,-0.1750114,2.290352 -307.8929,220.8016,478,-0.06426252,-0.1315139,2.372198 -374.248,218.728,479,0.2361632,-0.1415906,2.391819 -243.6112,239.464,480,-0.3304821,-0.04813038,2.243765 -233.2432,318.2608,481,-0.3511143,0.2560182,2.056487 -444.7505,320.3344,482,0.5344412,0.306746,2.340251 -399.1313,332.7761,483,0.4061571,0.4343797,2.806444 -336.9232,374.248,484,0.06822883,0.6087801,2.635106 -471.7073,320.3344,486,0.5877462,0.2838135,2.119051 -538.4772,205.0423,489,0.9683315,-0.1925023,2.369803 -483.7342,210.0189,490,0.7370474,-0.1740576,2.414535 -331.9466,219.9722,491,0.04291403,-0.1373977,2.351548 -535.989,224.9489,492,0.8877723,-0.09482106,2.204866 -540.9656,227.4372,493,0.940316,-0.08736109,2.280513 -384.2014,229.9255,494,0.2650546,-0.08773479,2.28775 -321.9933,262.2737,496,0.002770797,0.05822766,2.768503 -486.2225,277.2036,497,0.6061689,0.09978434,1.980923 -468.8043,321.9933,498,0.5895438,0.289934,2.156508 -85.6029,125.416,500,-1.057081,-0.5700997,2.406154 -210.0189,147.8109,501,-0.4867354,-0.4510175,2.332194 -513.5941,172.6941,502,0.968073,-0.3803211,2.663107 -321.9933,187.624,503,0.006813766,-0.3004213,2.516058 -222.4605,214.9956,504,-0.4285066,-0.1622761,2.300156 -531.0123,249.8321,505,0.8839535,0.007721054,2.251148 -90.57954,282.1802,506,-0.9267044,0.114738,2.129648 -394.1547,339.4116,507,0.359009,0.4508215,2.66455 -319.505,374.2481,508,-0.01697131,0.5823386,2.527947 -346.8766,374.2481,509,0.1109945,0.5775704,2.498952 -453.8744,381.713,511,0.602228,0.6092129,2.458552 -513.5941,386.6897,512,0.8712622,0.6324035,2.445945 -356.8298,175.1824,514,0.1775535,-0.3632155,2.607537 -185.1357,214.9956,515,-0.5810219,-0.1552693,2.262655 -419.0379,302.0868,518,0.453308,0.5284824,2.44582 -460.8417,362.3042,520,-0.4508839,-0.4486585,2.323388 -217.4839,147.8109,521,-0.7619464,-0.009542817,2.164812 -135.3693,249.8321,522,-0.5490837,-0.001179934,1.913466 -171.2011,251.8227,523,0.5410389,0.06334937,1.911505 -476.2692,267.2503,524,-0.01906346,0.5450981,2.464664 -380.2201,377.2341,526,-0.5091037,0.4329946,1.733732 -170.2058,386.6897,527,0.2491136,0.5995169,2.30784 -381.713,389.178,528,-0.01397795,-0.3216958,2.426071 -548.4305,205.0423,530,-0.728291,-0.08543332,2.069613 -135.3693,229.9255,531,-0.9584826,-0.5728436,2.220532 -555.8955,207.5306,533,-0.147095,-0.01065951,2.097689 -511.6034,102.5235,535,0.9122413,-0.5161408,2.750349 -356.3322,174.1871,537,0.6038468,-0.3944668,2.817211 -433.9678,174.1871,538,1.118694,-0.3493907,2.663978 -544.4492,177.1731,539,0.5547042,-0.3319246,2.662248 -431.4795,182.6474,540,0.5188728,-0.04810481,2.140525 -451.8837,236.8928,541,0.8212924,0.005895434,2.085169 -531.0123,257.297,543,-0.3672269,0.2256145,2.099511 -230.9208,308.5564,544,0.388467,0.4835695,2.827453 -395.15,341.4023,545,0.4046319,0.4742091,2.61681 -406.5963,346.8766,546,1.915695e-05,0.5777313,2.4999 -323.4864,374.2481,547,0.1152619,0.5823255,2.548896 -347.3742,374.2481,548,0.5283067,0.6198654,2.478491 -436.9538,383.2061,549,0.5741243,0.5849493,2.333967 -454.8697,383.2061,550,0.8331951,0.6143262,2.368936 -511.6034,386.192,551,1.097093,-0.7746068,2.930097 -517.5754,105.5095,552,-0.7975599,-0.6342185,2.404278 -141.3413,108.4955,553,0.6967145,-0.5948168,2.518154 -466.8136,123.4254,554,0.6453092,-0.351601,2.71114 -445.9117,180.1591,555,0.3090467,-0.3119392,2.694674 -535.4913,236.8928,559,-0.754986,-0.008427366,2.145376 -419.0379,302.5845,562,0.7223058,0.2144403,2.11094 -230.9208,320.5004,564,-0.01642482,-0.3435097,2.514317 -380.2201,177.1731,566,-0.3314429,-0.1526928,2.544112 -251.8227,218.9769,567,-0.1206111,-0.007765493,2.179655 -293.6265,248.8367,568,0.5824963,0.1116817,1.930621 -484.7296,278.6966,569,1.143317,0.243537,3.147191 -513.5941,289.6452,570,-0.507041,0.5764493,2.39067 -210.0189,380.2201,571,0.86336,-0.5580274,2.598741 -496.6735,132.3833,572,0.9230204,-0.185914,2.261848 -538.4773,204.047,573,-0.4397722,-0.1725269,2.376866 -221.9629,213.0049,574,0.4076522,0.09194744,1.999619 -201.061,377.2341,576,-0.4881215,0.4129757,1.657274 -242.8648,239.8788,578,0.8950394,-0.6265919,2.518616 -477.5632,172.9927,581,0.6654271,-0.3686661,2.7396 -448.8977,176.5759,582,-0.3006574,-0.1339501,2.273612 -251.8227,219.5741,583,0.4940745,-0.05127249,2.028064 -133.5777,248.2395,585,-0.5343232,-0.01449548,2.160272 -190.9086,248.2395,586,-0.1082852,-0.01507637,2.398136 -298.4041,248.2395,587,0.3506218,0.1202049,2.33791 -402.3164,276.905,588,0.7955753,0.1645926,2.290465 -506.2286,284.0714,589,0.378712,0.2091613,2.084756 -420.2323,301.9873,590,0.7252091,0.2187964,2.148326 -502.6454,301.9873,591,0.3694222,-0.06871741,2.316833 -407.0939,233.9068,592,0.2386082,-0.05305854,2.251863 -380.8173,237.49,593,0.3816663,-0.0007769464,1.811459 -436.9538,248.8367,594,-0.1596033,-0.02823595,2.174862 -284.0714,244.6564,595,-0.3768055,0.2729648,2.146994 -230.3236,319.9032,596,0.5175339,0.4521917,2.473373 -434.565,344.9855,597,0.3670774,0.4438491,2.670004 -395.15,337.8191,598,0.8134428,-0.5201749,2.419457 -499.0623,133.5777,599,-0.08490559,-0.901732,2.207631 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0003.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0003.csv deleted file mode 100644 index 45233407fc40f2236aa9ce5717db6c2dbb544a31..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0003.csv +++ /dev/null @@ -1,517 +0,0 @@ -154.792,61.48001,6,-0.7721616,-0.7815563,2.232405 -301,68.2,8,-0.1579158,-0.8512328,2.513234 -228,90,12,-0.4902192,-0.7086744,2.378937 -324,97,14,-0.04661852,-0.7168882,2.545132 -272,241,57,-0.278825,-0.0303499,2.033715 -452,257,62,0.4063542,0.03494743,1.972964 -237,343,68,-0.3977507,0.3357332,1.920283 -325,68.2,80,-0.05146625,-0.8376825,2.440236 -206.2864,65.28161,83,-0.5778667,-0.7974931,2.346513 -128.872,97.76801,90,-0.8877895,-0.6312529,2.225985 -331,116,94,-0.02606401,-0.5922402,2.363615 -562,208,105,1.006834,-0.1799042,2.317267 -421,213.4,107,0.3073443,-0.1346459,2.065822 -355,253,113,0.07091936,0.01953111,2.241735 -552,308,115,1.234591,0.3075958,2.884182 -522.8561,382.888,119,0.8696834,0.6260682,2.422563 -194.2,85,122,-0.5979857,-0.6637184,2.169744 -444,145,127,0.5461974,-0.5070793,2.592218 -549,205,130,1.001314,-0.207567,2.437049 -430.12,214.12,133,0.3597476,-0.1388343,2.122556 -461.8,177.4,145,0.6924657,-0.3734359,2.77025 -311.8,43,153,-0.1071137,-0.9297101,2.373369 -329.32,94.31201,154,-0.02882882,-0.7072254,2.441408 -181,224,160,-0.6374925,-0.09763972,2.094409 -518,395,173,0.777556,0.6385372,2.264726 -179.3296,88.09121,180,-0.8157028,-0.8713239,2.904479 -242.2,213.4,191,-0.4213988,-0.1614191,2.408276 -265.96,237.16,197,-0.3049344,-0.04779926,2.162385 -550.6,104.2,205,1.04503,-0.6915398,2.511353 -453.4,147.4,209,0.6073239,-0.5011541,2.624518 -478.6,167.8,213,0.7736747,-0.4215502,2.740271 -434.2,205,220,0.3834039,-0.1772542,2.149702 -401.8,382.6,238,0.3067247,0.6172259,2.44529 -595,215,259,1.240456,-0.154767,2.466732 -305,45,271,-0.1370616,-0.9953042,2.611913 -389,167,276,0.2737238,-0.3886869,2.538772 -555,225,288,0.8699506,-0.08555614,2.112208 -394.6,387.4,292,0.2640099,0.635204,2.427239 -311,43,298,-0.1156708,-0.9320173,2.393701 -448.8977,218.728,305,0.4914237,-0.1303903,2.304934 -363,216,323,0.113029,-0.1423388,2.378022 -227.08,358.12,326,-0.4450503,0.4083927,2.00728 -210.088,389.8,327,-0.5767802,0.6230714,2.410664 -329.32,116.776,332,-0.03308736,-0.5910901,2.367643 -322.12,219.88,342,-0.06076832,-0.1334755,2.422031 -549.64,314.92,345,1.183375,0.3598616,2.811257 -579.88,369.64,348,1.208282,0.5899746,2.546031 -549.64,103.24,353,1.075017,-0.7132462,2.574409 -581.32,204.04,359,1.269093,-0.2225085,2.640942 -94.31201,187.624,366,-1.155863,-0.3015996,2.590573 -117.64,277.48,367,-0.8092486,0.09710465,1.873047 -324.136,289.576,368,-0.03245663,0.2253201,2.955147 -235.72,342.28,372,-0.4078965,0.3442186,2.003175 -101.224,109.864,375,-1.008716,-0.5861475,2.275789 -386.92,218.44,385,0.2288546,-0.132296,2.365212 -543.592,223.912,395,0.9326785,-0.1028318,2.343358 -581.608,369.064,397,1.124573,0.5566665,2.387867 -196.264,412.264,398,-0.574797,0.6302381,2.076154 -543.88,202.6,400,0.9902636,-0.2088681,2.449985 -261.928,237.736,410,-0.3322817,-0.04524934,2.234218 -566,258,411,1.092032,0.04844335,2.457881 -457.192,317.224,414,0.5302658,0.3068846,2.33813 -336.232,374.248,417,0.004223342,0.5927805,2.52886 -106.408,109.864,419,-0.9582747,-0.5645028,2.191649 -92.23841,148.2256,420,-1.096181,-0.4494761,2.406774 -201.16,212.68,423,-0.6072313,-0.1626731,2.382645 -107.9978,103.0211,433,-0.978568,-0.6138726,2.281896 -512.488,135.784,436,0.8890817,-0.5541834,2.581346 -251.9056,318.2608,444,-0.3597232,0.272986,2.092366 -249.832,204.904,450,-0.3732704,-0.1732932,2.171932 -519.4001,301.672,461,0.7632421,0.2281101,2.210109 -199.72,213.544,466,-0.6333096,-0.1855062,2.499339 -545.3201,249.832,469,0.8405941,0.007937977,2.134984 -253.288,315.496,481,-0.3511143,0.2560182,2.056487 -95.55618,190.1124,487,-1.189185,-0.302893,2.694486 -187.624,243.6112,495,-0.6427131,-0.03156056,2.263283 -160.6672,106.7536,553,0.6967145,-0.5948168,2.518154 -83.11458,389.178,612,-0.6888407,-0.9785744,2.436907 -75.88,117.64,615,-0.4833136,-0.4605871,2.340406 -238.6,145,617,0.314862,-0.5654504,2.900322 -556,296,620,-0.6799124,0.7061666,2.061243 -85.96001,160.84,623,0.2367053,-0.2422434,2.571634 -381,199,624,-0.681511,0.7214158,2.066772 -491.8,266.2,627,1.190785,0.578027,2.49079 -345.16,218.44,629,0.03215674,-0.1060801,2.130324 -349.48,222.76,630,0.4744402,-0.1089643,2.257205 -212,39,633,-1.00572,-0.7726558,2.107916 -551,316,635,-0.9936599,-0.6628175,2.252509 -157.96,87.4,638,0.9394581,-0.1889801,2.323638 -70.12,70.12,645,-0.6654997,-0.4528764,2.348888 -187.624,146.152,646,0.6326015,0.5426388,2.515764 -580.6,370.6,648,-0.4948405,-0.7129387,2.399722 -407.8,161.8,653,-0.2400628,-0.1546787,2.420971 -412.6,214.6,662,-0.4464965,-0.4525737,2.318108 -90.85601,149.608,664,0.08893725,0.002801337,2.254793 -479.8,137.8,665,1.139831,0.05037994,2.556748 -360,250,666,0.3429666,0.1084393,2.355991 -413.992,274.024,668,-1.082545,-0.5408041,2.337245 -89.12801,125.416,670,0.5004296,0.5600685,2.608265 -434.44,362.44,672,-0.1613865,-0.826352,2.435127 -346.6,179.56,684,-0.5786108,-0.6848312,2.355156 -541,257.8,685,0.9745694,-0.09312197,2.366831 -488.2961,325.864,691,0.07065425,-0.3463269,2.629736 -422.92,208.36,692,0.3664334,0.4564785,2.617726 -553.9601,182.44,696,0.8201105,-0.09336942,2.483902 -507.304,229.096,698,-0.01336594,0.5798391,2.512375 -517.6721,261.928,699,0.009214007,0.6050494,2.586018 -194.536,384.616,702,0.8012351,-0.378224,2.316498 -517,161,704,-0.04984811,-0.6715304,2.463601 -328.6288,117.1216,708,0.3548622,-0.3314465,2.670392 -154.4464,245.6848,715,-1.114463,-0.2816293,2.508955 -217.4839,324.4817,724,-0.7040568,-0.100055,2.067006 -155.0768,230.3236,727,-0.6152801,-0.002846389,2.144337 -168,53,4,-0.7205607,-0.8146017,2.233928 -312.04,64.936,7,-0.1118059,-0.8031949,2.329339 -87,86,10,-1.056128,-0.6798646,2.244036 -551,104,15,1.038088,-0.6787227,2.482506 -481,119,17,0.7318001,-0.6349688,2.579381 -365,131,20,0.1460777,-0.5605605,2.526409 -479,135,21,0.7584086,-0.5888994,2.670615 -506,135,22,0.7991158,-0.5417265,2.502619 -244,144,23,-0.4123841,-0.4589934,2.335407 -199,145,24,-0.610104,-0.4507918,2.326887 -407,147,25,0.386853,-0.5195267,2.705443 -455,147,26,0.6280709,-0.517298,2.671528 -407.8,147.4,27,0.3785601,-0.5039374,2.631745 -541,152,29,1.018942,-0.4678787,2.545648 -526,164,31,0.9572707,-0.4164832,2.583538 -391,169,33,0.282809,-0.3853373,2.57294 -407,184,37,0.4015228,-0.3357447,2.764593 -510,189,39,0.8813995,-0.2952261,2.594605 -496,191,40,0.8196315,-0.2927457,2.644495 -385,200,42,0.2413832,-0.2311829,2.524106 -118,202,43,-1.014612,-0.2181415,2.487175 -428,203,44,0.4233595,-0.2098949,2.425373 -331,205,45,-0.02020231,-0.2075834,2.506082 -512,213,49,0.8549871,-0.1678579,2.518619 -310,217,50,-0.1192315,-0.1475153,2.475881 -345,219,51,0.03647994,-0.1388437,2.389008 -324,220,52,-0.05550765,-0.1302131,2.392483 -395.56,219.88,53,0.2524111,-0.1242279,2.295462 -417,226,54,0.3208106,-0.0890438,2.173628 -295,230,55,-0.1912355,-0.07905418,2.319283 -357,252,59,0.06961726,0.01488881,2.197198 -374,255,60,0.1340597,0.02733748,2.144832 -325,289,64,-0.02745589,0.2173582,2.938055 -456,317,67,0.5295234,0.3005561,2.337051 -399,372,71,0.3101837,0.5964633,2.549619 -507,384,72,0.7942508,0.6364909,2.440806 -475,419,74,0.556603,0.7053534,2.176322 -260,426,75,-0.3321513,0.7130691,2.152976 -478,428,76,0.5697929,0.7457555,2.180197 -168,57,79,-0.7111689,-0.7880011,2.200679 -205,64,81,-0.5743975,-0.7963084,2.295202 -214.6,64.60001,82,-0.527472,-0.777729,2.249757 -310,88,86,-0.1196303,-0.7359838,2.439142 -158,89,87,-0.7497362,-0.6555483,2.196956 -309.4,109,91,-0.115983,-0.6403152,2.452619 -105,110,92,-0.9784795,-0.5774502,2.234659 -77.8,113.8,93,-1.281727,-0.6820114,2.701898 -562,135,97,1.178675,-0.5750535,2.658503 -187,145,98,-0.6683253,-0.4595694,2.3657 -407,151,100,0.3805179,-0.4955376,2.685672 -496,179,103,0.825913,-0.3643964,2.65157 -422,213,106,0.3794768,-0.1578624,2.333567 -284,216,108,-0.2350353,-0.1617043,2.413861 -261,239,110,-0.3325724,-0.04299613,2.209859 -280,239,111,-0.251802,-0.04192563,2.242132 -355,249,112,0.05614968,0.002483372,2.155363 -467,362,117,0.6229879,0.5363241,2.480789 -221.8,55,121,-0.5244886,-0.8907725,2.459881 -96.04,98.92001,123,-1.088914,-0.6795689,2.436966 -490,137,126,0.7739265,-0.5479048,2.59856 -447,149,128,0.5818764,-0.5011947,2.656285 -490.6,189.4,129,0.8317829,-0.3157295,2.719932 -547,205,132,0.9374765,-0.1886989,2.320744 -349,224.2,135,0.04914382,-0.1092209,2.332558 -360,254,138,0.08205467,0.02115665,2.197233 -488,328,139,0.6044579,0.3266549,2.145851 -230,357,141,-0.4211096,0.3871452,1.907061 -393,377,142,0.2525744,0.5817045,2.410113 -141,429,143,-0.7665994,0.6612055,1.997788 -164,210,147,-0.7080737,-0.154477,2.117483 -577,218,149,1.144516,-0.140553,2.451501 -424,241,150,0.3453587,-0.0296153,2.165531 -547,102,155,1.032054,-0.7060207,2.505141 -428.2,199,157,0.4484693,-0.2362357,2.513845 -319,221,159,-0.0832579,-0.1263798,2.406416 -492,266,161,0.5482925,0.0680958,1.946822 -521,390,162,0.813805,0.6337917,2.317514 -262,428,163,-0.3225403,0.7070801,2.115186 -468,432,164,0.5375047,0.7502391,2.185163 -304.6,45.4,165,-0.144489,-0.926424,2.430634 -217,49,166,-0.52456,-0.8582992,2.294333 -450,146,167,0.6201895,-0.5206295,2.686146 -204,213,168,-0.5872592,-0.1550454,2.338018 -431.8,299.8,170,0.3843538,0.2096113,2.189618 -167.8,53.8,178,-0.7266094,-0.8188525,2.249354 -207.4,89.8,181,-0.5752745,-0.7003023,2.344833 -309.4,88.60001,182,-0.1210338,-0.7342716,2.440634 -329.32,94.60001,183,-0.03341628,-0.6860713,2.368879 -544.6,147.4,187,1.033033,-0.4888221,2.541909 -425.8,213.4,192,0.4014272,-0.1543072,2.361373 -362.44,215.56,193,0.1153381,-0.148359,2.414698 -572.68,224.2,194,1.07013,-0.1046958,2.346931 -589,225,195,1.147798,-0.1113268,2.353203 -261.4,238.6,196,-0.3317252,-0.04329347,2.206078 -451,257.8,199,0.4191153,0.03775508,2.037258 -209.8,93.4,204,-0.5544656,-0.6683497,2.301651 -361,128,206,0.1308893,-0.586825,2.576497 -478.6,134.2,207,0.7525252,-0.5829028,2.666554 -506.2,135.4,208,0.8769877,-0.5421132,2.535522 -541,152.2,210,1.043975,-0.4788826,2.605836 -91.72,150.76,211,-1.163275,-0.4729676,2.57221 -525.4,163,212,0.9916028,-0.4258859,2.600442 -495.4,190.6,218,0.8215806,-0.2897499,2.638112 -331,205,219,-0.02082505,-0.2108227,2.507788 -208,214,222,-0.587678,-0.1599548,2.441677 -202.6,213.4,223,-0.6007904,-0.1569356,2.378522 -345.4,218.2,224,0.03664254,-0.1380011,2.391379 -323.8,219.4,225,-0.05669302,-0.134223,2.413303 -179,224,226,-0.6412225,-0.09805547,2.078543 -181,237.4,227,-0.6383916,-0.04876663,2.120081 -550.6,315.4,231,1.204024,0.3663538,2.849692 -487,317.8,232,0.5839325,0.2881714,2.105446 -488.2,327.4,233,0.5905951,0.3186385,2.103059 -448,354,236,0.5411263,0.495843,2.514338 -184.6,433,240,-0.6254876,0.716681,2.109616 -477.4,428.2,241,0.5747696,0.7512901,2.198481 -167.8,437.8,242,-0.6778651,0.7150736,2.048474 -158.2,88.60001,245,-0.7495918,-0.6562241,2.197836 -85.96001,90.28001,246,-1.094486,-0.6899225,2.332337 -547,101.8,247,1.070129,-0.711634,2.59182 -104.68,110.44,249,-0.993911,-0.5873896,2.27516 -199,145,251,-0.6121808,-0.4518345,2.336671 -495.4,178.6,253,0.8289648,-0.3403659,2.653784 -509.8,188.2,254,0.8778906,-0.2971104,2.588395 -400.6,199,255,0.3293029,-0.230211,2.608997 -171.4,206.2,257,-0.6809848,-0.1725876,2.132041 -416.2,213.4,258,0.3489108,-0.153311,2.327986 -451,218,260,0.4988141,-0.1327218,2.271184 -423.4,241,262,0.3198724,-0.04043575,2.149696 -491.752,265.384,263,0.5643993,0.06788823,1.992605 -412.6,272.2,264,0.3356722,0.1048762,2.336401 -505,385,268,0.7583213,0.6330149,2.424756 -260.2,425.8,269,-0.3362802,0.7193477,2.184769 -330.76,109,273,-0.0312191,-0.5970076,2.27358 -88.84,124.84,274,-1.097474,-0.5489352,2.371414 -388.6,219.4,279,0.2404138,-0.1483097,2.396693 -236.2,343,282,-0.4120272,0.3527296,2.014726 -244.36,342.28,289,-0.369984,0.3345337,1.901461 -581,371,291,1.177497,0.5849526,2.486526 -239,145,296,-0.4348038,-0.4550296,2.340033 -427,202.6,297,0.4155769,-0.2064953,2.400403 -395.8,220.6,299,0.2531442,-0.1264884,2.288455 -101.8,110.44,301,-1.069453,-0.6313666,2.454229 -335.08,183.88,302,-0.00189143,-0.3012864,2.480332 -490.6,195.4,303,0.8269713,-0.2760826,2.718169 -448.84,221.32,306,0.4501722,-0.1088705,2.170532 -509.32,232.84,307,0.7581363,-0.06364182,2.298134 -492.04,265.96,310,0.5438587,0.06749128,1.930113 -113.32,276.04,311,-0.8751364,0.1014566,2.028228 -467.56,361,313,0.6249416,0.5310137,2.478893 -218.44,372.52,314,-0.5210919,0.5239265,2.296443 -467.56,431.56,315,0.5362727,0.7692068,2.219005 -352.36,165.16,319,0.091736,-0.4095308,2.58835 -510.76,188.2,320,0.8878508,-0.3029709,2.60077 -399.88,198.28,321,0.3237141,-0.2463302,2.566891 -593.8,214.6,322,1.259118,-0.1618636,2.509931 -450.28,257.32,324,0.4066511,0.03603626,1.992354 -515.8,395.8,328,0.8061589,0.6641698,2.356019 -258.76,425.8,329,-0.3421262,0.7327174,2.22199 -139.24,428.68,330,-0.7762951,0.6637118,2.012947 -406.6,151,334,0.3587621,-0.4790601,2.581508 -525.16,162.28,336,0.9560217,-0.4330901,2.585279 -477.64,166.6,337,0.751846,-0.4160829,2.688823 -446.8241,177.256,338,0.5325827,-0.3434897,2.488334 -330.76,204.04,339,-0.02382289,-0.2058069,2.446433 -561.16,208.36,340,0.9766871,-0.1705486,2.265481 -241.48,212.68,341,-0.4362541,-0.1672473,2.460803 -260.2,238.6,344,-0.3326483,-0.05058309,2.220997 -486.28,317.8,346,0.5802693,0.2778571,2.093137 -232.84,352.36,347,-0.4069214,0.3635223,1.868965 -523.72,382.6,349,0.8465772,0.618761,2.37258 -476.2,427.24,351,0.5734469,0.7527019,2.208794 -506.44,134.92,354,0.8473113,-0.5487261,2.55367 -198.28,145,355,-0.6134253,-0.4530532,2.33886 -494.92,189.64,357,0.8242907,-0.2924537,2.648634 -117.64,201.16,358,-1.023568,-0.2244068,2.508952 -304.84,245.8,360,-0.1469726,-0.01017645,2.160472 -519.4,303.4,362,0.7725838,0.2368893,2.232285 -261.4,428.2,363,-0.3308486,0.7340648,2.203331 -206.92,90.28001,364,-0.573987,-0.6950999,2.336457 -453.16,147.88,365,0.6183965,-0.5126921,2.671815 -481.96,346.6,369,0.6755844,0.462901,2.432754 -464.68,378.28,370,0.5788707,0.5849047,2.379956 -103.0211,274.7153,371,-0.8960729,0.09395908,1.999567 -394.12,386.92,374,0.2622467,0.6301755,2.426691 -425.8,212.68,376,0.4148314,-0.1661956,2.440594 -445.96,147.88,377,0.5651415,-0.5099359,2.627618 -427.24,215.56,378,0.4020273,-0.1410947,2.338457 -236.008,146.152,379,-0.4479498,-0.4489544,2.30909 -356.968,191.08,381,0.1206907,-0.2904019,2.650084 -498.6641,192.808,382,0.9033197,-0.3033597,2.80064 -398.44,197.992,383,0.3197986,-0.2472585,2.566508 -390.8369,224.9488,386,0.2464705,-0.103382,2.363536 -249.832,308.584,387,-0.3604434,0.2229406,2.015188 -542.2097,117.1216,392,1.040495,-0.6636826,2.568528 -151.4936,212.4077,394,-0.7389103,-0.1404877,2.046712 -194.536,146.152,399,-0.6218155,-0.4446397,2.303821 -393.256,388.072,402,0.2562638,0.6251453,2.398576 -509.032,187.624,405,0.876361,-0.291507,2.593953 -560.8721,208.36,406,0.9786721,-0.1643621,2.276155 -322.408,220.456,407,-0.06720725,-0.1276257,2.347818 -448.552,218.728,408,0.4827461,-0.1258878,2.284765 -550.504,315.496,413,1.206174,0.3652779,2.857177 -484.8401,318.952,415,0.5668302,0.2778262,2.065076 -512.488,163.432,421,0.8351263,-0.3970338,2.435363 -116.776,201.448,422,-1.013891,-0.2204023,2.474381 -514.2161,394.984,425,0.8315175,0.6819108,2.435431 -299.5985,90.57954,426,-0.1685608,-0.7069344,2.369928 -75.64961,119.1952,428,-1.308787,-0.6716328,2.741429 -331.048,203.176,429,-0.01991401,-0.2120714,2.48091 -538.0625,125.416,435,1.043979,-0.6152597,2.621994 -370.1009,177.256,438,0.1815021,-0.3529709,2.606959 -239.464,210.4336,439,-0.441145,-0.1674721,2.388638 -394.9841,384.6161,446,0.2715233,0.6306273,2.45025 -515.2529,394.9841,447,0.8175548,0.6687973,2.397068 -235.3168,144.0784,449,-0.4504872,-0.4600017,2.34267 -567.0929,208.36,451,0.9419762,-0.1558253,2.140384 -492.4433,264.3472,452,0.5413103,0.06373364,1.909754 -415.7201,274.7152,453,0.3465624,0.1110937,2.341298 -496.5905,208.36,455,0.772678,-0.1881563,2.489376 -347.2913,216.6544,456,0.04038032,-0.1396326,2.356017 -448.8977,258.1264,459,0.3994708,0.03586097,1.977615 -403.2784,338.9969,462,0.3812783,0.4674204,2.791514 -361.8065,372.1744,463,0.1270968,0.5914372,2.552061 -336.9232,185.5504,465,0.006549268,-0.2960896,2.474396 -349.3648,222.8752,467,0.05826866,-0.1200693,2.403455 -467.5601,362.152,472,0.6468565,0.5500148,2.556114 -523.5473,382.5424,474,0.8783028,0.6234785,2.439546 -195.9184,146.152,475,-0.633674,-0.4644923,2.406781 -511.1057,187.624,476,0.8764746,-0.2974495,2.563032 -560.8721,208.36,477,0.9875079,-0.1750114,2.290352 -322.4081,218.728,478,-0.06426252,-0.1315139,2.372198 -388.7632,216.6544,479,0.2361632,-0.1415906,2.391819 -262.2737,237.3904,480,-0.3304821,-0.04813038,2.243765 -457.1921,316.1873,482,0.5344412,0.306746,2.340251 -407.4257,330.7025,483,0.4061571,0.4343797,2.806444 -347.2913,372.1744,484,0.06822883,0.6087801,2.635106 -486.2225,318.2608,486,0.5877462,0.2838135,2.119051 -520.5613,194.4918,488,0.9359962,-0.2659387,2.616282 -548.4305,205.0423,489,0.9683315,-0.1925023,2.369803 -346.8766,217.4839,491,0.04291403,-0.1373977,2.351548 -548.4305,224.9489,492,0.8877723,-0.09482106,2.204866 -399.1313,227.4372,494,0.2650546,-0.08773479,2.28775 -331.9466,259.7853,496,0.002770797,0.05822766,2.768503 -483.7342,319.505,498,0.5895438,0.289934,2.156508 -227.4372,145.3226,501,-0.4867354,-0.4510175,2.332194 -521.059,172.6941,502,0.968073,-0.3803211,2.663107 -336.9233,185.1357,503,0.006813766,-0.3004213,2.516058 -239.8788,210.0189,504,-0.4285066,-0.1622761,2.300156 -404.1079,339.4116,507,0.359009,0.4508215,2.66455 -331.9466,371.7598,508,-0.01697131,0.5823386,2.527947 -359.3182,371.7598,509,0.1109945,0.5775704,2.498952 -521.059,384.2014,512,0.8712622,0.6324035,2.445945 -506.9585,135.784,513,0.8346579,-0.53945,2.513469 -369.2715,175.1824,514,0.1775535,-0.3632155,2.607537 -202.554,212.5072,515,-0.5810219,-0.1552693,2.262655 -433.9678,299.5985,518,0.453308,0.5284824,2.44582 -433,362.152,519,0.6295816,0.5160511,2.436279 -234.9021,145.3226,521,-0.7619464,-0.009542817,2.164812 -152.7876,247.3437,522,-0.5490837,-0.001179934,1.913466 -491.1992,264.762,524,-0.01906346,0.5450981,2.464664 -331.9466,366.7831,525,0.2642698,0.588692,2.479478 -558.3838,210.0189,530,-0.728291,-0.08543332,2.069613 -155.2759,227.4372,531,-0.9584826,-0.5728436,2.220532 -108.4955,111.4814,532,1.070564,-0.1823664,2.421588 -523.5473,105.5095,535,0.9122413,-0.5161408,2.750349 -503.6407,150.2992,536,0.1940467,-0.4019875,2.842191 -548.4305,180.1591,539,0.5547042,-0.3319246,2.662248 -441.4327,182.6474,540,0.5188728,-0.04810481,2.140525 -545.9422,249.8321,542,0.8266533,0.03680073,2.111963 -249.8321,307.0634,544,0.388467,0.4835695,2.827453 -413.0659,344.3882,546,1.915695e-05,0.5777313,2.4999 -335.4303,374.2481,547,0.1152619,0.5823255,2.548896 -359.3182,371.2621,548,0.5283067,0.6198654,2.478491 -466.8136,380.2201,550,0.8331951,0.6143262,2.368936 -520.5613,386.192,551,1.097093,-0.7746068,2.930097 -523.5474,111.4814,552,-0.7975599,-0.6342185,2.404278 -478.7576,123.4254,554,0.6453092,-0.351601,2.71114 -457.8557,180.1591,555,0.3090467,-0.3119392,2.694674 -392.9105,187.624,556,1.008376,-0.1996268,2.585608 -535.4913,207.033,557,0.7482682,-0.0799233,2.388923 -499.6595,230.9208,558,1.105147,-0.05036806,2.735703 -541.4633,239.8788,559,-0.754986,-0.008427366,2.145376 -153.2852,245.8508,560,0.4049241,0.04084651,2.031775 -445.9117,257.7947,561,0.3806623,0.2113841,2.133567 -433.9678,299.5985,562,0.7223058,0.2144403,2.11094 -251.8227,317.5144,564,-0.01642482,-0.3435097,2.514317 -502.6454,278.6966,569,1.143317,0.243537,3.147191 -224.9489,380.2201,571,0.86336,-0.5580274,2.598741 -505.6314,135.3693,572,0.9230204,-0.185914,2.261848 -239.8788,210.0189,574,0.4076522,0.09194744,1.999619 -450.28,272.296,575,-0.5346337,0.5415544,2.327912 -334.2359,172.9927,580,0.8163546,-0.4039491,2.745733 -459.6473,176.5759,582,-0.3006574,-0.1339501,2.273612 -155.0768,244.6564,585,-0.5343232,-0.01449548,2.160272 -208.8246,244.6564,586,-0.1082852,-0.01507637,2.398136 -312.7368,244.6564,587,0.3506218,0.1202049,2.33791 -416.6491,276.905,588,0.7955753,0.1645926,2.290465 -520.5613,287.6545,589,0.378712,0.2091613,2.084756 -438.1482,301.9873,590,0.7252091,0.2187964,2.148326 -516.9782,301.9873,591,0.3694222,-0.06871741,2.316833 -421.5262,232.4138,592,0.2386082,-0.05305854,2.251863 -392.164,236.8928,593,0.3816663,-0.0007769464,1.811459 -301.9873,241.0732,595,-0.3768055,0.2729648,2.146994 -445.3145,344.9855,597,0.3670774,0.4438491,2.670004 -405.8995,337.8191,598,0.8134428,-0.5201749,2.419457 -319,32,600,-0.6703429,-0.9555,2.457508 -190,41,601,-0.1610092,-0.8412958,2.488068 -301,69,602,-0.7214389,-0.6813102,2.14887 -162,79,603,-1.059107,-0.6635224,2.365742 -97,98.2,604,0.137899,-0.5838193,2.482939 -364,124,605,-1.141139,-0.5755308,2.474847 -88.60001,123.4,606,-0.5140268,-0.4439309,2.257435 -218,144,607,0.6002491,-0.4991613,2.605404 -453,148,608,-1.168606,-0.4712275,2.583372 -91,151,609,0.385597,-0.4378636,2.673006 -408,162,610,0.5739376,0.211047,2.018363 -491,303,611,-0.9298748,0.4859686,1.880418 -186,34,613,-0.0914681,-0.9152284,2.305897 -316.6,38.2,614,-1.280044,-0.6629141,2.689514 -227.8,143.8,616,-0.4091675,-0.4094118,2.092869 -387,145,618,0.1133506,-0.4421698,2.756369 -353,164,619,1.245432,0.2788793,2.881001 -168,434,621,-1.180864,-0.7937306,2.384084 -70.60001,70.60001,622,-1.269547,-0.4575889,2.787197 -168,438,625,0.3412579,-0.1543981,2.356822 -413,214,626,0.5618593,0.06626464,1.97305 -583,370,628,0.02652257,-0.1360894,2.333801 -447.4,223,631,-0.5598235,0.6364572,2.42315 -214,391,632,-0.5718148,-0.9487528,2.414917 -86.2,52.6,634,1.186009,0.3627925,2.805655 -104.2,89.8,636,-0.5430241,-0.6799001,2.323634 -213.4,92.2,637,-0.7618825,-0.6637709,2.211184 -547,205,639,0.1925571,-0.03034762,1.914043 -399,240,640,0.5643514,0.2404899,2.173727 -476,306,641,-0.4597144,0.4066618,2.028861 -224.2,357.4,642,-0.6944082,0.7151024,2.101716 -166.6,433,643,-0.661063,-0.9437285,2.397113 -189.4,38.2,644,-1.197184,-0.8061618,2.418298 -466.6,362.2,647,1.21732,0.5952914,2.553756 -227.8,89.8,649,1.037906,-0.7449576,2.720841 -528,104,650,0.7250715,-0.6315763,2.562411 -481,118.6,651,0.1286954,-0.5891454,2.48833 -362.2,123.4,652,0.389418,-0.4420346,2.69671 -284.2,214.6,654,-0.6450232,-0.9329982,2.397018 -193,40.6,655,-0.4492391,-0.4533292,2.323376 -235,145,656,-0.5278375,-0.8731523,2.229169 -213.4,39.4,657,-0.7539659,-0.8391572,2.770335 -185.8,88.60001,658,-0.2326335,-0.1586957,2.35403 -286,214,659,0.5872937,-0.520112,2.657258 -449.8,145,660,0.3822629,-0.1404198,2.309678 -427,215.8,661,0.3528336,-0.1511088,2.418275 -235.72,145,663,0.6844499,-0.5937862,2.616841 -565,257.8,667,-0.5645288,-0.6835467,2.352931 -209.8,93.16,669,-0.6471547,-0.1022058,2.128756 -179.56,222.76,671,-0.5360226,0.6294693,2.45344 -221.8,387.4,673,-0.6376346,-0.1791895,2.063298 -300.52,68.68,674,0.3378385,-0.02868111,2.160929 -178.6,202.6,675,0.5753965,0.2127442,2.033494 -422.92,240.04,676,0.5510483,0.3137455,2.411904 -490.6,303.4,677,-0.1427169,-0.8732076,2.331352 -456.04,316.36,678,0.6834983,-0.6274967,2.552984 -304.84,49.96,679,-0.1385922,-0.6332574,2.374809 -480.52,119.08,680,0.2517415,-0.4743268,2.492201 -305.8192,106.7536,681,0.1210663,0.5955591,2.53749 -388.072,147.88,682,0.0675668,-0.3402621,2.62145 -360.424,374.248,683,0.886388,0.0437123,2.271096 -206.632,90.85601,686,0.3684171,0.4717437,2.758816 -550.504,227.368,687,-0.4332961,0.3908003,1.919099 -401.896,339.688,688,-0.01225338,0.5909639,2.521947 -227.368,358.696,689,0.5739688,0.3081049,2.057997 -332.776,374.248,690,0.408253,-0.1851192,2.468041 -347.2913,179.3296,693,0.2609161,0.5764099,2.438571 -407.4257,341.0704,694,1.062966,-0.308928,2.491756 -392.9105,374.248,695,1.294297,-0.3541449,2.899699 -560.8721,183.4768,697,0.658437,0.05670649,1.964154 -332.7761,372.1744,700,-0.5426875,0.467305,1.8732 -336.9232,374.248,701,0.784628,0.6482915,2.358721 -511.1057,392.9105,703,1.0791,-0.719909,2.594303 -548.4305,102.6064,705,0.9195105,-0.6624287,2.518815 -324.4817,103.0211,706,-0.03927158,-0.5686147,2.317564 -523.5473,110.4861,707,0.7657777,-0.5440273,2.604137 -486.2225,137.8576,709,0.8268124,0.6798888,2.45621 -401.6196,182.6474,710,0.4037393,-0.5452407,2.793272 -513.5941,394.1547,711,-0.5090526,0.5090812,2.18966 -406.5963,145.3226,712,-0.330238,-0.04688194,2.213407 -217.4839,374.2481,713,-0.7944347,-0.02455628,2.304255 -262.2737,237.3905,714,-0.01928131,-0.3265609,2.421109 -331.9466,177.6708,716,0.04305651,-0.2816914,2.624397 -96.55151,189.117,717,0.6954312,0.3060127,2.21208 -341.8999,192.6007,718,0.3358955,-0.3305849,2.604835 -503.6407,319.505,719,-0.6607901,-0.6861947,2.462103 -401.1219,183.1451,720,-0.6937379,-0.09231727,2.036392 -192.103,99.5375,721,-0.6155654,-0.04951399,2.363868 -162.2432,224.9489,722,-0.4322845,0.2355302,1.67681 -201.061,236.8928,723,-0.6116298,-0.1057534,2.287317 -194.4918,223.1573,725,-0.7604212,-0.06929727,2.189119 -162.2432,223.1573,726,-0.69659,-0.04507861,2.068984 -162.2432,237.49,728,0.9847698,-0.09413092,2.575055 -190.9086,248.2395,729,0.4604785,0.05142674,2.262991 -532.5053,230.9208,730,0.5309219,0.3124263,2.324148 -445.3145,258.9891,731,-0.4390518,0.2426772,1.719106 -456.0641,319.9032,732,-0.7981824,-0.9196722,2.447849 -215.9909,323.4864,733,-0.8145351,-0.9325027,2.535928 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0004.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0004.csv deleted file mode 100644 index b71c9dd302cc875ab16657101dc749d66108bbdb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0004.csv +++ /dev/null @@ -1,410 +0,0 @@ -409,141,27,0.3785601,-0.5039374,2.631745 -523,153,31,0.9572707,-0.4164832,2.583538 -93.16,186.76,38,-1.169396,-0.3243375,2.625031 -512,203,49,0.8549871,-0.1678579,2.518619 -321,243,58,-0.159582,-0.008542035,2.142898 -467.8,304.6,67,0.5295234,0.3005561,2.337051 -447,352,70,0.4806536,0.5426742,2.511913 -314,108,91,-0.115983,-0.6403152,2.452619 -564,196,105,1.006834,-0.1799042,2.317267 -267.4,347.8,140,-0.3856618,0.3609226,1.998073 -167,434,143,-0.7665994,0.6612055,1.997788 -315,37,153,-0.1071137,-0.9297101,2.373369 -496,165,156,0.8399333,-0.3686604,2.65641 -209.8,88.60001,181,-0.5752745,-0.7003023,2.344833 -539.8,136.6,187,1.033033,-0.4888221,2.541909 -358.12,145,188,0.110883,-0.4776232,2.570091 -587,211,195,1.147798,-0.1113268,2.353203 -281.8,235.72,197,-0.3049344,-0.04779926,2.162385 -257.32,358.12,200,-0.4229552,0.3864431,1.909024 -544.6,94.60001,205,1.04503,-0.6915398,2.511353 -89.12801,154.792,211,-1.163275,-0.4729676,2.57221 -320,245,228,-0.1490947,-0.005078208,2.173929 -495.4,412.6,241,0.5747696,0.7512901,2.198481 -592,201,259,1.240456,-0.154767,2.466732 -520,223,261,0.7455142,-0.04757596,2.243092 -424.6,263.8,264,0.3356722,0.1048762,2.336401 -395.56,159.4,276,0.2737238,-0.3886869,2.538772 -484.8401,415.72,285,0.5348389,0.7690766,2.217997 -377.8,164.2,286,0.2092581,-0.4014837,2.63922 -409,377.8,292,0.2640099,0.635204,2.427239 -159.4,62.2,294,-0.7555977,-0.7630714,2.174614 -407.08,211.24,299,0.2531442,-0.1264884,2.288455 -333.64,106.12,300,-0.0399171,-0.6106976,2.330834 -457.48,209.8,305,0.4914237,-0.1303903,2.304934 -534,251,309,0.6663088,0.05832395,1.971302 -507.88,254.44,310,0.5438587,0.06749128,1.930113 -120.52,57.16,317,-0.9087728,-0.7883968,2.192398 -467.56,247.24,324,0.4066511,0.03603626,1.992354 -274.6,237.16,344,-0.3326483,-0.05058309,2.220997 -549.4,299.8,345,1.183375,0.3598616,2.811257 -502.12,304.84,346,0.5802693,0.2778571,2.093137 -101.224,68.39201,352,-0.9981586,-0.7594623,2.213519 -430.6,205,376,0.4148314,-0.1661956,2.440594 -435.4,208.6,378,0.4020273,-0.1410947,2.338457 -517.6721,377.704,391,0.8060387,0.6735147,2.436181 -536.6801,108.136,392,1.040495,-0.6636826,2.568528 -448.552,291.304,412,0.4004392,0.2189143,2.214413 -548.7761,299.944,413,1.206174,0.3652779,2.857177 -587.08,345.16,416,1.227476,0.5739013,2.55246 -514.2161,151.336,421,0.8351263,-0.3970338,2.435363 -67.35521,121.2688,428,-1.308787,-0.6716328,2.741429 -533.8,114.76,435,1.043979,-0.6152597,2.621994 -341.416,180.712,503,0.006813766,-0.3004213,2.516058 -301,66,602,-0.7214389,-0.6813102,2.14887 -367,119,605,-1.141139,-0.5755308,2.474847 -453,139,608,-1.168606,-0.4712275,2.583372 -70.12,120.52,615,-0.4833136,-0.4605871,2.340406 -81.4,167.8,623,0.2367053,-0.2422434,2.571634 -587,348,628,0.02652257,-0.1360894,2.333801 -476.2,126.28,665,1.139831,0.05037994,2.556748 -424.36,264.52,668,-1.082545,-0.5408041,2.337245 -236.008,389.8,673,-0.6376346,-0.1791895,2.063298 -391,142.6,682,0.0675668,-0.3402621,2.62145 -209.8,96.04,686,0.3684171,0.4717437,2.758816 -427.24,201.16,692,0.3664334,0.4564785,2.617726 -553.9601,172.072,696,0.8201105,-0.09336942,2.483902 -509.32,215.56,698,-0.01336594,0.5798391,2.512375 -193.8448,100.5328,721,-0.6155654,-0.04951399,2.363868 -229.096,106.408,738,-1.300324,-0.4087219,2.566575 -85.96001,54.28,746,-0.3527212,0.02585502,2.156157 -504,305,756,0.1377745,-0.06550087,2.386536 -404.2,213.4,758,-0.7466988,-0.05002317,2.062908 -100.5328,267.2503,761,-0.7881473,0.7304356,2.015585 -194.2,434.2,763,-1.151046,-0.1637872,2.484168 -106.408,115.048,772,-0.3876814,0.02521668,2.059754 -298.6,89.8,777,0.7869744,-0.3651086,2.627934 -445,139,782,1.06709,-0.5588995,2.745509 -545.8,190.6,783,0.8636256,-0.3818837,2.604248 -549.64,191.08,786,-0.4945612,0.8095509,2.175019 -201.16,146.44,791,1.051401,-0.08746147,2.447562 -512.2,206.2,792,0.2352689,-0.07428597,2.332007 -249.832,361.8065,795,-0.8446507,-0.7622142,2.265728 -169.48,57.16,797,0.6566043,0.6968775,2.475696 -551,169,798,-0.2340594,-0.8273687,2.384023 -543.88,94.60001,808,-0.8665884,0.04920346,2.128453 -538.12,140.68,811,0.7543926,-0.3529143,2.638809 -165.16,80.2,812,-0.3341069,-0.1248825,2.44376 -208.36,215.272,815,-0.180614,0.3087433,3.149583 -567.7841,208.36,816,-0.6247211,0.5911284,1.784103 -326.5552,285.0833,817,0.7623435,-0.02023384,2.205821 -273.16,319.24,822,0.7062472,-0.486899,2.7217 -229.096,392.9105,827,0.7199349,-0.4833913,2.637831 -326.5552,243.6112,831,-1.212915,-0.2134637,2.565166 -553.9601,242.92,838,0.2174898,0.5153104,2.678079 -170,55,4,-0.7205607,-0.8146017,2.233928 -301,65.8,8,-0.1579158,-0.8512328,2.513234 -546,94,15,1.038088,-0.6787227,2.482506 -478,111,17,0.7318001,-0.6349688,2.579381 -367,127,20,0.1460777,-0.5605605,2.526409 -476,127,21,0.7584086,-0.5888994,2.670615 -504,126,22,0.7991158,-0.5417265,2.502619 -204,147,24,-0.610104,-0.4507918,2.326887 -538,141,29,1.018942,-0.4678787,2.545648 -393.4,163,33,0.282809,-0.3853373,2.57294 -408,178,37,0.4015228,-0.3357447,2.764593 -510,179,39,0.8813995,-0.2952261,2.594605 -494,181,40,0.8196315,-0.2927457,2.644495 -120,208,43,-1.014612,-0.2181415,2.487175 -433,195,44,0.4233595,-0.2098949,2.425373 -337,201,45,-0.02020231,-0.2075834,2.506082 -354,214,51,0.03647994,-0.1388437,2.389008 -334,216,52,-0.05550765,-0.1302131,2.392483 -306,229,55,-0.1912355,-0.07905418,2.319283 -389,249,60,0.1340597,0.02733748,2.144832 -469,247,62,0.4063542,0.03494743,1.972964 -263.8,343,68,-0.3977507,0.3357332,1.920283 -411,364,71,0.3101837,0.5964633,2.549619 -517,368,72,0.7942508,0.6364909,2.440806 -493,404,74,0.556603,0.7053534,2.176322 -496,413,76,0.5697929,0.7457555,2.180197 -323.8,63.4,80,-0.05146625,-0.8376825,2.440236 -208.36,65.28161,83,-0.5778667,-0.7974931,2.346513 -311.8,85,86,-0.1196303,-0.7359838,2.439142 -131.6368,100.5328,90,-0.8877895,-0.6312529,2.225985 -70.12,117.64,93,-1.281727,-0.6820114,2.701898 -554,125,97,1.178675,-0.5750535,2.658503 -191.8,147.4,98,-0.6683253,-0.4595694,2.3657 -495,169,103,0.825913,-0.3643964,2.65157 -431,205,106,0.3794768,-0.1578624,2.333567 -434.2,206.2,107,0.3073443,-0.1346459,2.065822 -292,214,108,-0.2350353,-0.1617043,2.413861 -275,238,110,-0.3325724,-0.04299613,2.209859 -370,249,113,0.07091936,0.01953111,2.241735 -551,289,115,1.234591,0.3075958,2.884182 -533.2241,367.336,119,0.8696834,0.6260682,2.422563 -221.8,53.8,121,-0.5244886,-0.8907725,2.459881 -445,141,128,0.5818764,-0.5011947,2.656285 -360,219,135,0.04914382,-0.1092209,2.332558 -258,359,141,-0.4211096,0.3871452,1.907061 -407,368,142,0.2525744,0.5817045,2.410113 -437,233,150,0.3453587,-0.0296153,2.165531 -542,92,155,1.032054,-0.7060207,2.505141 -327.4,218.2,159,-0.0832579,-0.1263798,2.406416 -196,227,160,-0.6374925,-0.09763972,2.094409 -487,417,164,0.5375047,0.7502391,2.185163 -304.6,44.2,165,-0.144489,-0.926424,2.430634 -449,138,167,0.6201895,-0.5206295,2.686146 -169,55,178,-0.7266094,-0.8188525,2.249354 -250.6,214.6,191,-0.4213988,-0.1614191,2.408276 -369.64,211.24,193,0.1153381,-0.148359,2.414698 -274.6,238.6,196,-0.3317252,-0.04329347,2.206078 -213.4,94.60001,204,-0.5544656,-0.6683497,2.301651 -476.2,125.8,207,0.7525252,-0.5829028,2.666554 -503.8,125.8,208,0.8769877,-0.5421132,2.535522 -452.2,139,209,0.6073239,-0.5011541,2.624518 -523,152.2,212,0.9916028,-0.4258859,2.600442 -476.2,158.2,213,0.7736747,-0.4215502,2.740271 -494.2,181,218,0.8215806,-0.2897499,2.638112 -337,200.2,219,-0.02082505,-0.2108227,2.507788 -215.8,215.8,222,-0.587678,-0.1599548,2.441677 -353.8,214.6,224,0.03664254,-0.1380011,2.391379 -333.4,215.8,225,-0.05669302,-0.134223,2.413303 -194,227,226,-0.6412225,-0.09805547,2.078543 -195.4,241,227,-0.6383916,-0.04876663,2.120081 -549,300,231,1.204024,0.3663538,2.849692 -502.6,304.6,232,0.5839325,0.2881714,2.105446 -503.8,314.2,233,0.5905951,0.3186385,2.103059 -417,373,238,0.3067247,0.6172259,2.44529 -211,436.6,240,-0.6254876,0.716681,2.109616 -203.8,147.4,251,-0.6121808,-0.4518345,2.336671 -509.8,178.6,254,0.8778906,-0.2971104,2.588395 -404.2,191.8,255,0.3293029,-0.230211,2.608997 -184.6,208.6,257,-0.6809848,-0.1725876,2.132041 -424.6,206.2,258,0.3489108,-0.153311,2.327986 -460,208,260,0.4988141,-0.1327218,2.271184 -436.6,232.6,262,0.3198724,-0.04043575,2.149696 -284.2,424.6,269,-0.3362802,0.7193477,2.184769 -245.8,145,296,-0.4348038,-0.4550296,2.340033 -340.84,181,302,-0.00189143,-0.3012864,2.480332 -484.84,415.72,315,0.5362727,0.7692068,2.219005 -509.32,178.12,320,0.8878508,-0.3029709,2.60077 -404.2,191.08,321,0.3237141,-0.2463302,2.566891 -370.6,211,323,0.113029,-0.1423388,2.378022 -165.16,433,330,-0.7762951,0.6637118,2.012947 -407,145,334,0.3587621,-0.4790601,2.581508 -476.2,157.96,337,0.751846,-0.4160829,2.688823 -563.8,195.4,340,0.9766871,-0.1705486,2.265481 -332.2,215.56,342,-0.06076832,-0.1334755,2.422031 -533.8,366.76,349,0.8465772,0.618761,2.37258 -503.56,126.28,354,0.8473113,-0.5487261,2.55367 -204.04,146.44,355,-0.6134253,-0.4530532,2.33886 -493.48,179.56,357,0.8242907,-0.2924537,2.648634 -320.2,244.6,360,-0.1469726,-0.01017645,2.160472 -285.4,427,363,-0.3308486,0.7340648,2.203331 -209.8,90.28001,364,-0.573987,-0.6950999,2.336457 -451.72,139.24,365,0.6183965,-0.5126921,2.671815 -477.64,365.32,370,0.5788707,0.5849047,2.379956 -123.4254,278.6966,371,-0.8960729,0.09395908,1.999567 -261.64,342.28,372,-0.4078965,0.3442186,2.003175 -408.52,376.84,374,0.2622467,0.6301755,2.426691 -447.4,136.36,377,0.5651415,-0.5099359,2.627618 -242.92,146.152,379,-0.4479498,-0.4489544,2.30909 -403.624,191.08,383,0.3197986,-0.2472585,2.566508 -397,212.68,385,0.2288546,-0.132296,2.365212 -401.2049,218.728,386,0.2464705,-0.103382,2.363536 -165.8264,215.9909,394,-0.7389103,-0.1404877,2.046712 -545.32,191.08,400,0.9902636,-0.2088681,2.449985 -408.808,377.704,402,0.2562638,0.6251453,2.398576 -509.032,177.256,405,0.876361,-0.291507,2.593953 -332.776,217,407,-0.06720725,-0.1276257,2.347818 -457.192,210.088,408,0.4827461,-0.1258878,2.284765 -274.024,237.736,410,-0.3322817,-0.04524934,2.234218 -467.5601,305.128,414,0.5302658,0.3068846,2.33813 -502.1201,305.128,415,0.5668302,0.2778262,2.065076 -119.1952,206.2864,422,-1.013891,-0.2204023,2.474381 -524.584,379.432,425,0.8315175,0.6819108,2.435431 -111.4814,108.4955,433,-0.978568,-0.6138726,2.281896 -247.7584,212.5072,439,-0.441145,-0.1674721,2.388638 -409.4993,376.3217,446,0.2715233,0.6306273,2.45025 -525.6208,378.3953,447,0.8175548,0.6687973,2.397068 -573.3137,197.992,451,0.9419762,-0.1558253,2.140384 -511.1057,253.9792,452,0.5413103,0.06373364,1.909754 -426.0881,264.3472,453,0.3465624,0.1110937,2.341298 -355.5857,212.5072,456,0.04038032,-0.1396326,2.356017 -467.5601,247.7584,459,0.3994708,0.03586097,1.977615 -374.248,365.9536,463,0.1270968,0.5914372,2.552061 -343.144,181.4032,465,0.006549268,-0.2960896,2.474396 -511.1057,177.256,476,0.8764746,-0.2974495,2.563032 -562.9457,195.9184,477,0.9875079,-0.1750114,2.290352 -332.7761,216.6544,478,-0.06426252,-0.1315139,2.372198 -274.7152,237.3904,480,-0.3304821,-0.04813038,2.243765 -93.56553,195.089,487,-1.189185,-0.302893,2.694486 -516.9782,183.7423,488,0.9359962,-0.2659387,2.616282 -356.8298,212.5072,491,0.04291403,-0.1373977,2.351548 -553.4072,212.5072,492,0.8877723,-0.09482106,2.204866 -232.4138,145.3226,501,-0.4867354,-0.4510175,2.332194 -531.0123,366.7831,512,0.8712622,0.6324035,2.445945 -504.8849,125.416,513,0.8346579,-0.53945,2.513469 -242.3671,145.3226,521,-0.7619464,-0.009542817,2.164812 -511.1057,252.3204,524,-0.01906346,0.5450981,2.464664 -518.5707,95.55618,535,0.9122413,-0.5161408,2.750349 -545.9422,167.7175,539,0.5547042,-0.3319246,2.662248 -425.0098,335.4303,546,1.915695e-05,0.5777313,2.4999 -350.3602,365.2902,547,0.1152619,0.5823255,2.548896 -371.2621,365.2902,548,0.5283067,0.6198654,2.478491 -529.5193,368.2761,551,1.097093,-0.7746068,2.930097 -160.6672,108.8272,553,0.6967145,-0.5948168,2.518154 -454.8697,171.2011,555,0.3090467,-0.3119392,2.694674 -168.2151,251.8227,560,0.4049241,0.04084651,2.031775 -463.8276,248.8367,561,0.3806623,0.2113841,2.133567 -451.8837,290.6405,562,0.7223058,0.2144403,2.11094 -502.6454,126.4114,572,0.9230204,-0.185914,2.261848 -248.8367,210.0189,574,0.4076522,0.09194744,1.999619 -467.5601,261.928,575,-0.5346337,0.5415544,2.327912 -456.0641,169.4095,582,-0.3006574,-0.1339501,2.273612 -226.7405,248.2395,586,-0.1082852,-0.01507637,2.398136 -427.3987,266.1555,588,0.7955753,0.1645926,2.290465 -526.5333,272.7246,589,0.378712,0.2091613,2.084756 -407.0939,227.9348,593,0.3816663,-0.0007769464,1.811459 -456.0641,334.2359,597,0.3670774,0.4438491,2.670004 -85.96001,129.16,606,-0.5140268,-0.4439309,2.257435 -88.84,156.52,609,0.385597,-0.4378636,2.673006 -508,289,611,-0.9298748,0.4859686,1.880418 -183,34,613,-0.0914681,-0.9152284,2.305897 -383.8,140.2,618,0.1133506,-0.4421698,2.756369 -552,286,620,-0.6799124,0.7061666,2.061243 -421,207,626,0.5618593,0.06626464,1.97305 -508.6,254.2,627,1.190785,0.578027,2.49079 -353.8,214.12,629,0.03215674,-0.1060801,2.130324 -458,213,631,-0.5598235,0.6364572,2.42315 -209,37,633,-1.00572,-0.7726558,2.107916 -104.2,94.60001,636,-0.5430241,-0.6799001,2.323634 -160.84,88.84,638,0.9394581,-0.1889801,2.323638 -191.8,437.8,643,-0.661063,-0.9437285,2.397113 -191.7712,148.2256,646,0.6326015,0.5426388,2.515764 -584.2,350.2,648,-0.4948405,-0.7129387,2.399722 -229,90,649,1.037906,-0.7449576,2.720841 -364.6,118.6,652,0.389418,-0.4420346,2.69671 -408,156,653,-0.2400628,-0.1546787,2.420971 -292.6,213.4,654,-0.6450232,-0.9329982,2.397018 -242.2,145,656,-0.5278375,-0.8731523,2.229169 -295,213,659,0.5872937,-0.520112,2.657258 -448.6,137.8,660,0.3822629,-0.1404198,2.309678 -212.68,93.16,669,-0.6471547,-0.1022058,2.128756 -446.2,352.6,672,-0.1613865,-0.826352,2.435127 -506.44,289,677,-0.1427169,-0.8732076,2.331352 -374.248,367.336,683,0.886388,0.0437123,2.271096 -350.2,176.2,684,-0.5786108,-0.6848312,2.355156 -552.2321,213.544,687,-0.4332961,0.3908003,1.919099 -410.536,331.048,688,-0.01225338,0.5909639,2.521947 -533.2241,249.832,699,0.009214007,0.6050494,2.586018 -349.3648,368.0273,701,0.784628,0.6482915,2.358721 -404.1079,177.6708,710,0.4037393,-0.5452407,2.793272 -521.059,376.7364,711,-0.5090526,0.5090812,2.18966 -274.7153,237.3905,714,-0.01928131,-0.3265609,2.421109 -205.0423,242.3671,723,-0.6116298,-0.1057534,2.287317 -208.8246,226.7405,725,-0.7604212,-0.06929727,2.189119 -176.5759,226.7405,726,-0.69659,-0.04507861,2.068984 -180.1591,241.0732,728,0.9847698,-0.09413092,2.575055 -201.6582,251.8227,729,0.4604785,0.05142674,2.262991 -470.3968,305.5705,732,-0.7981824,-0.9196722,2.447849 -249.8321,326.97,733,-0.8145351,-0.9325027,2.535928 -187,34,734,-0.6655626,-0.8478144,2.380034 -187,38,735,-0.8724489,-0.6190131,2.20349 -215.8,44.2,736,-0.6248763,-0.590886,2.449896 -161.8,86.2,737,-1.32369,-0.5480528,2.591088 -85,128.2,739,0.4607492,-0.3752861,2.654349 -90,157,740,0.6185595,-0.3451335,2.75192 -453,151,741,0.08838854,-0.1422903,2.376933 -477,159,742,0.9588829,-0.0766391,2.444312 -393.4,197.8,743,-0.1849453,-0.876302,2.370628 -573,203,744,-1.178385,-0.7742842,2.244284 -324,33,745,0.2202325,-0.1028802,2.363679 -425,206,747,-0.2300949,-0.8858109,2.481619 -298,241,748,-0.2487811,-0.7363399,2.450099 -313,41.8,749,0.898546,-0.423084,2.619305 -311,71,750,-0.008158756,-0.5194874,2.496293 -540,137,751,0.8145235,-0.1373738,2.415576 -364,119,752,-0.3666598,-0.1004986,2.361905 -546,191,753,-0.2165098,-0.8722975,2.35417 -293,212,754,0.45906,0.3280934,2.091797 -317,33,755,-0.7916923,0.7348671,2.030424 -194,434,757,-1.169773,-0.8106771,2.229475 -86.2,44.2,759,-1.401737,0.1177988,2.912337 -195.4,225.4,760,0.3830581,0.6508865,2.431382 -461.8,365.32,762,0.4301119,-0.4470651,2.742665 -445,141.4,764,0.01365662,0.07924332,2.162769 -119.8,207.4,765,0.4480036,0.2616957,2.024026 -388.6,248.2,766,-0.4926862,0.8121365,2.184522 -507.4,289,767,1.051363,-0.2948588,2.794934 -275.8,434.2,768,-0.4748077,0.3325146,1.933728 -553,166.6,769,0.4052319,0.822086,2.266001 -271,326,770,-1.13856,-0.5496916,2.330478 -481,412.6,771,0.2853726,-0.1099582,2.344117 -438.76,201.16,773,0.4871341,0.1420428,2.00424 -290.2,241,774,0.4155809,0.7968214,2.273408 -518,259,775,-0.3035865,-0.6934702,2.587013 -483,405,776,0.09163362,-0.3637042,2.489098 -387,151,778,-0.8133285,-0.04168493,2.073524 -518.2,149.8,779,0.1357916,0.6530224,2.471834 -177.4,229,780,0.4307631,-0.4437977,2.690223 -407.8,367,781,0.8019651,-0.1319705,2.395357 -559,109,784,0.8378366,-0.1300613,2.37123 -535,145,785,0.3947349,0.8052226,2.223021 -481.96,412.84,787,-0.3085009,-0.7047822,2.612159 -274.6,433,788,-0.004148593,-0.5174096,2.494806 -297.64,88.84,789,-0.748841,-0.3967423,2.342382 -363.88,119.08,790,0.6124128,-0.07936107,2.325275 -591.4,200.2,793,-0.548984,0.4275334,1.819879 -428.68,209.8,794,-0.8037969,0.7587829,2.092179 -193.96,434.44,796,1.041802,-0.285254,2.790792 -515.08,368.2,799,0.2242379,-0.4119077,2.649093 -313.48,45.64,800,0.1892443,0.5249813,2.714086 -406.6,145,801,0.4981425,-0.4372969,2.903928 -409.96,330.76,802,-0.2858534,-0.7912268,2.55055 -445.096,144.424,803,-0.0865353,-0.08019332,2.415094 -301.672,66.66401,804,-0.4492018,0.7441866,2.080909 -355.24,213.544,805,-0.7009547,-0.6162549,2.360956 -284.392,424.36,806,0.8564391,-0.5977435,2.468963 -210.088,96.04001,807,0.7287337,-0.3356395,2.597375 -517.6721,156.52,809,0.8591101,-0.3861994,2.579304 -168.616,253.288,810,-0.8683524,-0.6611077,2.256181 -511.1057,152.3728,813,-0.7422606,-0.1042943,2.392348 -299.5984,206.2864,814,0.9916511,-0.05938072,2.553612 -229.096,413.6465,818,0.3152615,0.05962551,2.001228 -558.7985,216.6544,819,0.282942,0.1352957,1.965358 -473.7809,239.464,820,-0.469638,0.3151451,2.063163 -469.6337,260.2,821,0.1841281,-0.1810669,2.600156 -403.2784,191.7712,823,-0.007359764,-0.4574375,2.808517 -486.2225,129.5632,824,-0.1239656,0.670122,2.62978 -356.3322,144.3273,825,-0.668656,0.6325657,2.17278 -349.3649,366.7831,826,0.5025821,0.5889723,2.529718 -478.7576,346.8766,828,0.5257424,-0.2827541,2.803381 -503.6407,125.416,829,-0.2358813,0.04913992,2.21852 -456.3627,172.6941,830,-0.851677,-0.09177428,2.033794 -165.2292,214.9956,832,0.7945951,-0.1276782,2.374591 -111.4814,198.075,833,0.7822466,-0.6336408,2.646818 -545.9422,192.6007,834,0.6149139,-0.4723478,2.647439 -514.5894,96.55151,835,0.4105652,0.01826343,2.174639 -481.7436,129.3973,836,0.6981944,0.09559198,2.131989 -481.2459,229.9255,837,0.6561796,0.228045,2.311996 -526.0356,272.227,839,0.1571952,0.7390592,2.625237 -413.0659,329.4583,840,-0.6575021,0.6470986,2.291029 -407.0939,374.2481,841,-0.5755368,-0.3872024,2.34199 -234.9021,389.178,842,0.3842789,-0.2640284,2.519159 -242.8648,147.3133,843,-0.9328687,0.1238796,1.778454 -446.4094,175.1824,844,0.1169316,-0.08683841,2.456627 -126.4114,276.905,845,-0.8513752,-0.005403013,2.063399 -396.643,210.0189,846,-0.1433936,-0.2819518,2.480872 -168.2151,239.8788,847,0.2937617,0.0634499,1.987682 -338.4163,171.2011,848,0.659138,-0.4478609,2.461337 -470.3968,241.0732,849,-0.01003158,-0.3087431,2.598878 -506.2286,126.4114,850,0.6069207,-0.2803083,2.737988 -362.9014,169.4095,851,-0.01503175,-0.09190269,2.129834 -477.5632,169.4095,852,0.1774846,0.02554613,2.118128 -380.8173,205.2414,853,0.8574069,-0.6229333,2.768151 -427.3987,233.9068,854,0.6404456,-0.5469393,2.615572 -517.5754,105.5095,855,0.7534615,-0.2457758,2.629025 -488.3127,112.0786,856,0.3520342,0.01438896,1.907761 -513.395,172.9927,857,0.3143915,0.5980042,2.575264 -491.8959,226.7405,858,0.5250696,0.5818559,2.51636 -438.1482,348.5686,859,0.3010423,0.1335116,2.013074 -484.7296,344.9855,860,0.601843,-0.522251,2.663091 -470.3968,258.9891,861,0.1281836,-0.3144234,2.65972 -477.5632,119.245,862,0.2366187,-0.2820851,2.634612 -391.5668,165.8264,863,-0.3041692,-0.1291137,2.508392 -409.4827,169.4095,864,-0.6511207,0.5972226,2.3369 -305.5705,205.2414,865,-0.1668392,-0.5361661,2.475381 -236.8928,380.2201,866,-0.5448688,-0.9835957,2.407842 -330.6527,115.6618,867,-0.4445137,-0.9945063,2.437701 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0005.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0005.csv deleted file mode 100644 index dc4c206786a426530c975e674ca836657724df40..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0005.csv +++ /dev/null @@ -1,288 +0,0 @@ -330.76,71.56001,8,-0.1579158,-0.8512328,2.513234 -380,171,35,0.09621096,-0.3841698,2.635122 -437,213,53,0.2524111,-0.1242279,2.295462 -463,220,54,0.3208106,-0.0890438,2.173628 -506,245,62,0.4063542,0.03494743,1.972964 -330.76,421.48,75,-0.3321513,0.7130691,2.152976 -331,438,77,-0.3312369,0.7952564,2.174779 -343,92.2,86,-0.1196303,-0.7359838,2.439142 -558.28,281.8,115,1.234591,0.3075958,2.884182 -504,133,126,0.7739265,-0.5479048,2.59856 -225.4,215.8,147,-0.7080737,-0.154477,2.117483 -345.4,44.2,153,-0.1071137,-0.9297101,2.373369 -509.8,167.8,156,0.8399333,-0.3686604,2.65641 -581.8,196.6,189,0.9895809,-0.1694565,2.283219 -460,207,192,0.4014272,-0.1543072,2.361373 -316.6,237.4,196,-0.3317252,-0.04329347,2.206078 -254.2,98.2,204,-0.5544656,-0.6683497,2.301651 -472,145,209,0.6073239,-0.5011541,2.624518 -386.2,214.6,224,0.03664254,-0.1380011,2.391379 -365.32,217,225,-0.05669302,-0.134223,2.413303 -509.8,171.4,253,0.8289648,-0.3403659,2.653784 -537.4,359.8,268,0.7583213,0.6330149,2.424756 -464.2,145,275,0.583247,-0.5044031,2.66128 -487,211,287,0.4540744,-0.1196092,2.232819 -343,44.2,298,-0.1156708,-0.9320173,2.393701 -428.2,193,321,0.3237141,-0.2463302,2.566891 -431,146,334,0.3587621,-0.4790601,2.581508 -535,153,336,0.9560217,-0.4330901,2.585279 -284.2,214.6,341,-0.4362541,-0.1672473,2.460803 -596.2,340.6,348,1.208282,0.5899746,2.546031 -555.4,357.4,349,0.8465772,0.618761,2.37258 -155.08,209.8,358,-1.023568,-0.2244068,2.508952 -431.56,325,462,0.3812783,0.4674204,2.791514 -372.5201,184.168,465,0.006549268,-0.2960896,2.474396 -394,125,605,-1.141139,-0.5755308,2.474847 -412,195,624,-0.681511,0.7214158,2.066772 -499,343,647,1.21732,0.5952914,2.553756 -494.92,116.2,680,0.2517415,-0.4743268,2.492201 -402.76,362.44,683,0.886388,0.0437123,2.271096 -265,111.4,738,-1.300324,-0.4087219,2.566575 -425.8,247,766,-0.4926862,0.8121365,2.184522 -319,427,768,-0.4748077,0.3325146,1.933728 -228.52,229.96,780,0.4307631,-0.4437977,2.690223 -463,142.6,782,1.06709,-0.5588995,2.745509 -562.6,191.8,783,0.8636256,-0.3818837,2.604248 -211.24,61.48,797,0.6566043,0.6968775,2.475696 -561.4,169,798,-0.2340594,-0.8273687,2.384023 -560,100,808,-0.8665884,0.04920346,2.128453 -217,254.2,810,-0.8683524,-0.6611077,2.256181 -427.24,192.52,823,-0.007359764,-0.4574375,2.808517 -107.56,172.36,875,-0.3597395,-0.2084479,2.328145 -124.84,196.84,876,-1.030569,-0.7788768,2.422066 -119.08,94.60001,878,-0.4460683,-0.7170148,2.278831 -227,211,881,-1.351259,0.1200577,3.051059 -341,216,882,-0.4396225,-1.024487,2.537937 -84.52,297.64,883,-0.4075031,-0.9092671,2.339376 -248.68,51.4,884,-0.5448349,-0.9250945,2.429801 -260.2,60.04,885,-0.4605561,-0.7310547,2.321242 -228.52,64.36,886,0.3178774,-0.5510679,2.469736 -247.24,70.12,893,-0.5824615,-0.2145805,2.110771 -120.232,94.31201,896,0.3368919,-0.5756823,2.556314 -404.2,143.8,898,-1.332957,0.1180829,2.988549 -212,63,904,1.334856,-0.7011714,2.608358 -568,119,906,-0.132386,-0.2250049,2.417153 -428.2,149.8,909,-1.382378,0.01500597,3.006285 -94.31201,127.144,910,0.452224,-0.2120606,2.252512 -75.30401,277.48,911,-1.063954,-0.3618059,2.691198 -125.416,197.992,913,-0.5941474,-0.779921,2.423901 -219.4,94.60001,915,-0.4518462,-0.733367,2.340079 -320.68,235.72,923,1.221879,-0.2651314,2.323079 -589.96,192.52,925,1.368866,0.527557,2.515586 -594.28,342.28,927,0.2664365,-0.2822404,2.311766 -309.16,349.48,928,0.4272123,-0.08771864,2.089064 -469,231.4,930,-0.3221368,-0.2151102,2.388286 -93.16,300.52,933,0.6871396,0.6872142,2.181672 -366.76,201.16,937,0.6524709,0.6995603,2.227228 -189.352,267.112,960,-0.6521904,-0.0558457,2.21716 -496,116,17,0.7318001,-0.6349688,2.579381 -492,131,21,0.7584086,-0.5888994,2.670615 -521,131,22,0.7991158,-0.5417265,2.502619 -244,151,24,-0.610104,-0.4507918,2.326887 -419,167,33,0.282809,-0.3853373,2.57294 -525,179,39,0.8813995,-0.2952261,2.594605 -510,182,40,0.8196315,-0.2927457,2.644495 -367,203,45,-0.02020231,-0.2075834,2.506082 -387,215,51,0.03647994,-0.1388437,2.389008 -367,218.2,52,-0.05550765,-0.1302131,2.392483 -362,242,58,-0.159582,-0.008542035,2.142898 -427,248,60,0.1340597,0.02733748,2.144832 -494.2,298.6,67,0.5295234,0.3005561,2.337051 -538,360,72,0.7942508,0.6364909,2.440806 -356.2,70.60001,80,-0.05146625,-0.8376825,2.440236 -564,128,97,1.178675,-0.5750535,2.658503 -510,171,103,0.825913,-0.3643964,2.65157 -327,216,108,-0.2350353,-0.1617043,2.413861 -316,238,110,-0.3325724,-0.04299613,2.209859 -465,146,128,0.5818764,-0.5011947,2.656285 -392,220,135,0.04914382,-0.1092209,2.332558 -556,98,155,1.032054,-0.7060207,2.505141 -244,227,160,-0.6374925,-0.09763972,2.094409 -248,95,181,-0.5752745,-0.7003023,2.344833 -554,141,187,1.033033,-0.4888221,2.541909 -287.56,214.12,191,-0.4213988,-0.1614191,2.408276 -399.88,212.68,193,0.1153381,-0.148359,2.414698 -491.8,130.6,207,0.7525252,-0.5829028,2.666554 -520.6,130.6,208,0.8769877,-0.5421132,2.535522 -538.6,154.6,212,0.9916028,-0.4258859,2.600442 -509.8,182.2,218,0.8215806,-0.2897499,2.638112 -244,241,227,-0.6383916,-0.04876663,2.120081 -260.2,433,240,-0.6254876,0.716681,2.109616 -243.4,151,251,-0.6121808,-0.4518345,2.336671 -525.4,179.8,254,0.8778906,-0.2971104,2.588395 -488,210,260,0.4988141,-0.1327218,2.271184 -453.4,262.6,264,0.3356722,0.1048762,2.336401 -327.88,420.04,269,-0.3362802,0.7193477,2.184769 -418.6,166.6,276,0.2737238,-0.3886869,2.538772 -399.88,168.04,286,0.2092581,-0.4014837,2.63922 -283,148.6,296,-0.4348038,-0.4550296,2.340033 -437.32,211.24,299,0.2531442,-0.1264884,2.288455 -543.88,250.12,310,0.5438587,0.06749128,1.930113 -525.16,178.12,320,0.8878508,-0.3029709,2.60077 -503.56,245.8,324,0.4066511,0.03603626,1.992354 -582,196,340,0.9766871,-0.1705486,2.265481 -316.36,237.16,344,-0.3326483,-0.05058309,2.220997 -532.36,299.08,346,0.5802693,0.2778571,2.093137 -142.696,70.12001,352,-0.9981586,-0.7594623,2.213519 -242.92,150.76,355,-0.6134253,-0.4530532,2.33886 -507.88,181,357,0.8242907,-0.2924537,2.648634 -362.2,242.2,360,-0.1469726,-0.01017645,2.160472 -328.6,421,363,-0.3308486,0.7340648,2.203331 -438.76,371.08,374,0.2622467,0.6301755,2.426691 -439.912,370.792,402,0.2562638,0.6251453,2.398576 -524.584,178.984,405,0.876361,-0.291507,2.593953 -315.496,237.736,410,-0.3322817,-0.04524934,2.234218 -154.4464,208.36,422,-1.013891,-0.2204023,2.474381 -545.3201,369.064,425,0.8315175,0.6819108,2.435431 -438.5297,370.1009,446,0.2715233,0.6306273,2.45025 -388.7632,214.5808,456,0.04038032,-0.1396326,2.356017 -272.227,150.2992,501,-0.4867354,-0.4510175,2.332194 -521.4737,131.6368,513,0.8346579,-0.53945,2.513469 -279.6919,150.2992,521,-0.7619464,-0.009542817,2.164812 -401.1219,356.3322,548,0.5283067,0.6198654,2.478491 -553.4072,356.8298,551,1.097093,-0.7746068,2.930097 -193.8448,112.9744,553,0.6967145,-0.5948168,2.518154 -472.7856,174.1871,555,0.3090467,-0.3119392,2.694674 -483.7342,287.1569,562,0.7223058,0.2144403,2.11094 -517.5754,132.3833,572,0.9230204,-0.185914,2.261848 -284.6685,213.0049,574,0.4076522,0.09194744,1.999619 -503.8481,258.472,575,-0.5346337,0.5415544,2.327912 -473.98,172.9927,582,-0.3006574,-0.1339501,2.273612 -269.7386,248.2395,586,-0.1082852,-0.01507637,2.398136 -481.1464,330.6527,597,0.3670774,0.4438491,2.670004 -386.92,214.12,629,0.03215674,-0.1060801,2.130324 -203.8,94.60001,638,0.9394581,-0.1889801,2.323638 -597,341,648,-0.4948405,-0.7129387,2.399722 -265,95,649,1.037906,-0.7449576,2.720841 -492.04,130.6,665,1.139831,0.05037994,2.556748 -250.6,99.4,669,-0.6471547,-0.1022058,2.128756 -466.12,345.16,672,-0.1613865,-0.826352,2.435127 -247.24,101.8,686,0.3684171,0.4717437,2.758816 -431.272,327.592,688,-0.01225338,0.5909639,2.521947 -249.8321,242.3671,723,-0.6116298,-0.1057534,2.287317 -248.8367,233.9068,725,-0.7604212,-0.06929727,2.189119 -251.8227,251.8227,729,0.4604785,0.05142674,2.262991 -495.4791,301.9873,732,-0.7981824,-0.9196722,2.447849 -222,40,734,-0.6655626,-0.8478144,2.380034 -357,40,745,0.2202325,-0.1028802,2.363679 -342,241,748,-0.2487811,-0.7363399,2.450099 -392,124,752,-0.3666598,-0.1004986,2.361905 -563,192,753,-0.2165098,-0.8722975,2.35417 -351,41,755,-0.7916923,0.7348671,2.030424 -434.2,213.4,758,-0.7466988,-0.05002317,2.062908 -562,169,769,0.4052319,0.822086,2.266001 -327.4,94.60001,777,0.7869744,-0.3651086,2.627934 -567.4,118.6,784,0.8378366,-0.1300613,2.37123 -569.8,191.8,786,-0.4945612,0.8095509,2.175019 -319.24,428.68,788,-0.004148593,-0.5174096,2.494806 -393.4,124.6,790,0.6124128,-0.07936107,2.325275 -240.04,150.76,791,1.051401,-0.08746147,2.447562 -536.68,362.44,799,0.2242379,-0.4119077,2.649093 -346.6,52.84,800,0.1892443,0.5249813,2.714086 -429,149,801,0.4981425,-0.4372969,2.903928 -431.56,327.88,802,-0.2858534,-0.7912268,2.55055 -549.4,147.4,811,0.7543926,-0.3529143,2.638809 -502.8113,133.7104,824,-0.1239656,0.670122,2.62978 -501.1524,339.4116,828,0.5257424,-0.2827541,2.803381 -518.5707,132.881,829,-0.2358813,0.04913992,2.21852 -473.7809,175.1824,830,-0.851677,-0.09177428,2.033794 -526.5333,102.5235,835,0.4105652,0.01826343,2.174639 -499.6595,135.3693,836,0.6981944,0.09559198,2.131989 -278.6966,150.2992,843,-0.9328687,0.1238796,1.778454 -218.9769,242.8648,847,0.2937617,0.0634499,1.987682 -506.2286,237.49,849,-0.01003158,-0.3087431,2.598878 -491.8959,172.9927,852,0.1774846,0.02554613,2.118128 -466.8136,230.3236,854,0.6404456,-0.5469393,2.615572 -506.2286,119.245,856,0.3520342,0.01438896,1.907761 -527.7277,176.5759,857,0.3143915,0.5980042,2.575264 -506.2286,337.8191,860,0.601843,-0.522251,2.663091 -506.2286,255.4059,861,0.1281836,-0.3144234,2.65972 -495.4791,126.4114,862,0.2366187,-0.2820851,2.634612 -410.0799,168.2151,863,-0.3041692,-0.1291137,2.508392 -434.565,176.5759,864,-0.6511207,0.5972226,2.3369 -228,49,868,-0.4107309,-0.9083515,2.313663 -249.4,50.2,869,-0.5628545,-0.8850136,2.358752 -260,58,870,-0.8714012,-0.6777514,2.148147 -224,67,871,-1.158237,-0.7249149,2.677952 -151,98.2,872,-0.4702931,-0.503649,2.300886 -100.6,122.2,873,-1.162711,-0.5089754,2.825766 -252,149,874,-1.066058,-0.3656411,2.688976 -280,217,877,-0.5908696,-0.7845259,2.439286 -220,95,879,-0.6012979,-0.2126256,2.109697 -255,100,880,-0.06320208,-0.2017826,2.38349 -251,100,887,-0.6164627,-0.2286745,2.141518 -407,145,888,-0.5946849,-0.1388506,2.092893 -222,209,889,0.3846598,0.5706774,2.404307 -229,230.2,890,0.4430927,-0.3129615,2.526226 -439,371.8,891,-0.4764979,-0.8288187,2.236756 -429,193,892,-0.3276224,-0.5018022,2.299527 -284,149,894,-1.023193,-0.7745096,2.404802 -231,212,895,-0.7980206,-0.6822783,2.230634 -171.4,103,897,1.19563,-0.1619013,2.21589 -602,211,899,-0.2048562,0.7558571,2.222046 -85,297.4,900,-0.5709655,-1.020099,2.419332 -331,437.8,901,0.06248325,-0.9519042,2.594648 -221.8,40.6,902,-0.6215138,-0.837721,2.19925 -346.6,74.44,903,-0.512439,-0.7854812,2.43735 -237.16,94.60001,905,-1.178198,-0.7438116,2.741075 -98.92001,121.96,907,0.5282893,-0.5662091,2.697792 -325,213,908,-1.206164,-0.7286366,2.775008 -457.48,205.48,912,-0.05654858,-0.06249997,2.074832 -362.44,241.48,914,1.005742,-0.4734272,2.485576 -530.92,155.08,916,-0.9390302,-0.8303775,2.183146 -251.56,100.36,917,-0.4793496,-0.8254517,2.253508 -132.328,64.936,918,-0.6506549,-0.7633586,2.247167 -246.376,71.84801,919,-0.9726723,-0.7206497,2.196781 -206.632,85.672,920,0.1578255,-0.3153836,2.389706 -125.416,94.31201,921,-0.1949311,-0.1057401,2.250711 -384.616,189.352,922,-0.1311605,-0.07645046,2.163286 -339.688,241.192,924,0.9476789,-0.2844742,2.450242 -526.3121,192.808,926,-0.3339672,0.3256783,1.899988 -412.264,196.264,929,-1.199789,-0.7222731,2.741959 -94.31201,127.4896,931,-1.279927,0.1383755,2.915229 -286.12,215.272,932,0.6287161,0.497008,2.599407 -465.832,346.6,934,-1.169915,-0.5197318,2.84096 -522.8561,400.168,935,0.08549774,-0.2732412,2.453691 -106.408,170.344,936,0.5056652,-0.01594373,1.949345 -503.8481,246.376,938,0.07899844,-0.684842,2.360605 -510.76,401.896,939,-1.179971,-0.7467414,2.739836 -365.608,111.592,940,0.3443105,-0.184366,2.266282 -98.45921,121.2688,941,0.5127012,0.3896532,2.75097 -433,213.544,942,0.3094278,-0.4257855,2.552586 -432.3089,324.4817,943,-0.1775507,-0.1163237,2.421924 -401.2049,173.1088,944,0.8226831,0.09878287,2.082214 -316.1873,235.3168,945,0.9683869,0.5369297,2.333787 -554.6513,272.6416,946,0.7838104,-0.4170725,2.661307 -554.6513,355.5857,947,-0.05867575,-0.8867154,2.401607 -475.8545,175.1824,948,0.9707178,-0.2507158,2.159863 -332.7761,71.50241,949,0.7193356,0.2235803,2.110351 -567.0929,191.7712,950,-1.042199,-0.5226635,2.524631 -531.8417,299.5984,951,0.3159967,-0.1097035,2.148598 -122.9277,157.7642,952,0.4973312,0.02864243,1.923404 -438.9444,227.4372,953,0.8601926,-0.6020349,2.508515 -506.1291,257.297,954,0.980652,-0.3729465,2.490814 -501.1524,135.3693,955,-0.9438982,-0.3228737,2.540917 -526.0356,177.6708,956,-0.3329766,-0.220911,2.355075 -147.8109,200.0656,957,0.2545279,0.5247211,2.530112 -284.6685,212.5072,958,-0.7560498,-0.005803363,2.139079 -404.1079,356.8298,959,-0.630439,-0.1337543,2.085116 -219.9722,232.4138,961,1.160435,-0.3852597,2.629145 -214.9956,252.3204,962,1.07096,0.6545199,2.464515 -540.9656,177.6708,963,-0.3810998,-0.5134518,2.388405 -543.4539,366.7831,964,-0.6603102,-0.2198435,2.137705 -269.7386,150.2992,965,0.6512692,0.4060225,2.490666 -212.4077,212.4077,966,0.781644,0.5203239,2.21127 -478.7576,332.4443,967,-0.3863031,-0.7040414,2.368327 -535.4913,362.3042,968,0.57368,0.1875523,2.217121 -266.7527,108.4955,969,0.1252105,0.1552011,3.131861 -487.7155,293.6265,970,0.5771835,0.4761269,2.549273 -344.9855,287.6545,971,0.9156966,-0.5765609,2.66514 -460.8417,344.3882,972,0.4492289,-0.1282624,2.147024 -495.4791,144.3273,973,0.5474926,-0.1306733,2.194823 -466.8136,223.1573,974,-0.03473675,-0.08947379,2.199053 -481.7436,221.9629,975,0.639856,0.5364714,2.422333 -359.3182,237.49,976,1.232847,-0.6696843,2.913355 -484.7296,359.3182,977,0.1493192,0.5251037,2.578433 -520.5613,137.1609,978,-0.1830072,-0.2007063,2.457624 -380.8173,359.3182,979,-1.114209,-0.6799459,2.51986 -312.7368,219.5741,980,-1.186002,0.2024033,2.782053 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0006.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0006.csv deleted file mode 100644 index 3dc2fec454312229e844444f4a6666daa81d13ae..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0006.csv +++ /dev/null @@ -1,275 +0,0 @@ -302.2,67,9,-0.5561224,-0.7132972,2.324846 -315.4,73,12,-0.4902192,-0.7086744,2.378937 -574,109,22,0.7991158,-0.5417265,2.502619 -522,124,26,0.6280709,-0.517298,2.671528 -517,179,44,0.4233595,-0.2098949,2.425373 -419,187,45,-0.02020231,-0.2075834,2.506082 -587,188,49,0.8549871,-0.1678579,2.518619 -396,216,55,-0.1912355,-0.07905418,2.319283 -221.8,81.4,90,-0.8877895,-0.6312529,2.225985 -542,99,96,0.7824151,-0.6381714,2.679657 -555.4,162.28,129,0.8317829,-0.3157295,2.719932 -534,218,150,0.3453587,-0.0296153,2.165531 -608,78,155,1.032054,-0.7060207,2.505141 -516,122,167,0.6201895,-0.5206295,2.686146 -545,275,170,0.3843538,0.2096113,2.189618 -219.88,80.2,184,-0.8946632,-0.6479626,2.224454 -572.68,232.84,199,0.4191153,0.03775508,2.037258 -442,200,224,0.03664254,-0.1380011,2.391379 -605,297,233,0.5905951,0.3186385,2.103059 -295,131.8,251,-0.6121808,-0.4518345,2.336671 -608,206,261,0.7455142,-0.04757596,2.243092 -537,217,262,0.3198724,-0.04043575,2.149696 -549.64,193.96,287,0.4540744,-0.1196092,2.232819 -499,365.8,292,0.2640099,0.635204,2.427239 -555,113,295,0.7880619,-0.5523933,2.618641 -602,208,307,0.7581363,-0.06364182,2.298134 -584.2,401.8,315,0.5362727,0.7692068,2.219005 -374.248,225.64,344,-0.3326483,-0.05058309,2.220997 -195.4,47.8,352,-0.9981586,-0.7594623,2.213519 -294.76,132.04,355,-0.6134253,-0.4530532,2.33886 -396.712,424.36,363,-0.3308486,0.7340648,2.203331 -297.64,71.56001,364,-0.573987,-0.6950999,2.336457 -384.04,339.4,372,-0.4078965,0.3442186,2.003175 -334.504,130.6,379,-0.4479498,-0.4489544,2.30909 -599.8,361,391,0.8060387,0.6735147,2.436181 -197.992,199.72,422,-1.013891,-0.2204023,2.474381 -274.024,246.376,522,-0.5490837,-0.001179934,1.913466 -430.12,153.64,537,0.6038468,-0.3944668,2.817211 -587.08,94.60001,579,-0.004872784,-0.3488826,2.48725 -509.8,190.6,626,0.5618593,0.06626464,1.97305 -550,197,631,-0.5598235,0.6364572,2.42315 -587,277,641,-0.4597144,0.4066618,2.028861 -584.2,78.76,650,0.7250715,-0.6315763,2.562411 -515.8,122.2,660,0.3822629,-0.1404198,2.309678 -333.4,129.4,663,0.6844499,-0.5937862,2.616841 -302.2,217,671,-0.5360226,0.6294693,2.45344 -300.52,75.88,686,0.3684171,0.4717437,2.758816 -433,361,690,0.408253,-0.1851192,2.468041 -607,287,756,0.1377745,-0.06550087,2.386536 -202.6,196.84,765,0.4480036,0.2616957,2.024026 -580,400,771,0.2853726,-0.1099582,2.344117 -493,356.2,781,0.8019651,-0.1319705,2.395357 -441.64,199.72,805,-0.7009547,-0.6162549,2.360956 -585,140,809,0.8591101,-0.3861994,2.579304 -269.8,40.6,871,-1.158237,-0.7249149,2.677952 -194.2,76.60001,872,-0.4702931,-0.503649,2.300886 -140.2,163,875,-0.3597395,-0.2084479,2.328145 -329.32,199.72,877,-0.5908696,-0.7845259,2.439286 -417.448,185.896,937,0.6524709,0.6995603,2.227228 -600,288,951,0.3159967,-0.1097035,2.148598 -133,293.8,991,0.2651911,-0.128355,2.309048 -495.4,196.6,993,-1.173643,0.3095844,2.785842 -163.432,184.168,996,-0.9990804,-0.2213921,2.478845 -385.48,346.6,1001,-0.1463867,-0.8582246,2.490736 -132.04,296.2,1006,0.354167,-0.104992,2.242604 -168.04,299.08,1007,0.2923712,-0.5194513,2.546957 -140.68,155.08,1013,-0.6672951,-0.6723868,2.408291 -243.4,267.4,1018,-0.2301121,-0.1708561,2.430327 -483.1121,197.992,1021,-0.5196725,0.538913,1.76525 -128.872,70.12001,1028,0.632692,-0.4984387,2.65905 -579.88,106.12,1029,-0.4299376,-0.4473057,2.295659 -335.08,129.16,1031,0.4855092,-0.1161223,2.24817 -408.52,84.52,1034,0.2904853,-0.1400587,2.395993 -523,190.6,1035,-1.104146,0.5133708,2.337803 -503.8481,206.632,1040,-1.090135,-0.7367536,2.355675 -159.976,66.66401,1041,-0.06934421,-0.6849132,2.382622 -540.136,142.696,1044,-0.6096087,-0.2410936,2.432289 -291.4,191.8,1046,0.5235525,0.6861971,2.209856 -592.84,81.64,1049,0.8013012,-0.4337903,2.69306 -424.36,166.6,1052,0.2540739,0.6185226,2.441661 -584.2,401.32,1055,0.2799046,-0.2950916,2.513136 -548.2,94.60001,1056,-1.000292,-0.2202476,2.417302 -244.36,265.96,1059,0.8442547,-0.3009151,2.656161 -253,70.12,1060,-1.366121,0.1979054,2.815093 -227.368,260.2,1064,0.008527493,0.5819272,2.488714 -599.8,94.60001,1065,0.3854049,-0.3418476,2.700974 -474.76,162.28,1067,0.7902004,-0.6404619,2.605813 -438.1841,360.424,1068,-0.4364576,-0.4387966,2.272847 -594.28,157.96,1073,-0.02639534,-0.6154447,2.334649 -579.8801,182.44,1074,0.2695695,-0.2533751,2.56238 -423.4,89.8,1075,0.2850595,-0.1550245,2.442954 -467.56,176.68,1076,-0.4907465,-0.803079,2.335875 -312.04,47.08,1078,0.01465665,-0.3436688,2.482569 -422.632,159.976,1080,0.1189617,-0.4976445,2.603795 -579.8801,154.792,1081,0.5816433,-0.3772582,2.681665 -569.512,170.344,1093,0.5997418,-0.09516822,2.22367 -577,198.28,1095,-0.1311056,0.003147842,2.240226 -591.4,214.6,1103,-1.104693,-0.3761738,2.553555 -431.8,242.2,1116,-0.06180869,-0.8773392,2.400065 -424.36,168.616,1117,-0.7327971,-0.7706859,2.146143 -547,94.60001,17,0.7318001,-0.6349688,2.579381 -543,111,21,0.7584086,-0.5888994,2.670615 -295,132,24,-0.610104,-0.4507918,2.326887 -471,149,33,0.282809,-0.3853373,2.57294 -578,162,39,0.8813995,-0.2952261,2.594605 -442.6,200.2,51,0.03647994,-0.1388437,2.389008 -426,231,58,-0.159582,-0.008542035,2.142898 -560.2,152.2,103,0.825913,-0.3643964,2.65157 -381,201,108,-0.2350353,-0.1617043,2.413861 -375,227,110,-0.3325724,-0.04299613,2.209859 -554.2,112.6,126,0.7739265,-0.5479048,2.59856 -514,125,128,0.5818764,-0.5011947,2.656285 -449,205,135,0.04914382,-0.1092209,2.332558 -606,121,187,1.033033,-0.4888221,2.541909 -339.4,202.6,191,-0.4213988,-0.1614191,2.408276 -541,109,207,0.7525252,-0.5829028,2.666554 -520.6,124.6,209,0.6073239,-0.5011541,2.624518 -591.4,135.4,212,0.9916028,-0.4258859,2.600442 -561.4,164.2,218,0.8215806,-0.2897499,2.638112 -305,231,227,-0.6383916,-0.04876663,2.120081 -559.72,152.2,253,0.8289648,-0.3403659,2.653784 -578.2,161.8,254,0.8778906,-0.2971104,2.588395 -577,160.84,320,0.8878508,-0.3029709,2.60077 -588,133,336,0.9560217,-0.4330901,2.585279 -561.16,163.72,357,0.8242907,-0.2924537,2.648634 -198.28,199.72,358,-1.023568,-0.2244068,2.508952 -497.8,365.32,374,0.2622467,0.6301755,2.426691 -578.152,159.976,405,0.876361,-0.291507,2.593953 -444.7505,200.0656,456,0.04038032,-0.1396326,2.356017 -480.52,316.36,462,0.3812783,0.4674204,2.791514 -573.3137,110.9008,513,0.8346579,-0.53945,2.513469 -454.8697,350.3602,548,0.5283067,0.6198654,2.478491 -243.6112,92.23841,553,0.6967145,-0.5948168,2.518154 -548.4305,274.7153,562,0.7223058,0.2144403,2.11094 -576.4241,242.92,575,-0.5346337,0.5415544,2.327912 -441.64,199.72,629,0.03215674,-0.1060801,2.130324 -315,73,649,1.037906,-0.7449576,2.720841 -481.384,318.952,688,-0.01225338,0.5909639,2.521947 -309.1536,241.0732,729,0.4604785,0.05142674,2.262991 -384.04,430.12,768,-0.4748077,0.3325146,1.933728 -291.88,132.04,791,1.051401,-0.08746147,2.447562 -480.52,319.24,802,-0.2858534,-0.7912268,2.55055 -274.6,245.8,810,-0.8683524,-0.6611077,2.256181 -480.52,176.68,823,-0.007359764,-0.4574375,2.808517 -560.8721,334.435,828,0.5257424,-0.2827541,2.803381 -134,105,873,-1.162711,-0.5089754,2.825766 -303,131,874,-1.066058,-0.3656411,2.688976 -284.2,199,881,-1.351259,0.1200577,3.051059 -395,202,882,-0.4396225,-1.024487,2.537937 -301,76.60001,887,-0.6164627,-0.2286745,2.141518 -289,218.44,890,0.4430927,-0.3129615,2.526226 -481,176,892,-0.3276224,-0.5018022,2.299527 -337,129,894,-1.023193,-0.7745096,2.404802 -289,201.4,895,-0.7980206,-0.6822783,2.230634 -117.64,293.32,900,-0.5709655,-1.020099,2.419332 -398.2,440.2,901,0.06248325,-0.9519042,2.594648 -263,37,904,1.334856,-0.7011714,2.608358 -378,197,908,-1.206164,-0.7286366,2.775008 -125.416,108.8272,910,0.452224,-0.2120606,2.252512 -517.96,189.64,912,-0.05654858,-0.06249997,2.074832 -263.8,73,915,-0.4518462,-0.733367,2.340079 -436.4561,173.1088,922,-0.1311605,-0.07645046,2.163286 -375.4,225.64,923,1.221879,-0.2651314,2.323079 -536.68,215.56,930,-0.3221368,-0.2151102,2.388286 -337.96,201.448,932,0.6287161,0.497008,2.599407 -139.24,156.52,936,0.5056652,-0.01594373,1.949345 -482.0753,316.1873,943,-0.1775507,-0.1163237,2.421924 -376.3217,224.9488,945,0.9683869,0.5369297,2.333787 -525.6208,156.52,948,0.9707178,-0.2507158,2.159863 -502.6454,215.9909,953,0.8601926,-0.6020349,2.508515 -553.4072,112.9744,955,-0.9438982,-0.3228737,2.540917 -336.9233,200.0656,958,-0.7560498,-0.005803363,2.139079 -458.851,351.8532,959,-0.630439,-0.1337543,2.085116 -272.227,244.8554,962,1.07096,0.6545199,2.464515 -258.9891,198.075,966,0.781644,0.5203239,2.21127 -416.6491,226.7405,976,1.232847,-0.6696843,2.913355 -544.4492,353.3462,977,0.1493192,0.5251037,2.578433 -370.0677,205.2414,980,-1.186002,0.2024033,2.782053 -163,97,981,0.38041,0.4574249,2.643577 -167.8,298.6,982,-0.9378639,-0.7148125,2.125655 -491,321,983,-0.7492332,-0.6742349,2.240035 -204,49,984,-0.948717,-0.6268592,2.108777 -253,70.60001,985,-0.03543805,-0.1372417,2.403188 -200.2,73,986,0.2728427,-0.5338313,2.68193 -422.2,202.6,987,-1.242601,-0.4563396,2.667358 -453,125,988,0.3451678,-0.1656989,2.334649 -140.2,154.6,989,-1.347695,0.1778199,2.823087 -508,193,990,-0.3700046,0.7225336,2.114855 -385,432,992,-1.34837,0.1765209,2.685021 -128,299,994,-1.147039,-0.3077761,2.557673 -172.6,319,995,0.1803894,-0.3746086,2.565874 -448,153,997,-0.201055,-0.03916932,2.201122 -199,199,998,-1.300829,0.1394669,2.796805 -404.2,226.6,999,-0.4165298,0.3575459,1.878867 -142.6,287.8,1000,-0.5193309,0.5448958,1.771885 -369.4,416.2,1002,-1.10535,-0.7118967,2.343074 -379.72,47.08,1003,0.2636791,-0.4483052,2.551946 -159.4,71.56001,1004,-1.30629,0.1661703,2.5187 -464.2,135.4,1005,-1.182738,0.2016273,2.757878 -523,203,1008,0.2511035,-0.1380825,2.388563 -469,119.08,1009,0.531164,0.6887788,2.217088 -483.4,198.28,1010,0.7740628,0.6426034,2.321692 -577,383.8,1011,-1.239957,-0.4338713,2.665985 -608,363,1012,0.250248,-0.1490574,2.387347 -483.4,195.4,1014,0.3830562,-0.1620452,2.2706 -270.28,85.96001,1015,-0.6217248,-0.1982954,2.297737 -526.6,188.2,1016,-0.8581958,0.06170925,2.013529 -293.8,197.8,1017,-0.1188997,-0.7245871,2.387031 -395.56,67.24001,1019,0.2549756,-0.1420659,2.39805 -377.8,197.8,1020,0.5175694,0.6960931,2.219523 -575.56,384.04,1022,-0.6892956,-0.6619418,2.195987 -369.64,415.72,1023,0.6260837,-0.5346608,2.64549 -269.8,69.4,1024,-0.6268265,-0.1054313,2.068881 -519.4,123.4,1025,0.1537108,0.02065909,2.16055 -303.4,215.56,1026,-1.246674,-0.8095911,2.532131 -491.8,233.8,1027,0.8828549,-0.5543762,2.522892 -520.84,127.72,1030,0.2942345,-0.3874887,2.559234 -470.44,149.32,1032,-0.01365986,-0.7036838,2.515388 -549.4,196.6,1033,0.3943293,-0.1518397,2.304583 -490.6,198.28,1036,0.3296637,-0.3290736,2.623907 -185.8,386.2,1037,0.03044731,0.5793995,2.507194 -471.88,163.72,1038,0.2812361,-0.08261207,2.29881 -438.76,359.56,1039,-1.105887,-0.7582433,2.369364 -163.432,68.39201,1042,0.7242395,-0.4144004,2.656025 -407.08,77.03201,1043,0.8780993,-0.2287256,2.516096 -585.064,175.528,1045,-0.08749188,-0.1188484,2.327001 -417.7937,206.2864,1047,0.9150144,-0.6481821,2.4665 -576.4241,384.616,1048,0.2543744,-0.5085312,2.468101 -469.6337,119.1952,1050,-0.007300276,-0.3023982,2.413874 -547.048,139.24,1051,0.4788933,-0.127837,2.226253 -548.4305,193.8448,1053,0.5107245,0.7381822,2.148901 -490.024,363.88,1054,0.8220931,-0.6628109,2.68663 -472.744,163.432,1057,-0.8578649,0.05752534,1.950883 -197.992,197.992,1058,-0.7516785,-0.6694875,2.214202 -560.8721,163.432,1061,0.8019637,-0.557372,2.62334 -128.872,301.672,1062,-0.9115786,0.03513622,1.953752 -554.6513,112.9744,1063,1.006079,-0.635185,2.534052 -433,360.424,1066,0.04439576,0.5885308,2.546491 -552.5777,94.31201,1069,0.107033,-0.1469477,2.352753 -334.8496,129.5632,1070,0.7534301,-0.4214109,2.680604 -457.1921,202.1392,1071,0.9898707,-0.3134236,2.599011 -540.136,142.0048,1072,0.787719,-0.1898078,2.448071 -484.1489,195.9184,1077,-0.5198178,-0.6608924,2.494425 -301.672,92.23841,1079,0.8780865,-0.3079474,2.549845 -431.4795,135.3693,1082,-1.164827,0.2935686,2.79319 -511.1057,152.7876,1083,-0.9998823,-0.2202791,2.427127 -174.1871,317.5144,1084,0.08627713,-0.1433375,2.444074 -197.5773,197.5773,1085,0.4949575,0.5554579,2.603351 -443.9211,200.0656,1086,-0.2996696,-0.06392502,2.281992 -517.5754,338.4163,1087,-1.151458,0.3337499,2.831176 -374.2481,224.9489,1088,-1.025719,-0.2563061,2.404547 -177.6708,324.4817,1089,0.2232994,-0.07140617,2.156861 -190.9086,190.9086,1090,-0.7195543,-0.0816076,2.005048 -506.2286,208.8246,1091,0.8894371,-0.2901658,2.652002 -280.4882,223.1573,1092,-1.130537,-0.2734389,2.485856 -165.8264,190.9086,1094,0.2384529,-0.09228003,2.297245 -491.8959,208.8246,1096,-0.02084763,-0.01629176,2.465732 -416.0519,227.9348,1097,-0.608439,-0.007999082,2.111574 -422.0239,227.9348,1098,0.01867825,0.5755954,2.533278 -308.5564,242.8648,1099,-0.5804588,-0.1106625,2.059999 -433.9678,359.3182,1100,0.5605586,-0.382219,2.640649 -316.32,212.4077,1101,0.6878046,-0.05094337,2.251826 -511.6034,150.2992,1102,0.3786616,-0.06431198,2.216689 -532.5053,210.0189,1104,0.3987027,-0.2964337,2.625997 -171.2011,165.2292,1105,-1.003728,-0.316824,2.382301 -484.7296,165.8264,1106,-0.748418,-0.01623421,2.018126 -194.4918,169.4095,1107,-1.11711,-0.02685282,2.113959 -273.3218,244.6564,1108,0.4061759,0.4684058,2.790856 -165.8264,251.8227,1109,0.4148489,0.5166296,2.471151 -481.7436,317.5144,1110,0.1396021,0.5651312,2.54805 -516.9782,337.8191,1111,-1.229966,0.2682105,2.758933 -456.0641,348.5686,1112,0.2944019,0.6107056,2.46904 -158.66,316.32,1113,-0.4345593,-0.1732605,2.324984 -495.4791,359.3182,1114,0.1325344,0.04349329,2.752309 -337.8191,198.075,1115,0.01232641,-0.2973615,2.467786 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0007.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0007.csv deleted file mode 100644 index c84f456777bdeb0fb6e4e083b8e40db767dcab52..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0007.csv +++ /dev/null @@ -1,290 +0,0 @@ -507.4,133,26,0.6280709,-0.517298,2.671528 -549,177,40,0.8196315,-0.2927457,2.644495 -424.6,146.2,188,0.110883,-0.4776232,2.570091 -333.4,232.6,191,-0.4213988,-0.1614191,2.408276 -520.6,207.4,192,0.4014272,-0.1543072,2.361373 -596.2,83.8,205,1.04503,-0.6915398,2.511353 -587.08,83.08,247,1.070129,-0.711634,2.59182 -555.4,208.6,260,0.4988141,-0.1327218,2.271184 -599,135,335,1.037768,-0.4435388,2.529184 -273.4,235,466,-0.6333096,-0.1855062,2.499339 -609,309,498,0.5895438,0.289934,2.156508 -412.6,260.2,748,-0.2487811,-0.7363399,2.450099 -494.92,134.92,764,0.01365662,0.07924332,2.162769 -595,424.6,771,0.2853726,-0.1099582,2.344117 -595,417.4,776,0.09163362,-0.3637042,2.489098 -441.64,222.184,805,-0.7009547,-0.6162549,2.360956 -598.6,104.2,906,-0.132386,-0.2250049,2.417153 -282.664,94.31201,917,-0.4793496,-0.8254517,2.253508 -369.4,301,971,0.9156966,-0.5765609,2.66514 -509.8,207.4,990,-0.3700046,0.7225336,2.114855 -362.152,56.29601,1003,0.2636791,-0.4483052,2.551946 -483.1121,215.272,1014,0.3830562,-0.1620452,2.2706 -382.888,80.48801,1019,0.2549756,-0.1420659,2.39805 -507.88,137.8,1030,0.2942345,-0.3874887,2.559234 -526.3121,153.064,1044,-0.6096087,-0.2410936,2.432289 -467.5601,183.4768,1057,-0.8578649,0.05752534,1.950883 -585.64,97.48,1065,0.3854049,-0.3418476,2.700974 -460.648,194.536,1076,-0.4907465,-0.803079,2.335875 -115.048,87.40001,1124,-0.5110252,-0.7016712,2.371188 -592.84,162.28,1134,0.1900003,-0.3518452,2.587423 -103.24,254.44,1145,-0.6885917,-0.03807619,2.084083 -503.8,259,1148,-1.359773,0.1911606,2.844345 -363.88,45.64,1153,-0.6422309,-0.7927831,2.439402 -290.2,57.4,1154,-0.6587533,-0.7391756,2.405715 -245.8,74.2,1155,-0.5413078,-0.6844507,2.293864 -588.52,137.8,1161,0.3929863,-0.3982226,2.656436 -75.30401,353.512,1166,-1.281195,-0.4538827,3.055286 -94.31201,201.448,1168,-1.262255,-0.1854485,2.930192 -140.68,373.96,1173,-0.1452534,-0.8503641,2.473863 -126.28,254.44,1181,0.4591239,0.08302373,2.031627 -594.28,263.08,1183,-1.11551,-0.714695,2.407591 -114.76,100.36,1185,-0.1466401,-0.1472204,2.390293 -301.96,258.76,1188,-0.6422436,-0.7443023,2.402892 -284.68,237.16,1192,-0.7400579,-0.6803414,2.247468 -231.4,90.28001,1194,-0.5931569,-0.5981608,2.266585 -507.304,139.24,1197,0.06409439,-0.1294987,2.299367 -412.6,209.8,1198,-0.6877251,-0.09112065,2.059575 -453.7361,223.912,1199,0.3573656,-0.01657669,2.154632 -544.6,241,1201,-0.5850637,-0.05311812,2.127939 -443.08,170.92,1210,-1.143974,-0.3282773,2.614449 -125.416,223.912,1213,-1.309879,0.2160118,2.923866 -365.32,51.4,1216,-1.240746,-0.701475,2.586202 -277.48,58.02401,1217,-1.130068,-0.473796,2.576915 -123.4,178.12,1219,-0.7515925,-0.09520973,2.198105 -303.4,255.88,1220,-0.6416537,-0.7929432,2.442697 -245.8,74.44,1222,-0.4966257,-0.7152058,2.43224 -286.6,92.2,1224,-1.268274,-0.781674,2.795823 -562.6,83.94401,1225,0.3459406,-0.1843482,2.296627 -512.488,201.448,1227,-0.1295797,-0.8825735,2.45144 -358.12,84.52,1230,-0.002109674,-0.5785897,2.267932 -370.6,57.4,1233,-0.4142327,0.3686159,1.881301 -397,96.04,1234,0.8280539,-0.4510937,2.681362 -411.4,405.64,1235,0.9063213,-0.3811739,2.546179 -574.12,147.88,1237,0.2810751,-0.2551089,2.562289 -575.56,168.04,1238,-0.6267063,-0.2128854,2.215028 -460.36,193.96,1239,-1.312011,0.1848866,2.838237 -104.2,351.4,1241,-0.4446943,-0.4605456,2.324309 -140.968,374.248,1242,-1.259676,-0.2105289,2.882596 -104.2,254.2,1244,-0.9708635,-0.6292676,2.127574 -163.432,99.49601,1246,-0.01343391,-0.2097363,2.472208 -412.84,209.8,1248,0.5706255,0.7760793,2.258533 -572.68,372.52,1249,-0.6543782,-0.7482633,2.431979 -244.648,85.672,1251,-1.276346,-0.6537918,2.714966 -120.232,178.984,1252,-1.013764,-0.3171212,2.563589 -78.76001,140.968,1253,-0.6264223,-0.04733855,2.084842 -303.4,274.024,1255,-0.1310361,-0.02243053,2.184648 -285.4,280.6,1256,-0.4930279,-0.735654,2.514439 -427.816,258.472,1257,0.776823,-0.4619395,2.466493 -281.8,93.16,1258,-0.6340981,-0.2190411,2.225841 -376.84,228.52,1261,-0.9541301,-0.6322188,2.130471 -519.4,208.36,1264,0.4553879,0.5359721,2.452361 -594.28,254.44,1265,-0.02375928,-0.572015,2.264473 -422.632,109.864,1267,-0.2334672,-0.1679737,2.403587 -553.9601,211.816,1268,-0.1177811,-0.01418009,2.177799 -135.784,353.512,1271,-0.6040922,-0.443298,2.274652 -116.776,94.31201,1276,-1.468632,0.05438248,2.880113 -561.4,304.6,1312,-0.6027237,-0.4443493,2.2745 -73.576,137.512,1313,-0.1071898,-0.9367468,2.419916 -279.208,158.248,1315,-0.4903229,-0.8259997,2.368347 -297.64,87.4,12,-0.4902192,-0.7086744,2.378937 -527.8,117.4,21,0.7584086,-0.5888994,2.670615 -561,117,22,0.7991158,-0.5417265,2.502619 -567,171,39,0.8813995,-0.2952261,2.594605 -441.64,222.76,51,0.03647994,-0.1388437,2.389008 -434.2,261.4,58,-0.159582,-0.008542035,2.142898 -195.4,103.24,90,-0.8877895,-0.6312529,2.225985 -529,106,96,0.7824151,-0.6381714,2.679657 -548.2,157.96,103,0.825913,-0.3643964,2.65157 -376.6,229,108,-0.2350353,-0.1617043,2.413861 -541,121,126,0.7739265,-0.5479048,2.59856 -595,79,155,1.032054,-0.7060207,2.505141 -504,133,167,0.6201895,-0.5206295,2.686146 -526.6,117.64,207,0.7525252,-0.5829028,2.666554 -580.6,142.6,212,0.9916028,-0.4258859,2.600442 -441.4,223,224,0.03664254,-0.1380011,2.391379 -304,273,227,-0.6383916,-0.04876663,2.120081 -567.4,170.2,254,0.8778906,-0.2971104,2.588395 -553.96,211.24,287,0.4540744,-0.1196092,2.232819 -566.92,169.48,320,0.8878508,-0.3029709,2.60077 -577,141,336,0.9560217,-0.4330901,2.585279 -378.3953,258.1264,344,-0.3326483,-0.05058309,2.220997 -549.64,173.8,357,0.8242907,-0.2924537,2.648634 -278.92,88.84,364,-0.573987,-0.6950999,2.336457 -324.136,153.064,379,-0.4479498,-0.4489544,2.30909 -171.0352,239.464,422,-1.013891,-0.2204023,2.474381 -216.6544,115.048,553,0.6967145,-0.5948168,2.518154 -246,55,871,-1.158237,-0.7249149,2.677952 -278.92,238.6,881,-1.351259,0.1200577,3.051059 -392,229,882,-0.4396225,-1.024487,2.537937 -281.8,93.4,887,-0.6164627,-0.2286745,2.141518 -240,51,904,1.334856,-0.7011714,2.608358 -463.8276,386.6897,959,-0.630439,-0.1337543,2.085116 -257.7947,239.8788,966,0.781644,0.5203239,2.21127 -172,69,984,-0.948717,-0.6268592,2.108777 -125.416,222.8752,996,-0.9990804,-0.2213921,2.478845 -170.92,240.04,998,-1.300829,0.1394669,2.796805 -104.68,342.28,1000,-0.5193309,0.5448958,1.771885 -528.04,205.48,1016,-0.8581958,0.06170925,2.013529 -372.52,225.64,1020,0.5175694,0.6960931,2.219523 -592.84,411.4,1022,-0.6892956,-0.6619418,2.195987 -506.44,133.48,1025,0.1537108,0.02065909,2.16055 -568.36,114.76,1029,-0.4299376,-0.4473057,2.295659 -554.2,213.4,1033,0.3943293,-0.1518397,2.304583 -525.16,208.36,1035,-1.104146,0.5133708,2.337803 -504.8849,229.096,1040,-1.090135,-0.7367536,2.355675 -121.2688,88.09121,1042,0.7242395,-0.4144004,2.656025 -578.152,184.168,1045,-0.08749188,-0.1188484,2.327001 -420.04,185.32,1052,0.2540739,0.6185226,2.441661 -500.3921,394.984,1054,0.8220931,-0.6628109,2.68663 -548.7761,173.8,1061,0.8019637,-0.557372,2.62334 -540.136,121.2688,1063,1.006079,-0.635185,2.534052 -443.368,396.712,1066,0.04439576,0.5885308,2.546491 -463.24,176.68,1067,0.7902004,-0.6404619,2.605813 -527.6945,152.3728,1072,0.787719,-0.1898078,2.448071 -581.32,166.6,1073,-0.02639534,-0.6154447,2.334649 -574.696,192.808,1074,0.2695695,-0.2533751,2.56238 -414.28,103.24,1075,0.2850595,-0.1550245,2.442954 -171.2011,239.8788,1085,0.4949575,0.5554579,2.603351 -150.2992,380.2201,1089,0.2232994,-0.07140617,2.156861 -162.2432,230.3236,1090,-0.7195543,-0.0816076,2.005048 -423.8155,266.1555,1097,-0.608439,-0.007999082,2.111574 -541.4633,224.9489,1104,0.3987027,-0.2964337,2.625997 -478.7576,341.4023,1110,0.1396021,0.5651312,2.54805 -387.4,43,1118,-0.135535,-0.8702465,2.464695 -234,52,1119,-0.552657,-0.7724465,2.265581 -364.6,51.4,1120,-0.9393159,-0.7049904,2.153417 -280,63,1121,-0.9982348,-0.6964334,2.214533 -170.2,76.60001,1122,-1.109065,-0.7696449,2.443418 -151,86.2,1123,-0.1737695,-0.7370145,2.481564 -359,86,1125,0.985376,-0.7245734,2.640924 -287,92,1126,0.01622313,-0.6679553,2.470968 -561,86,1127,0.9580268,-0.5887806,2.502953 -404.2,99.4,1128,-0.8825227,-0.5213438,2.307956 -581,105,1129,0.9391549,-0.4120424,2.513206 -194,145,1130,0.7771899,-0.4125684,2.687153 -581,144,1131,0.8581839,-0.356534,2.64666 -529,153,1132,1.102283,-0.3277071,2.619909 -549,162,1133,-1.255196,-0.4597776,2.808826 -94.60001,193,1135,0.2158474,-0.3394253,2.582319 -437,175,1136,0.2386641,-0.2244282,2.460058 -443,177,1137,0.3664677,-0.1521973,2.270601 -466,199,1138,-0.6146501,-0.1589696,2.159424 -522,208,1139,-0.6842632,-0.1522653,2.090921 -296,239,1140,-0.04247081,-0.1317015,2.359328 -280.6,243.4,1141,-1.262044,-0.2408043,2.85837 -422.2,227.8,1142,0.6034243,-0.07552233,2.273425 -102,247,1143,-1.265775,-0.2106661,2.910426 -571,220,1144,-0.7538974,-0.08631216,2.18003 -256.6,267.4,1146,0.1650497,0.02383745,2.154302 -285,280,1147,-1.297135,-0.01082685,2.985234 -104,301,1149,0.5978751,0.5214539,2.538753 -92.2,355,1150,-0.86007,-0.7656217,2.129029 -544.6,351.4,1151,-0.1430085,-0.8881491,2.44694 -194,53,1152,-0.4089977,-0.9044024,2.617174 -245,86,1156,-0.812031,-0.6314678,2.183362 -285,90,1157,-1.130434,-0.5840462,2.490219 -214,101,1158,0.8672624,-0.4732533,2.560037 -117.4,143.8,1159,1.005468,-0.4398796,2.530133 -560,134,1160,-0.6458392,-0.4437936,2.271287 -267.4,159.4,1162,0.4342381,-0.2150783,2.422376 -466,163,1163,0.324396,-0.1149732,2.362604 -510,195,1164,-1.402575,0.154688,2.716295 -493,218.2,1165,-1.359143,0.2075002,2.909084 -94.60001,356.2,1167,0.2836239,-0.1340205,2.330708 -496,216,1169,-0.6906291,-0.08949237,2.039335 -105.4,260.2,1170,-1.432691,0.1861977,2.877938 -285.4,263.8,1171,-1.185965,0.3097362,2.856852 -74,356,1172,-0.5208369,-0.7843144,2.245883 -290,56,1174,-0.9492822,-0.6527408,2.170023 -362.2,57.4,1175,-0.3904476,-0.4584261,2.314168 -169,95.8,1176,0.8360575,-0.3689302,2.61852 -332,151,1177,0.3583835,-0.1596935,2.334027 -549,159,1178,-0.749779,-0.1498251,2.216938 -510,208,1179,-1.162474,-0.1929437,2.636115 -253,248,1180,-0.7478165,-0.05265489,2.081609 -266.2,278.2,1182,-0.140161,-0.8922283,2.458187 -363.4,45.4,1184,0.4035083,-0.1175725,2.192996 -544,214,1186,-0.616217,-0.09384614,2.114849 -394.6,227.8,1187,-0.5644301,-0.6938714,2.252522 -281,84,1189,-1.244035,-0.636668,2.571116 -249,85,1190,-0.6512964,-0.1701375,2.160908 -83.8,136.6,1191,0.3732441,-0.1617889,2.326876 -514,207,1193,-0.02406807,-0.6557819,2.433445 -399.88,100.36,1195,0.5747284,-0.4773955,2.572106 -276.04,113.32,1196,-0.008822831,-0.2101462,2.483146 -284.68,263.08,1200,-0.3118837,-0.04332967,2.212346 -378.28,260.2,1202,-0.6232148,-0.0437707,2.116554 -311.8,269.8,1203,-1.415698,0.1601887,2.815532 -301.96,274.6,1204,-0.1371218,-0.855933,2.489702 -75.4,351.4,1205,-0.9418917,-0.7040645,2.14344 -362.44,57.16,1206,-0.1285624,-0.7191967,2.394158 -169.48,75.88,1207,0.7563269,-0.410214,2.665629 -378.28,83.08,1208,0.1850704,-0.3606412,2.523921 -527.8,153.4,1209,0.2210041,-0.3352026,2.600107 -442.6,177.4,1211,-1.145531,-0.3017937,2.537215 -125.8,218.2,1212,-0.6872181,-0.04096018,2.092215 -284.68,278.92,1214,-0.1533993,-0.8541648,2.41953 -107.56,355.24,1215,-0.5848732,-0.7573079,2.177361 -82.60001,119.8,1218,-0.6124814,-0.1025274,2.106264 -255.88,264.52,1221,-0.09796114,-0.7356113,2.414786 -382.6,80.2,1223,0.9087908,-0.7050944,2.550137 -78.76,113.32,1226,0.4548763,0.01573289,1.980226 -602.2,244.6,1228,-0.1727746,-0.7457853,2.490549 -366.76,47.08,1229,-0.5504087,-0.7701671,2.233873 -283,59.8,1231,-0.09391503,-0.8630942,2.498793 -427,108,1232,-0.07897468,-0.6517705,2.34805 -536.68,145,1236,0.9935541,-0.3098325,2.623375 -286.12,224.2,1240,-1.189282,0.3285004,2.945366 -317.8,151,1243,0.3686734,0.4679649,2.704014 -480.52,345.16,1245,0.2912364,-0.4477649,2.567715 -456.04,150.76,1247,0.6460051,0.6058242,2.427536 -594.28,424.36,1250,-1.140265,-0.4661478,2.538749 -161.8,215.8,1254,-0.682796,-0.03929943,2.086514 -559.144,134.056,1259,-0.2183398,-0.1544131,2.400269 -283.0096,222.8752,1260,-1.181137,0.309502,2.888285 -142.0048,372.1744,1262,0.46907,-0.1522752,2.417141 -168.9616,98.45921,1263,0.4334036,0.04769524,1.999904 -531.496,365.608,1266,0.4830122,-0.1200365,2.228056 -372.5201,225.64,1269,-1.194582,0.2254375,2.885021 -432.3089,260.2,1270,-0.41105,0.2522164,1.710099 -436.4561,378.3953,1272,-0.3040864,-0.05672578,2.170377 -278.8624,158.5936,1273,-1.129337,-0.4744959,2.560203 -384.6161,256.0529,1274,-1.105442,-0.7246403,2.372952 -123.3424,177.256,1275,-1.248787,-0.6366518,2.555791 -81.87041,135.784,1277,-0.8777351,-0.6560321,2.302747 -59.75201,325.864,1278,-0.006637069,-0.5052859,2.30399 -189.6976,104.68,1279,0.8755665,-0.3001965,2.682805 -424.0145,129.5632,1280,0.1096362,0.5830656,2.476622 -567.0929,353.5121,1281,0.1414199,0.5660811,2.489635 -548.4305,173.1088,1282,-0.006203084,-0.5840369,2.298979 -463.4129,390.8369,1283,0.7092911,-0.4124282,2.64074 -467.5601,384.6161,1284,0.3315428,-0.1870536,2.350806 -421.9409,108.8272,1285,0.717028,0.4597468,2.689326 -523.5473,152.7876,1286,0.4917195,0.5693267,2.563755 -501.1524,202.554,1287,0.2918853,0.631192,2.491436 -541.4633,329.4583,1288,-1.128422,-0.4601584,2.473226 -523.5474,365.2902,1289,0.2314954,-0.04268054,2.161343 -498.6641,391.6663,1290,-1.123893,0.03920517,2.273555 -122.9277,177.6708,1291,-1.182656,0.3078987,2.838513 -514.5894,239.8788,1292,0.7726455,-0.5907248,2.647444 -144.3273,323.4864,1293,-0.5711088,-0.0704102,2.169049 -141.3413,374.2481,1294,-1.143884,-0.2863206,2.528733 -528.524,115.4627,1295,-1.205596,0.2953222,2.863338 -311.5424,263.7667,1296,-0.002739373,-0.2336931,2.483633 -126.4114,227.9348,1297,-0.9879594,-0.3780833,2.66427 -135.3693,371.2621,1298,0.6719006,-0.3581422,2.714767 -413.0659,204.047,1299,-0.5541358,-0.1322903,2.180717 -165.8264,201.6582,1300,0.8029404,-0.4215962,2.753388 -508.6174,168.2151,1301,-0.309672,-0.1405441,2.292295 -312.7368,244.6564,1302,-0.4311095,-0.1709126,2.351625 -523.5474,153.2852,1303,-0.6487583,-0.436404,2.283814 -366.4846,233.9068,1304,0.621274,-0.3598616,2.639729 -329.4583,230.9208,1305,0.4836062,-0.3336019,2.564239 -266.1555,162.2432,1306,0.05738692,-0.1919191,2.922325 -509.8118,165.8264,1307,-0.6210343,-0.2308447,2.257059 -495.4791,172.9927,1308,-1.282156,-0.6524284,2.615197 -384.4005,219.5741,1309,0.5771588,0.2839534,2.365012 -284.0714,219.5741,1310,-1.289768,-0.6613764,2.683002 -73.57601,135.784,1311,0.4413305,0.06971127,2.011523 -594.28,260.2,1314,-0.6034337,-0.9629359,2.440733 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0008.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0008.csv deleted file mode 100644 index c26c588be7568236b889ed33005e46fd76433156..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0008.csv +++ /dev/null @@ -1,208 +0,0 @@ -482.2,139,21,0.7584086,-0.5888994,2.670615 -587,394,72,0.7942508,0.6364909,2.440806 -547,99.4,205,1.04503,-0.6915398,2.511353 -484.84,140.68,207,0.7525252,-0.5829028,2.666554 -528.04,379.72,236,0.5411263,0.495843,2.514338 -439.912,229.096,255,0.3293029,-0.230211,2.608997 -462.376,248.104,279,0.2404138,-0.1483097,2.396693 -463.24,160.84,377,0.5651415,-0.5099359,2.627618 -591.4,401.32,391,0.8060387,0.6735147,2.436181 -608,205,406,0.9786721,-0.1643621,2.276155 -461.8,157,660,0.3822629,-0.1404198,2.309678 -535.2401,267.4,676,0.5510483,0.3137455,2.411904 -493.48,237.16,747,-0.2300949,-0.8858109,2.481619 -597.4,202.6,786,-0.4945612,0.8095509,2.175019 -503.8481,242.92,794,-0.8037969,0.7587829,2.092179 -462.376,381.16,802,-0.2858534,-0.7912268,2.55055 -501.4,238.6,912,-0.05654858,-0.06249997,2.074832 -509.032,236.008,1016,-0.8581958,0.06170925,2.013529 -528.04,132.04,1029,-0.4299376,-0.4473057,2.295659 -491.752,172.072,1051,0.4788933,-0.127837,2.226253 -514.2161,104.68,1225,0.3459406,-0.1843482,2.296627 -327.4,63.4,1316,-0.9154621,-0.736294,2.234303 -190.6,64.60001,1317,-0.9816958,-0.7011726,2.209523 -239.8,97,1318,-0.9184238,-0.6639702,2.187701 -538.4081,213.544,1326,0.06931372,-0.1531973,2.36112 -121.96,319.24,1332,-0.2130554,-0.05346986,2.179568 -244.6,332.2,1333,-0.7189671,-0.07622934,2.188222 -427.24,304.84,1334,0.6523653,0.5127209,2.567214 -245.8,350.92,1336,-0.5273077,-0.6928399,2.320977 -363.88,110.44,1338,-0.5421713,-0.463749,2.288853 -54.28,250.12,1343,0.5743819,0.6896096,2.228628 -445,223,1344,-0.07011613,-0.7727424,2.404452 -64.36,314.92,1351,-1.087109,-0.752773,2.444239 -564.04,339.4,1352,-1.095531,-0.7489111,2.474613 -301,199,1358,-1.11378,-0.6005279,2.516159 -65.28161,338.9969,1360,-0.1273399,-0.7742812,2.543491 -253,339.4,1362,-0.4035985,-0.4678311,2.303004 -362.2,130.6,1364,0.4200275,-0.22522,2.375799 -556.84,227.08,1369,-0.9772331,-0.2310219,2.488349 -121.96,318.952,1372,0.8702701,-0.49109,2.541938 -351.784,272.296,1377,-0.1495144,-0.1580719,2.254587 -372.5201,315.496,1378,-0.6551953,-0.1790106,2.082118 -392.2,274.6,1380,0.2190296,-0.1650312,2.302764 -272.296,308.584,1381,-0.7348852,-0.1343914,2.099394 -560.2,399.4,1386,-0.1567328,0.02283363,2.142477 -56.29601,301.672,1392,0.101089,-0.3009235,2.56672 -397,142.6,1394,-0.1252087,-0.02401494,2.118832 -402.76,268.84,1396,0.6172144,0.4861577,2.391513 -433,312.04,1397,0.3671365,-0.1709401,2.260961 -553.96,382.6,1399,-0.9434299,-0.7566786,2.140271 -500.3921,239.464,1400,0.996839,-0.3214921,2.577177 -490.024,236.008,1401,0.3643828,-0.05327063,2.128736 -536.6801,187.624,1403,-0.6716645,-0.1009883,2.049575 -277.48,341.416,1406,-0.6152654,-0.1107739,2.045551 -437.32,264.52,1408,0.7982757,-0.4109928,2.669209 -298.216,329.32,1409,-0.3295338,-0.06076865,2.133689 -388.072,249.832,1415,0.2741549,-0.1645091,2.362863 -533.2241,168.616,1416,0.7226692,-0.5900832,2.562907 -386.6897,135.784,1430,-0.369602,-0.2131411,2.358722 -546.76,333.64,1438,-0.5253082,-0.774042,2.24472 -518,137,22,0.7991158,-0.5417265,2.502619 -434,313,58,-0.159582,-0.008542035,2.142898 -146.44,156.52,90,-0.8877895,-0.6312529,2.225985 -484,129,96,0.7824151,-0.6381714,2.679657 -506.44,183.88,103,0.825913,-0.3643964,2.65157 -358.12,274.6,108,-0.2350353,-0.1617043,2.413861 -500,143,126,0.7739265,-0.5479048,2.59856 -463,158,167,0.6201895,-0.5206295,2.686146 -312.04,287.56,191,-0.4213988,-0.1614191,2.408276 -527.8,191.8,254,0.8778906,-0.2971104,2.588395 -535.2401,240.04,287,0.4540744,-0.1196092,2.232819 -510.76,196.84,357,0.8242907,-0.2924537,2.648634 -374,274,882,-0.4396225,-1.024487,2.537937 -241.0732,312.7368,966,0.781644,0.5203239,2.21127 -117.4,117.4,984,-0.948717,-0.6268592,2.108777 -489.4,238.6,990,-0.3700046,0.7225336,2.114855 -320.68,87.40001,1003,0.2636791,-0.4483052,2.551946 -349.3648,112.9744,1019,0.2549756,-0.1420659,2.39805 -467.8,158.2,1025,0.1537108,0.02065909,2.16055 -535,242.2,1033,0.3943293,-0.1518397,2.304583 -505,238.6,1035,-1.104146,0.5133708,2.337803 -486.5681,177.256,1044,-0.6096087,-0.2410936,2.432289 -510.76,196.264,1061,0.8019637,-0.557372,2.62334 -539.56,186.76,1073,-0.02639534,-0.6154447,2.334649 -523.5473,264.762,1104,0.3987027,-0.2964337,2.625997 -239.8,99.4,1121,-0.9982348,-0.6964334,2.214533 -88.84,139.24,1123,-0.1737695,-0.7370145,2.481564 -247,130.6,1126,0.01622313,-0.6679553,2.470968 -508,184,1133,-1.255196,-0.4597776,2.808826 -503,239,1139,-0.6842632,-0.1522653,2.090921 -549,245,1144,-0.7538974,-0.08631216,2.18003 -322.12,74.44,1153,-0.6422309,-0.7927831,2.439402 -238,94,1154,-0.6587533,-0.7391756,2.405715 -247,131,1157,-1.130434,-0.5840462,2.490219 -170.2,151,1158,0.8672624,-0.4732533,2.560037 -518,156,1160,-0.6458392,-0.4437936,2.271287 -473.32,251.56,1165,-1.359143,0.2075002,2.909084 -477,249,1169,-0.6906291,-0.08949237,2.039335 -250.6,93.4,1174,-0.9492822,-0.6527408,2.170023 -320.68,87.4,1175,-0.3904476,-0.4584261,2.314168 -115,148.6,1176,0.8360575,-0.3689302,2.61852 -489,239,1179,-1.162474,-0.1929437,2.636115 -256,361,1182,-0.140161,-0.8922283,2.458187 -202,125,1190,-0.6512964,-0.1701375,2.160908 -493,237.4,1193,-0.02406807,-0.6557819,2.433445 -488,177,1209,0.2210041,-0.3352026,2.600107 -410,213,1211,-1.145531,-0.3017937,2.537215 -329,84,1233,-0.4142327,0.3686159,1.881301 -532.36,168.04,1237,0.2810751,-0.2551089,2.562289 -431.56,225.64,1239,-1.312011,0.1848866,2.838237 -287.8,200.2,1243,0.3686734,0.4679649,2.704014 -461.8,381.16,1245,0.2912364,-0.4477649,2.567715 -422.2,181,1247,0.6460051,0.6058242,2.427536 -561.16,399.88,1249,-0.6543782,-0.7482633,2.431979 -298.216,348.328,1255,-0.1310361,-0.02243053,2.184648 -280.36,356.68,1256,-0.4930279,-0.735654,2.514439 -534.952,239.464,1268,-0.1177811,-0.01418009,2.177799 -483.7342,177.6708,1286,0.4917195,0.5693267,2.563755 -506.2286,273.3218,1292,0.7726455,-0.5907248,2.647444 -483.7342,137.8576,1295,-1.205596,0.2953222,2.863338 -469.7996,192.103,1301,-0.309672,-0.1405441,2.292295 -481.7436,177.1731,1303,-0.6487583,-0.436404,2.283814 -463.2305,198.075,1308,-1.282156,-0.6524284,2.615197 -112.6,127,1319,-0.1026126,-0.7180469,2.534193 -89.8,140.2,1320,-0.09585391,-0.6325567,2.360107 -119.8,149.8,1321,-0.5745144,-0.4584858,2.299115 -327.4,131.8,1322,0.6431135,-0.354202,2.702232 -357,138,1323,0.7528253,-0.2194714,2.394335 -249.4,208.6,1324,0.8187991,-0.1391612,2.364171 -464,199,1325,0.00938486,-0.223775,2.477016 -559,227,1327,-0.1152171,-0.1644115,2.40973 -389,250,1328,-0.6819007,-0.1909292,2.102709 -424,263,1329,-0.9769607,-0.2285923,2.503459 -375.4,272.2,1330,-0.7068113,-0.1273015,2.191884 -259,307,1331,-0.09377925,-0.04007058,2.179815 -397,310.6,1335,-0.05912592,-0.7296658,2.330143 -529,381,1337,-0.5074672,-0.6242241,2.320531 -243,135,1339,-0.6141034,-0.469372,2.304156 -254,157,1340,-1.109221,-0.4858258,2.656841 -259,207.4,1341,0.4014239,-0.2764669,2.590771 -235,211,1342,-1.277446,-0.02847497,3.043447 -33,391,1345,-0.01916434,-0.692571,2.405286 -594,442,1346,0.7093783,-0.5319532,2.676491 -347.8,106.6,1347,0.003648529,-0.148882,2.399247 -364.6,125.8,1348,-1.124191,-0.2791298,2.683044 -469,159,1349,1.224636,0.5030004,2.817122 -404.2,268.6,1350,-0.116465,-0.8654298,2.488143 -321,89,1353,0.937049,-0.5826579,2.500353 -40.6,149.8,1354,0.327632,-0.2872685,2.55581 -38,154,1355,-0.4085889,-0.4612651,2.26935 -530,133,1356,0.2721416,-0.2508305,2.537883 -435.4,220.6,1357,-1.140406,-0.1923946,2.835502 -431,227,1359,-0.7299117,-0.1208495,2.064957 -43,208.6,1361,0.003306654,-0.686967,2.46191 -317.8,118.6,1363,-0.4955388,-0.4651966,2.289481 -297.64,198.28,1365,0.3054304,-0.2484648,2.509648 -273,203,1366,0.7706578,-0.1513903,2.330258 -485.8,225.4,1367,0.03031584,-0.2189493,2.487507 -440.2,229.96,1368,-0.3576714,-0.21929,2.397334 -392.2,250.6,1370,-0.6163754,-0.1665701,2.05488 -314,274,1371,-0.6103668,-0.7944224,2.43493 -291,309,1373,-0.572879,-0.4538343,2.313227 -201.4,115,1374,-0.2064735,-0.183684,2.416913 -517,155.8,1375,-0.3068407,-0.06002153,2.180519 -248.68,208.36,1376,-0.5450861,-0.4634887,2.288035 -258.76,206.92,1379,-0.5681021,-0.7769872,2.534786 -206.92,129.16,1382,-0.5953318,-0.1103368,2.078974 -477.4,249.4,1383,0.6320972,0.5583377,2.393092 -245.8,333.64,1384,0.2929758,-0.2703374,2.545373 -299.08,327.88,1385,0.4459764,-0.1334833,2.221412 -431.8,226.6,1387,0.2737247,-0.04720234,2.208751 -525.4,243.4,1388,0.2155944,-0.5175546,2.492486 -424,329,1389,-1.136024,-0.3273489,2.693475 -500.68,276.04,1390,0.3123011,0.6193654,2.424529 -411.4,169,1391,-0.009090249,-0.5865945,2.253819 -505,437.8,1393,-0.02205047,-0.149572,2.368605 -391.24,227.08,1395,0.364816,-0.2439119,2.303628 -487.72,221.32,1398,0.3589526,-0.1839816,2.305905 -102.6064,108.8272,1402,0.2605036,-0.05091194,2.186482 -535.9889,266.4208,1404,0.1091483,-0.1645622,2.333583 -502.8113,274.7152,1405,0.1291512,-0.1332643,2.355433 -436.4561,256.744,1407,-0.1270488,-0.02393378,2.122476 -432.3089,309.9664,1410,0.6583613,0.580775,2.414458 -490.024,175.528,1411,0.885973,-0.5677095,2.528299 -374.248,318.2608,1412,0.02465525,-0.2281125,2.50155 -560.8721,400.168,1413,0.9432274,-0.4216836,2.528507 -519.4001,139.9312,1414,0.9105572,-0.3264647,2.561652 -527.6945,189.6976,1417,0.8609748,-0.5547827,2.506246 -463.4129,247.7584,1418,0.8119909,-0.5734345,2.602794 -486.2225,139.9312,1419,-0.9983923,-0.4222762,2.812118 -518.5707,140.3459,1420,0.1476494,-0.1591669,2.396279 -493.6875,144.3273,1421,0.3839204,-0.01682113,2.141662 -93.56553,263.7667,1422,0.6486708,-0.3732426,2.65305 -433.9678,257.297,1423,-0.1107247,-0.02090121,2.095923 -538.4773,275.7106,1424,0.4137454,0.1893282,2.150855 -471.2926,192.6007,1425,-0.4196639,-0.4639639,2.292859 -441.4327,312.0401,1426,-0.7236609,-0.01717112,2.094094 -553.4072,329.4583,1427,-0.007232291,-0.6150571,2.307042 -294.6218,200.0656,1428,0.4971152,-0.4146297,2.707628 -260.7807,377.2341,1429,0.5431963,-0.3656867,2.651513 -438.1482,187.3255,1431,0.2995057,-0.08668106,2.252056 -454.8697,198.075,1432,-0.6080294,-0.1093403,2.069224 -314.5284,278.6966,1433,0.7408586,-0.4019152,2.619524 -495.4791,262.5723,1434,-0.5923114,-0.01143922,2.098987 -296.6125,329.4583,1435,0.5737632,0.2610879,2.335932 -488.3127,187.3255,1436,-0.4680544,-0.7142997,2.314894 -305.5705,362.9014,1437,-0.5341608,-0.7861881,2.263455 -260.2,124.6,1439,-0.09003116,-0.7696031,2.358468 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0009.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0009.csv deleted file mode 100644 index 4c8e2ea7af48c78aba3a03245fa926db644dc0a9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0009.csv +++ /dev/null @@ -1,195 +0,0 @@ -466.12,129.16,22,0.7991158,-0.5417265,2.502619 -588,445,164,0.5375047,0.7502391,2.185163 -426.088,132.328,207,0.7525252,-0.5829028,2.666554 -582.76,325,232,0.5839325,0.2881714,2.105446 -548.2,383.8,268,0.7583213,0.6330149,2.424756 -442.6,134.2,295,0.7880619,-0.5523933,2.618641 -470.2,235,378,0.4020273,-0.1410947,2.338457 -473.8,184.6,405,0.876361,-0.291507,2.593953 -607,271,497,0.6061689,0.09978434,1.980923 -568,240,584,-0.7114568,-0.01642082,1.998958 -430.6,386.2,802,-0.2858534,-0.7912268,2.55055 -476.2,159.4,809,0.8591101,-0.3861994,2.579304 -477.928,158.248,916,-0.9390302,-0.8303775,2.183146 -566.056,341.416,927,0.2664365,-0.2822404,2.311766 -571,437.8,1022,-0.6892956,-0.6619418,2.195987 -449.8,97,1127,0.9580268,-0.5887806,2.502953 -495.4,395.8,1266,0.4830122,-0.1200365,2.228056 -521.8,376.6,1399,-0.9434299,-0.7566786,2.140271 -308.2,88.60001,1442,-0.7541851,-0.7136015,2.148745 -442.6,104.2,1446,-0.5177251,-0.6840036,2.300204 -283,127,1448,-0.8399166,-0.6285752,2.223993 -532.6,190.6,1454,0.411131,-0.210265,2.388765 -445.96,224.2,1457,-0.1948093,-0.2015287,2.477205 -208.6,319,1462,-0.5396472,-0.7363384,2.286013 -202.6,118.6,1466,0.3477639,-0.2582259,2.525835 -271,205,1468,-0.2171774,0.01095779,2.073361 -528.04,186.76,1473,0.5419745,0.5900755,2.428263 -357.4,131.8,1482,-0.09855447,-0.9217597,2.43902 -277.48,52.84,1485,-0.5776982,-0.455167,2.226669 -227.368,218.728,1488,0.5965214,0.7150381,2.242435 -365.608,213.544,1502,-0.5385985,-0.6716577,2.335118 -414.28,271.72,1503,0.8243489,-0.4165068,2.714169 -397,265.96,1504,0.534241,0.03944094,2.166917 -194.536,140.968,1505,-0.622564,-0.04887081,2.075097 -431.272,172.072,1506,0.3089139,-0.1395142,2.330464 -299.944,389.8,1508,-0.6315396,-0.2361593,2.37729 -356.68,254.44,1510,0.9034862,-0.3085276,2.564295 -208.36,318.952,1511,0.3676436,-0.1648051,2.320008 -185.896,163.432,1512,0.6251754,-0.5298213,2.636236 -457.192,236.008,1514,0.7942973,-0.4426943,2.660875 -205,131.8,1516,0.7593388,-0.587969,2.620854 -436.6,165.4,1517,-0.8604155,-0.6311506,2.187992 -530.92,330.76,1522,0.6412179,-0.5203288,2.629554 -491.752,375.976,1523,0.3156864,-0.1715602,2.235641 -474.472,184.168,1524,0.543144,0.5870355,2.428576 -413.992,151.336,1525,-0.0931716,-0.8699027,2.517168 -510.76,401.896,1527,0.526867,-0.1176188,2.242002 -270.568,77.03201,1528,-0.2586543,-0.5992116,2.292227 -502.1201,234.28,1530,-0.6680002,-0.09681957,2.05022 -268.84,206.632,1536,0.7673187,-0.6390979,2.605679 -577,349.48,1556,-0.8727167,-0.7940234,2.082369 -417.448,189.352,1557,4.554994,-0.7196091,3.276471 -425.8,130.6,21,0.7584086,-0.5888994,2.670615 -429,323,58,-0.159582,-0.008542035,2.142898 -426,120,96,0.7824151,-0.6381714,2.679657 -333.64,287.56,108,-0.2350353,-0.1617043,2.413861 -444,134,126,0.7739265,-0.5479048,2.59856 -410,151,167,0.6201895,-0.5206295,2.686146 -457.48,189.64,357,0.8242907,-0.2924537,2.648634 -410.2,151,660,0.3822629,-0.1404198,2.309678 -461.8,232.84,747,-0.2300949,-0.8858109,2.481619 -471,235,912,-0.05654858,-0.06249997,2.074832 -51.4,114.76,984,-0.948717,-0.6268592,2.108777 -270.568,75.64961,1003,0.2636791,-0.4483052,2.551946 -307.8929,104.68,1019,0.2549756,-0.1420659,2.39805 -416,152,1025,0.1537108,0.02065909,2.16055 -471.88,121.96,1029,-0.4299376,-0.4473057,2.295659 -502.6,233.8,1033,0.3943293,-0.1518397,2.304583 -473.32,234.28,1035,-1.104146,0.5133708,2.337803 -457.192,189.352,1061,0.8019637,-0.557372,2.62334 -463,147,1160,-0.6458392,-0.4437936,2.271287 -443.08,250.12,1165,-1.359143,0.2075002,2.909084 -447,247,1169,-0.6906291,-0.08949237,2.039335 -434,171,1209,0.2210041,-0.3352026,2.600107 -430.12,385.48,1245,0.2912364,-0.4477649,2.567715 -428.9911,130.3927,1295,-1.205596,0.2953222,2.863338 -425.0098,171.2011,1303,-0.6487583,-0.436404,2.283814 -277.48,49.96,1316,-0.9154621,-0.736294,2.234303 -215.56,222.76,1324,0.8187991,-0.1391612,2.364171 -513,218,1327,-0.1152171,-0.1644115,2.40973 -357,256,1328,-0.6819007,-0.1909292,2.102709 -251.8,341.8,1331,-0.09377925,-0.04007058,2.179815 -494,378,1337,-0.5074672,-0.6242241,2.320531 -198,134,1339,-0.6141034,-0.469372,2.304156 -227.08,218.44,1341,0.4014239,-0.2764669,2.590771 -199.72,222.76,1342,-1.277446,-0.02847497,3.043447 -404.2,221.8,1344,-0.07011613,-0.7727424,2.404452 -570,432,1346,0.7093783,-0.5319532,2.676491 -304.84,94.60001,1347,0.003648529,-0.148882,2.399247 -416.2,152.2,1349,1.224636,0.5030004,2.817122 -473,123,1356,0.2721416,-0.2508305,2.537883 -394.6,220.6,1357,-1.140406,-0.1923946,2.835502 -393,227,1359,-0.7299117,-0.1208495,2.064957 -267.4,112.6,1363,-0.4955388,-0.4651966,2.289481 -242,214,1366,0.7706578,-0.1513903,2.330258 -402.76,228.52,1368,-0.3576714,-0.21929,2.397334 -289,289,1371,-0.6103668,-0.7944224,2.43493 -463,147.4,1375,-0.3068407,-0.06002153,2.180519 -325.864,286.12,1377,-0.1495144,-0.1580719,2.254587 -447.4,247,1383,0.6320972,0.5583377,2.393092 -392.2,226.6,1387,0.2737247,-0.04720234,2.208751 -379.72,276.04,1396,0.6172144,0.4861577,2.391513 -428.2,322.6,1397,0.3671365,-0.1709401,2.260961 -511.1057,262.2737,1404,0.1091483,-0.1645622,2.333583 -412.84,267.4,1408,0.7982757,-0.4109928,2.669209 -529.7681,391.528,1413,0.9432274,-0.4216836,2.528507 -432.3089,245.6848,1418,0.8119909,-0.5734345,2.602794 -463.8276,130.3927,1420,0.1476494,-0.1591669,2.396279 -439.9398,135.3693,1421,0.3839204,-0.01682113,2.141662 -533.5006,324.4817,1427,-0.007232291,-0.6150571,2.307042 -291.2377,291.2377,1433,0.7408586,-0.4019152,2.619524 -194,87,1440,-0.09957173,-0.7569177,2.369629 -202,90,1441,-0.5228905,-0.7463293,2.297676 -305,94,1443,0.8499319,-0.6782948,2.571007 -197,107,1444,-0.8399793,-0.6928308,2.132832 -134,112,1445,-0.08490884,-0.7084088,2.541744 -98,125,1447,-0.4608017,-0.6237756,2.39284 -206,131,1449,1.014239,-0.4187042,2.552579 -216,160,1450,-0.4415545,-0.460324,2.300161 -95.8,169,1451,1.004418,-0.2004099,2.344164 -482,155,1452,-0.5432923,-0.4569682,2.289072 -256.6,208.6,1453,-0.6219451,-0.4549222,2.291744 -226.6,218.2,1455,0.5127902,-0.1147956,2.228894 -199,227.8,1456,0.7603341,-0.03716419,2.165916 -504,234,1458,0.3518204,-0.05283849,2.119354 -555,235,1459,-0.6338834,-0.2259774,2.379084 -314,275,1460,-0.8315998,-0.7832711,2.088437 -511,263.8,1461,-0.07585914,-0.7613562,2.356274 -93,70,1463,-0.5351096,-0.7123514,2.266106 -313,92,1464,0.9598134,-0.5560583,2.516016 -194.2,109,1465,-0.395175,-0.458642,2.299419 -474,126,1467,0.6357822,0.00394499,2.121389 -405,221,1469,0.8993298,-0.4054576,2.448831 -555,251,1470,1.052245,-0.2068113,2.392963 -423,343,1471,0.1091421,-0.1248576,2.324613 -488.2,154.6,1472,-0.3786451,0.01291835,2.072982 -415,267,1474,-0.9455639,-0.7283851,2.109781 -383,369,1475,0.6513865,-0.5253756,2.637383 -511,402,1476,-0.1428347,-0.1605773,2.364982 -36,109,1477,-0.6470474,-0.1702398,2.089914 -414,151,1478,-0.2647938,0.01296025,2.076441 -351.4,281.8,1479,0.01193849,-0.6048293,2.306313 -271,341.8,1480,1.048706,-0.3157031,2.591354 -411,351,1481,-0.5920478,-0.4536452,2.299661 -485,177,1483,-0.1022924,-0.9161505,2.476491 -209,225,1484,-0.5518517,-0.6287556,2.390066 -271.72,61.48,1486,1.011794,-0.107386,2.363889 -186.76,163.72,1487,-0.4117306,-0.1537961,2.417034 -536.2,211,1489,1.000996,-0.266902,2.585206 -276,315,1490,-0.4736517,-0.471083,2.247903 -568.6,431.8,1491,0.8173848,-0.1809936,2.353384 -483.4,188.2,1492,0.6985494,-0.02733328,2.103769 -255.88,204.04,1493,0.07459058,-0.14608,2.370643 -511,205,1494,-0.2341541,-0.08118828,2.241291 -565,239,1495,1.138881,0.5991744,2.669532 -397,265,1496,0.1180724,-0.9133143,2.54448 -365.8,313,1497,-0.8840919,-0.6265007,2.200698 -530,348,1498,0.08407445,-0.115472,2.323766 -309.4,63.4,1499,0.2624728,-0.3359199,2.638871 -77.32,170.92,1500,0.1233889,-0.1124873,2.355453 -411.4,272.2,1501,0.07036737,-0.1463545,2.361794 -532.6,272.2,1507,0.005015001,-0.2162459,2.474808 -447.4,247.24,1509,-0.5574013,-0.6271269,2.384548 -473.32,183.88,1513,-0.3627555,-0.7358507,2.575657 -409.96,150.76,1515,-0.2724653,-0.114442,2.268366 -347.2913,307.8929,1518,-0.6692556,-0.0476097,2.071655 -428.1617,131.6368,1519,0.6216545,0.3113595,2.301782 -90.16481,164.8144,1520,0.6584011,0.5290297,2.57521 -284.392,400.168,1521,0.9116854,-0.2963009,2.564884 -467.5601,234.28,1526,0.6513612,-0.3831478,2.707169 -409.4993,185.5504,1529,0.3251921,-0.07990806,2.27866 -295.4512,146.152,1531,0.5156968,0.03484825,2.15025 -465.4865,260.2,1532,-0.6105514,-0.05035711,2.08693 -283.0096,380.4688,1533,-0.4203082,-0.4566262,2.273887 -533.9153,272.6416,1534,0.7519248,-0.3216318,2.57753 -301.672,384.6161,1535,0.575227,0.4308064,2.438108 -453.8744,187.624,1537,-0.1027892,-0.8506127,2.507142 -502.6454,362.3042,1538,0.7302327,0.5390272,2.648048 -427.9958,117.4534,1539,1.101514,-0.7218314,2.558894 -272.227,85.6029,1540,0.9836146,-0.724467,2.590293 -487.7155,368.2761,1541,0.7517495,-0.6156737,2.541724 -476.2692,90.57954,1542,-0.565716,-0.6360001,2.47033 -453.8744,95.55618,1543,0.2674021,-0.08406896,2.21265 -436.9538,123.4254,1544,0.2623959,-0.04041012,2.187172 -169.4095,169.4095,1545,-0.2546588,-0.160114,2.389316 -470.3968,258.9891,1546,-0.6128294,-0.1958369,2.312766 -481.1464,273.3218,1547,0.8681824,-0.5577363,2.519164 -323.4864,294.8209,1548,0.1099849,-0.260879,2.517728 -230.3236,330.6527,1549,0.2515289,-0.05315197,2.199999 -463.8276,132.3833,1550,0.8826791,-0.3175254,2.542381 -365.2902,236.8928,1551,0.08925229,-0.2013521,2.505688 -478.7576,272.7246,1552,0.7981441,-0.5510895,2.585593 -473.7809,182.6474,1553,0.6500082,0.3968843,2.149279 -368.2761,254.8087,1554,0.5267469,-0.3699247,2.571044 -441.7314,137.1609,1555,-0.5009603,-0.8836163,2.295786 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0010.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0010.csv deleted file mode 100644 index 074ec9e915060563452e0d3aa85c7aa7be35ae26..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0010.csv +++ /dev/null @@ -1,318 +0,0 @@ -585,182,105,1.006834,-0.1799042,2.317267 -585.64,322.12,170,0.3843538,0.2096113,2.189618 -506.44,147.88,212,0.9916028,-0.4258859,2.600442 -546.76,221.32,260,0.4988141,-0.1327218,2.271184 -568.36,257.32,262,0.3198724,-0.04043575,2.149696 -589.96,182.44,477,0.9875079,-0.1750114,2.290352 -521.1281,230.824,661,0.3528336,-0.1511088,2.418275 -567.7841,256.744,676,0.5510483,0.3137455,2.411904 -466.12,110.44,680,0.2517415,-0.4743268,2.492201 -572.68,183.88,783,0.8636256,-0.3818837,2.604248 -503.56,104.68,784,0.8378366,-0.1300613,2.37123 -507.304,153.064,809,0.8591101,-0.3861994,2.579304 -471.7073,129.5632,824,-0.1239656,0.670122,2.62978 -506.1291,110.4861,1129,0.9391549,-0.4120424,2.513206 -496.36,244.36,1383,0.6320972,0.5583377,2.393092 -571,376.6,1399,-0.9434299,-0.7566786,2.140271 -512.2,178.12,1403,-0.6716645,-0.1009883,2.049575 -466.12,169.48,1411,0.885973,-0.5677095,2.528299 -480.0017,245.6848,1418,0.8119909,-0.5734345,2.602794 -521.1281,260.2,1434,-0.5923114,-0.01143922,2.098987 -92.2,205,1584,-0.4380636,-0.4574141,2.30474 -309.16,205.48,1585,-0.5483906,-0.4571492,2.283913 -587.08,224.2,1592,-0.285599,-0.2180791,2.430687 -470.2,271,1594,-0.2480621,-0.100775,2.301318 -271,327.4,1598,-0.6159189,-0.1620222,2.081834 -521.1281,344.872,1602,-0.8926369,-0.2235392,2.421966 -377.704,348.328,1603,0.6389001,0.4917988,2.485368 -549.64,369.64,1606,0.5618217,0.6516402,2.306779 -515.944,229.096,1631,-0.6376958,-0.2173746,2.44157 -529.7681,246.376,1632,-0.6819767,-0.2191796,2.428983 -335.08,350.92,1647,-0.6343705,-0.1631567,2.054741 -307,404.2,1651,-0.8314928,-0.6767171,2.134178 -172.36,123.4,1654,0.694256,-0.2041793,2.581324 -279.208,156.52,1655,-0.6251006,-0.1905741,2.139722 -343.72,336.52,1658,-0.7173855,-0.1117507,2.097083 -155.08,70.12,1666,4.048819,-0.1863462,3.331704 -597.4,94.60001,1667,-0.9238087,-0.6533441,2.167159 -120.52,152.2,1670,0.4252242,-0.2184329,2.382977 -414.28,162.28,1672,0.478167,-0.1557766,2.38597 -503.56,228.52,1675,4.203825,-0.6717559,3.240658 -350.92,337.96,1681,-0.7113794,-0.08881396,2.196443 -165.4,367,1682,-0.122874,-0.07219762,2.270858 -307.72,404.2,1684,-0.9785099,-0.2166578,2.471647 -120.232,147.88,1689,-0.11435,-0.8075189,2.486419 -436.4561,343.144,1690,-0.09206504,-0.6297296,2.494123 -260.2,71.84801,1691,0.496102,-0.2097258,2.443993 -337.96,142.696,1693,0.3245466,-0.1079299,2.256196 -488.2961,218.728,1694,-0.7370915,-0.1502334,2.148217 -549.64,227.08,1695,-0.9768177,-0.2364687,2.426159 -308.584,381.16,1697,-0.8278735,-0.6803372,2.139696 -125.416,394.984,1698,-0.7349271,-0.6760864,2.209973 -337.96,396.712,1699,-0.7996775,-0.6263247,2.211977 -172.072,121.96,1700,-0.5826337,-0.6293293,2.461267 -516.52,229.96,1704,-0.3833075,-0.2209385,2.354895 -469,270.28,1705,-0.7346755,-0.09613345,2.181921 -348.328,293.032,1707,0.9212099,-0.4230591,2.548661 -306.856,405.3521,1708,0.4557782,-0.2073159,2.435583 -484.8401,220.456,1711,-0.7361937,-0.1001353,2.176769 -119.1952,401.2049,1712,-0.6544513,-0.6054105,2.307697 -307.8929,405.3521,1714,0.02134368,-0.2122535,2.491308 -222.184,170.344,1715,0.1031143,-0.1301706,2.326202 -411.4,219.88,1716,0.07455236,-0.1169108,2.310091 -403.624,256.744,1717,-0.4233431,-0.1649681,2.370712 -465.832,265.384,1718,0.6191614,0.5002679,2.39113 -464.68,271.72,1719,-0.7404702,-0.09090332,2.1657 -303.4,151.336,1725,-0.7302648,-0.1446049,2.162744 -388.36,287.56,1730,-0.1142922,-0.8472855,2.445672 -509.032,229.096,1731,0.007167965,-0.6604481,2.409508 -374.248,120.232,1734,0.351434,0.4376956,2.66828 -406.5963,234.9021,1736,-0.3427927,-0.6148632,2.378933 -472.744,393.256,1737,0.530422,-0.349743,2.636263 -560.2,405.4,1738,1.28212,-0.7407525,2.646697 -441.64,194.536,1740,0.2681457,-0.2764973,2.536384 -498.6641,83.94402,1741,0.07668478,-0.1444727,2.361771 -147.8109,170.2058,1742,0.8252018,-0.3030044,2.600592 -429.544,222.184,1743,0.5244371,-0.3579319,2.664685 -434.728,194.536,1746,0.530852,-0.1140431,2.241505 -327.592,204.904,1747,-0.2870193,-0.6234058,2.431223 -498.6641,322.408,1748,-0.4981599,-0.6401197,2.422102 -548.7761,227.368,1749,-0.6902037,-0.6019157,2.269783 -481.2459,244.8554,1754,-0.6410887,-0.2342655,2.365161 -579.8801,270.568,1755,-0.584298,-0.6231633,2.410144 -341.8999,317.0167,1756,-0.2266072,-0.1454015,2.351668 -222.8752,168.9616,1758,0.1338623,-0.2027341,2.58547 -498.6641,322.4081,1760,-0.4414953,-0.45597,2.249532 -328.6288,204.2128,1763,-0.5896554,-0.6227465,2.332889 -287.848,218.728,1764,0.6620274,-0.5048086,2.681548 -237.3904,160.6672,1766,1.072317,-0.3143604,2.572569 -438.5297,154.4464,1767,-0.4212555,-0.1765376,2.363279 -519.4001,171.0352,1769,0.2814603,-0.06822804,2.236269 -493.6875,331.9466,1773,-0.4301171,-0.4567756,2.268268 -500,323,58,-0.159582,-0.008542035,2.142898 -389.8,291.4,108,-0.2350353,-0.1617043,2.413861 -455.4641,127.144,207,0.7525252,-0.5829028,2.666554 -593.8,383.8,268,0.7583213,0.6330149,2.424756 -441,148,660,0.3822629,-0.1404198,2.309678 -120.52,101.8,984,-0.948717,-0.6268592,2.108777 -309.9664,69.42881,1003,0.2636791,-0.4483052,2.551946 -446.2,148.6,1025,0.1537108,0.02065909,2.16055 -486.5681,185.896,1061,0.8019637,-0.557372,2.62334 -474,91,1127,0.9580268,-0.5887806,2.502953 -495.4,244.6,1169,-0.6906291,-0.08949237,2.039335 -473.32,392.68,1245,0.2912364,-0.4477649,2.567715 -544.6,400.6,1266,0.4830122,-0.1200365,2.228056 -456.3627,127.9044,1295,-1.205596,0.2953222,2.863338 -277.48,224.2,1324,0.8187991,-0.1391612,2.364171 -405,258,1328,-0.6819007,-0.1909292,2.102709 -538,380,1337,-0.5074672,-0.6242241,2.320531 -252,128,1339,-0.6141034,-0.469372,2.304156 -287.56,218.44,1341,0.4014239,-0.2764669,2.590771 -258.76,225.64,1342,-1.277446,-0.02847497,3.043447 -434.2,219.4,1357,-1.140406,-0.1923946,2.835502 -433,227,1359,-0.7299117,-0.1208495,2.064957 -433,225.64,1387,0.2737247,-0.04720234,2.208751 -569.1665,256.0529,1404,0.1091483,-0.1645622,2.333583 -578.152,393.256,1413,0.9432274,-0.4216836,2.528507 -493.6875,125.416,1420,0.1476494,-0.1591669,2.396279 -352.1518,291.2377,1433,0.7408586,-0.4019152,2.619524 -248,77,1440,-0.09957173,-0.7569177,2.369629 -257,77,1441,-0.5228905,-0.7463293,2.297676 -322.12,123.4,1448,-0.8399166,-0.6285752,2.223993 -315.4,207.4,1453,-0.6219451,-0.4549222,2.291744 -568.36,183.88,1454,0.411131,-0.210265,2.388765 -287.8,218.2,1455,0.5127902,-0.1147956,2.228894 -261.4,229,1456,0.7603341,-0.03716419,2.165916 -551,229,1458,0.3518204,-0.05283849,2.119354 -362,281,1460,-0.8315998,-0.7832711,2.088437 -568.6,257.8,1461,-0.07585914,-0.7613562,2.356274 -270.28,326.44,1462,-0.5396472,-0.7363384,2.286013 -161.8,51.4,1463,-0.5351096,-0.7123514,2.266106 -445,221,1469,0.8993298,-0.4054576,2.448831 -468,267,1474,-0.9455639,-0.7283851,2.109781 -561,406,1476,-0.1428347,-0.1605773,2.364982 -103,95.8,1477,-0.6470474,-0.1702398,2.089914 -444,147,1478,-0.2647938,0.01296025,2.076441 -356.2,350.2,1480,1.048706,-0.3157031,2.591354 -405.4,124.6,1482,-0.09855447,-0.9217597,2.43902 -309.16,52.84,1486,1.011794,-0.107386,2.363889 -237.16,160.84,1487,-0.4117306,-0.1537961,2.417034 -334.6,322.6,1490,-0.4736517,-0.471083,2.247903 -549.4,199,1494,-0.2341541,-0.08118828,2.241291 -430.6,316.6,1497,-0.8840919,-0.6265007,2.200698 -465.4,271,1503,0.8243489,-0.4165068,2.714169 -448.84,265.96,1504,0.534241,0.03944094,2.166917 -404.2,257.32,1510,0.9034862,-0.3085276,2.564295 -270.568,327.592,1511,0.3676436,-0.1648051,2.320008 -237.736,161.704,1512,0.6251754,-0.5298213,2.636236 -505,179.56,1513,-0.3627555,-0.7358507,2.575657 -455.1185,127.4896,1519,0.6216545,0.3113595,2.301782 -505.576,178.984,1524,0.543144,0.5870355,2.428576 -560.8721,407.08,1527,0.526867,-0.1176188,2.242002 -442.6768,183.4768,1529,0.3251921,-0.07990806,2.27866 -517.3265,258.1264,1532,-0.6105514,-0.05035711,2.08693 -388.7632,399.1313,1535,0.575227,0.4308064,2.438108 -486.2225,185.1357,1537,-0.1027892,-0.8506127,2.507142 -496.1758,83.11458,1542,-0.565716,-0.6360001,2.47033 -478.7576,88.09122,1543,0.2674021,-0.08406896,2.21265 -468.8043,110.4861,1544,0.2623959,-0.04041012,2.187172 -215.9909,169.4095,1545,-0.2546588,-0.160114,2.389316 -527.7277,262.5723,1546,-0.6128294,-0.1958369,2.312766 -377.2341,299.5985,1548,0.1099849,-0.260879,2.517728 -493.6875,123.4254,1550,0.8826791,-0.3175254,2.542381 -532.5053,269.7386,1552,0.7981441,-0.5510895,2.585593 -506.1291,177.6708,1553,0.6500082,0.3968843,2.149279 -470.3968,133.5777,1555,-0.5009603,-0.8836163,2.295786 -238.6,38.2,1558,4.002178,-0.5809503,3.201819 -137,45,1559,-0.8176738,-0.7178039,2.131497 -599.8,79,1560,-0.9198198,-0.7171212,2.114153 -598,95,1561,-0.02919264,-0.6862628,2.390214 -171.4,98.2,1562,-0.5147722,-0.7185478,2.29699 -119.8,103,1563,0.8002608,-0.6392444,2.56767 -368,111,1564,-0.9328906,-0.7010362,2.134801 -256.6,110.2,1565,-0.8889785,-0.6915691,2.128108 -465.4,111.4,1566,-0.9566519,-0.6976579,2.123272 -111.4,118.6,1567,-0.9185417,-0.69576,2.134468 -141,118,1568,-0.7227875,-0.6776975,2.204299 -100,120,1569,-0.5250022,-0.6720159,2.315099 -120,121,1570,-0.5088274,-0.6690422,2.31401 -206.2,127,1571,4.045482,-0.1611432,3.236687 -256,133,1572,-0.8660933,-0.658456,2.143919 -262,133,1573,4.049871,-0.1810846,3.335645 -607,136,1574,-0.9500203,-0.6590893,2.14886 -156,139,1575,-0.8897433,-0.6501188,2.158159 -598,143,1576,-0.9148428,-0.6507197,2.175727 -108,149,1577,-0.9545962,-0.6508151,2.188315 -142,149,1578,-0.7942346,-0.6272002,2.221916 -121,152.2,1579,-0.8800091,-0.6260574,2.207459 -99.4,160.6,1580,-0.923647,-0.6164309,2.198499 -179.8,161.8,1581,-0.969659,-0.5923882,2.248908 -141.4,169,1582,-0.3727069,-0.4734516,2.398393 -122,178,1583,-0.4061667,-0.4591905,2.281486 -330,203,1586,-0.5668186,-0.467082,2.293421 -317,208,1587,-0.6220012,-0.4541865,2.290602 -287,219,1588,-0.9703487,-0.5393611,2.276114 -278,224,1589,0.8156871,-0.05547466,2.242977 -260,227,1590,0.3292895,-0.1667825,2.290411 -98,237,1591,0.08984903,-0.1152201,2.307382 -508.6,229,1593,-0.1552355,-0.07886732,2.268622 -354,285,1595,-0.6262541,-0.245139,2.375757 -440,309,1596,-0.1429685,-0.01935169,2.204308 -409,315.4,1597,-0.1656293,-0.01302547,2.206008 -467.8,326.2,1599,0.7789015,0.4239661,2.666071 -464,332,1600,-0.584264,-0.1431706,2.099814 -369,348,1601,-0.8446962,-0.2124875,2.475832 -177,375,1604,0.5056257,0.5527909,2.466481 -166,380,1605,-0.6576721,-0.04821427,2.081164 -545,400,1607,-0.5082842,-0.8864899,2.249915 -376.6,411.4,1608,-0.8095146,-0.7804902,2.093892 -599,421,1609,1.103166,-0.6791976,2.474607 -245,33,1610,-0.5162848,-0.7656963,2.275357 -172,54,1611,-0.04284563,-0.7274982,2.353708 -517,86.2,1612,-0.8846333,-0.7322515,2.10009 -257,87,1613,-0.8346402,-0.6869093,2.120162 -369,94,1614,4.215472,-0.2209869,3.42036 -140,88,1615,3.913289,-0.16065,3.248149 -172,115,1616,4.160436,-0.2013288,3.431607 -594,137,1617,0.5610178,-0.5122101,2.626187 -600,141,1618,0.2540146,-0.243823,2.518869 -590.2,143.8,1619,0.344258,-0.04157669,2.116998 -435,154,1620,-0.09760564,-0.1224086,2.293619 -434,231,1621,-0.6842874,-0.2054603,2.50769 -569,258,1622,-0.8689862,-0.2436182,2.462176 -441.4,286.6,1623,-0.8826281,-0.2241639,2.406717 -229,349,1624,-0.1041179,-0.9138632,2.472595 -165,367,1625,-0.9306391,-0.6557195,2.166954 -173,377,1626,-0.4554737,-0.4559264,2.318109 -310,53,1627,-0.6377698,-0.4573524,2.299759 -116,151,1628,0.5586431,-0.1313583,2.385329 -309,211,1629,0.3290284,-0.09815773,2.22013 -253,231,1630,0.05232099,-0.1235604,2.290523 -470,271,1633,-0.7376702,-0.2116526,2.473042 -256,335,1634,-0.7920176,-0.2118418,2.475819 -244,341,1635,-0.8106434,-0.2151506,2.458044 -217,355,1636,-0.9245636,-0.2193124,2.439906 -197,365,1637,-0.9714151,-0.2224923,2.460759 -193,367,1638,-0.6020357,-0.05392711,2.087593 -149.8,388.6,1639,-0.7282792,-0.0654714,2.140311 -125,398,1640,-0.5169082,-0.774474,2.259536 -391,395,1641,-0.9576564,-0.6513675,2.200994 -329,420,1642,-0.09499338,-0.1477272,2.363004 -256,80,1643,-0.107489,-0.1419908,2.444171 -95,163,1644,-0.6470661,-0.1722996,2.129143 -419,283,1645,-0.7205705,-0.05130569,2.109955 -391,290,1646,-0.1060213,-0.9137005,2.415391 -345.4,425.8,1648,-0.7169775,-0.09198707,2.190776 -321,43,1649,-0.09483109,-0.1502892,2.368086 -379,349,1650,-0.7370454,-0.08412302,2.171337 -417,281,1652,-0.4549048,-0.6096095,2.348616 -313,412.6,1653,1.008546,-0.1672922,2.25381 -591.4,184.6,1656,-0.6952914,-0.1925981,2.109357 -484,213,1657,-0.6852402,-0.1577563,2.05488 -329,349,1659,-0.7249483,-0.08044327,2.182613 -361,362.2,1660,-0.7403678,-0.07714219,2.129681 -339.4,394.6,1661,-0.1371402,-0.9239619,2.396868 -312.04,411.4,1662,-0.7841259,-0.7818989,2.112867 -327.88,418.6,1663,-0.8470312,-0.7613151,2.101122 -317.8,41.8,1664,4.341048,-0.5930322,3.316429 -180,57,1665,-0.1397408,-0.7086825,2.513253 -315,123,1668,-0.9540958,-0.6518154,2.173452 -597.4,142.6,1669,0.3795118,-0.5091401,2.599706 -104,158,1671,-0.9683676,-0.5363057,2.286811 -492.04,217,1673,-0.6063919,-0.1611891,2.090029 -98.2,241,1674,-0.6635184,-0.0328078,2.093039 -369.4,347.8,1676,-0.9017099,-0.7370709,2.097533 -373,419.8,1677,-0.8773602,-0.6275466,2.226239 -600,86,1678,-0.6183886,-0.1856823,2.126972 -129.4,85,1679,-0.8719793,-0.2454847,2.451819 -139,172.6,1680,-0.6800199,-0.1627882,2.074448 -352.36,362.44,1683,-0.9275224,-0.6554605,2.1464 -442,308,1685,-0.7285945,-0.1199138,2.114307 -122.2,147.4,1686,-0.9253592,-0.6582153,2.158903 -121,401.8,1687,-0.2840508,-0.03365953,2.207609 -327.88,394.12,1688,-0.5066483,-0.7882154,2.24883 -316.36,88.84,1692,0.4921443,-0.1254399,2.221679 -519.4,247.24,1696,-0.7499965,-0.1218539,2.072971 -200.2,130.6,1701,0.3405936,-0.1612213,2.250115 -179.56,160.84,1702,0.1637485,-0.09655932,2.363492 -212.68,172.36,1703,0.3575937,-0.02252681,2.135342 -566.92,263.08,1706,-0.7972622,-0.7495875,2.108461 -181,74.44,1709,-0.9886777,-0.224491,2.446036 -500.3921,151.336,1710,-0.7288091,-0.1324147,2.115785 -324.4817,386.6897,1713,-0.02835348,-0.3340809,2.366842 -341.0704,318.2608,1720,0.02272248,-0.2129178,2.470059 -571.2401,375.976,1721,-0.7187902,-0.112074,2.090645 -312.04,409.4993,1722,-0.3222284,-0.6167061,2.404457 -408.808,256.744,1723,0.5158582,-0.1892337,2.458456 -341.0704,394.9841,1724,-0.5953715,-0.09941803,2.071347 -488.2961,220.456,1726,0.06657451,-0.1485642,2.362749 -391.528,372.5201,1727,-0.1136063,-0.1496282,2.47329 -307.8929,380.4688,1728,0.2704077,-0.1887998,2.241192 -448.552,265.384,1729,-0.6105462,-0.159202,2.07279 -376.3217,347.2913,1732,0.9125327,-0.3086948,2.558409 -320.3344,69.42881,1733,0.03698042,-0.2833528,2.460829 -506.9585,177.256,1735,0.5645837,0.600671,2.445002 -303.7456,150.2992,1739,-0.8719043,-0.6184413,2.202114 -450.9713,264.3472,1744,-0.4088195,-0.4578843,2.290761 -488.2961,185.5504,1745,-0.1078907,-0.008357466,2.130436 -304.5751,150.2992,1750,0.7370279,-0.4162984,2.671744 -245.8508,156.2712,1751,0.2240123,-0.1632058,2.328997 -217.4839,170.2058,1752,0.5189195,0.05990267,2.180324 -456.3627,170.2058,1753,-0.4146576,-0.1661403,2.375906 -269.7386,326.97,1757,-0.1442443,-0.02319609,2.106959 -395.15,299.5985,1759,-0.3967467,-0.1697281,2.373021 -404.1079,254.8087,1761,-0.5465816,-0.452861,2.283928 -346.8766,314.5284,1762,-0.2843857,-0.03506582,2.206632 -436.4561,341.8999,1765,0.3603559,-0.3667444,2.53337 -436.4561,192.6007,1768,-0.6049156,-0.1072235,2.057993 -341.4023,314.5284,1770,-0.1953006,-0.0154152,2.095328 -392.164,371.2621,1771,0.8697818,-0.3039594,2.645422 -523.5474,263.7667,1772,-0.3027634,-0.04769103,2.179875 -484.7296,186.1311,1774,0.8748108,-0.3080702,2.639977 -438.1482,341.4023,1775,0.0905299,-0.1767165,2.327491 -326.97,205.0423,1776,1.093429,-0.2970406,2.564564 -484.7296,183.7423,1777,-0.4710456,-0.7089325,2.303795 -459.6473,258.9891,1778,-0.5375152,-0.6470004,2.400359 -524.1445,172.9927,1779,-0.09254487,-0.8617786,2.39315 -269.8,116.2,1780,4.282966,-0.9118302,3.130861 -237.4,161.8,1781,-1.002009,-0.8048922,2.167449 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0011.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0011.csv deleted file mode 100644 index a2bdb670d2651751cb052912f3ef3ccd7c715ad8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0011.csv +++ /dev/null @@ -1,277 +0,0 @@ -461.8,110.44,21,0.7584086,-0.5888994,2.670615 -594,169,195,1.147798,-0.1113268,2.353203 -595,200,261,0.7455142,-0.04757596,2.243092 -496.36,106.12,354,0.8473113,-0.5487261,2.55367 -454.6,132.04,377,0.5651415,-0.5099359,2.627618 -601,301,416,1.227476,0.5739013,2.55246 -467.5601,151.336,581,0.6654271,-0.3686661,2.7396 -583.3361,232.552,676,0.5510483,0.3137455,2.411904 -442.6,135.4,764,0.01365662,0.07924332,2.162769 -509.32,140.68,769,0.4052319,0.822086,2.266001 -561.4,413.8,891,-0.4764979,-0.8288187,2.236756 -601,307,927,0.2664365,-0.2822404,2.311766 -592.6,295,970,0.5771835,0.4761269,2.549273 -458.92,96.04,1056,-1.000292,-0.2202476,2.417302 -476.2,75.30401,1127,0.9580268,-0.5887806,2.502953 -469,149.8,1132,1.102283,-0.3277071,2.619909 -511,135.4,1237,0.2810751,-0.2551089,2.562289 -451.72,199.72,1357,-1.140406,-0.1923946,2.835502 -462.376,208.36,1368,-0.3576714,-0.21929,2.397334 -589,359.8,1386,-0.1567328,0.02283363,2.142477 -460.6,255.4,1396,0.6172144,0.4861577,2.391513 -496.936,106.408,1414,0.9105572,-0.3264647,2.561652 -584.2,228.52,1461,-0.07585914,-0.7613562,2.356274 -564.3281,161.704,1473,0.5419745,0.5900755,2.428263 -334.6,40.6,1486,1.011794,-0.107386,2.363889 -475,243.4,1504,0.534241,0.03944094,2.166917 -470.44,143.56,1517,-0.8604155,-0.6311506,2.187992 -473.8,94.60001,1566,-0.9566519,-0.6976579,2.123272 -584.2,114.76,1574,-0.9500203,-0.6590893,2.14886 -360.424,192.808,1587,-0.6220012,-0.4541865,2.290602 -434.728,320.68,1601,-0.8446962,-0.2124875,2.475832 -562.6,342.28,1606,0.5618217,0.6516402,2.306779 -584.2,123.4,1618,0.2540146,-0.243823,2.518869 -576,122,1619,0.344258,-0.04157669,2.116998 -472,265,1623,-0.8826281,-0.2241639,2.406717 -549.4,224.2,1632,-0.6819767,-0.2191796,2.428983 -428.68,267.4,1646,-0.1060213,-0.9137005,2.415391 -415.72,394.12,1648,-0.7169775,-0.09198707,2.190776 -440.2,320.68,1650,-0.7370454,-0.08412302,2.171337 -379,376.6,1651,-0.8314928,-0.6767171,2.134178 -428.2,335.8,1660,-0.7403678,-0.07714219,2.129681 -398.44,388.072,1663,-0.8470312,-0.7613151,2.101122 -579.4,124.6,1669,0.3795118,-0.5091401,2.599706 -201.16,375.4,1698,-0.7349271,-0.6760864,2.209973 -492.04,248.68,1719,-0.7404702,-0.09090332,2.1657 -434.44,237.16,1723,0.5158582,-0.1892337,2.458456 -346.6,58.02401,1733,0.03698042,-0.2833528,2.460829 -225.64,159.976,1742,0.8252018,-0.3030044,2.600592 -371.08,188.2,1747,-0.2870193,-0.6234058,2.431223 -593,246,1755,-0.584298,-0.6231633,2.410144 -360,45,1782,-0.106044,-0.8099734,2.498482 -213,118,1790,0.02573441,-0.4228546,2.359864 -552,156,1792,0.2861008,-0.2367301,2.535492 -438.76,168.04,1793,0.5057538,-0.1305607,2.341764 -532.36,208.36,1796,-0.1576152,-0.02563722,2.19611 -395,325,1810,4.12991,-0.138834,3.317501 -431,267,1816,4.315099,-0.8379387,3.265596 -173.8,54.28,1818,4.079458,-0.7001865,3.172776 -579,62,1821,-0.2382997,-0.1713264,2.334854 -448.6,196.6,1823,-0.9526387,-0.827099,2.118424 -371.08,71.56001,1830,1.21054,-0.2322629,2.688073 -574,169,1834,0.07354878,-0.1669204,2.327982 -395.8,325,1838,-0.7843363,-0.7547423,2.125944 -343,111.4,1842,1.116143,-0.1340657,2.282035 -587.08,159.4,1844,0.3232694,-0.1707779,2.23792 -595,163,1845,0.03491458,-0.1506039,2.336469 -453.4,211,1846,0.6323223,0.4915402,2.475365 -203.8,88.60001,1853,0.4664997,-0.2026256,2.399292 -333.64,61.48,1858,0.5265365,0.07941738,2.178824 -145,59.8,1863,-0.05625607,-0.1428145,2.393485 -447.4,259,1866,0.3510668,-0.09592647,2.23006 -510.76,134.92,1868,-0.5673828,-0.1651374,2.34709 -583,345.4,1872,-0.1346323,-0.8545421,2.463655 -578.2,182.2,1885,0.2355324,-0.1600803,2.342144 -452,177,1890,-0.6921253,-0.0925554,2.090728 -524.2,207.4,1891,0.1474101,-0.256559,2.444614 -418.6,370.6,1893,-0.08745039,-0.8719997,2.512607 -453.16,211.24,1894,0.9755148,-0.5852242,2.483565 -194.536,382.888,1895,1.00749,-0.1071924,2.349108 -333.64,58.6,1896,-0.7182636,-0.07930999,2.182059 -577,182.44,1898,0.9352776,-0.2100456,2.289278 -577,159.4,1901,0.6786892,0.5101691,2.504378 -343.72,327.88,1902,-0.9601526,-0.588258,2.265028 -456,133,1903,0.6882766,0.5394645,2.584781 -175.528,196.264,1905,0.5731435,0.4502832,2.437239 -201.448,374.248,1907,-0.7314692,-0.137411,2.147726 -583.3361,344.872,1909,0.5849816,0.4571039,2.452651 -349.48,323.56,1911,-0.9732252,-0.5821927,2.237691 -438.76,113.32,1920,0.65736,-0.5837186,2.556457 -198.075,144.3273,1934,3.995119,-0.4505473,2.942609 -532.6,295,58,-0.159582,-0.008542035,2.142898 -422.2,268.6,108,-0.2350353,-0.1617043,2.413861 -462.376,111.592,207,0.7525252,-0.5829028,2.666554 -584.2,231.4,262,0.3198724,-0.04043575,2.149696 -602,353,268,0.7583213,0.6330149,2.424756 -536.6801,208.36,661,0.3528336,-0.1511088,2.418275 -473.32,94.60001,680,0.2517415,-0.4743268,2.492201 -475.8545,112.9744,824,-0.1239656,0.670122,2.62978 -327.88,209.8,1324,0.8187991,-0.1391612,2.364171 -549,350,1337,-0.5074672,-0.6242241,2.320531 -451,207,1359,-0.7299117,-0.1208495,2.064957 -451,206.2,1387,0.2737247,-0.04720234,2.208751 -500.7377,222.8752,1418,0.8119909,-0.5734345,2.602794 -571.2401,162.28,1454,0.411131,-0.210265,2.388765 -462,201,1469,0.8993298,-0.4054576,2.448831 -469,293,1497,-0.8840919,-0.6265007,2.200698 -324.136,305.128,1511,0.3676436,-0.1648051,2.320008 -284.392,149.608,1512,0.6251754,-0.5298213,2.636236 -509.32,159.4,1513,-0.3627555,-0.7358507,2.575657 -463.4129,110.9008,1519,0.6216545,0.3113595,2.301782 -491.1992,165.2292,1537,-0.1027892,-0.8506127,2.507142 -414.0612,277.2036,1548,0.1099849,-0.260879,2.517728 -496.6735,105.5095,1550,0.8826791,-0.3175254,2.542381 -550.9188,242.3671,1552,0.7981441,-0.5510895,2.585593 -511.1057,157.7642,1553,0.6500082,0.3968843,2.149279 -283,32,1558,4.002178,-0.5809503,3.201819 -580,60,1560,-0.9198198,-0.7171212,2.114153 -578,77,1561,-0.02919264,-0.6862628,2.390214 -224,109,1568,-0.7227875,-0.6776975,2.204299 -579,122,1576,-0.9148428,-0.6507197,2.175727 -207.4,143.8,1579,-0.8800091,-0.6260574,2.207459 -185.32,150.76,1580,-0.923647,-0.6164309,2.198499 -594.28,201.16,1592,-0.285599,-0.2180791,2.430687 -525,207,1593,-0.1552355,-0.07886732,2.268622 -325,304.6,1598,-0.6159189,-0.1620222,2.081834 -502.6,298.6,1599,0.7789015,0.4239661,2.666071 -559,370,1607,-0.5082842,-0.8864899,2.249915 -302.2,76.60001,1613,-0.8346402,-0.6869093,2.120162 -575,117,1617,0.5610178,-0.5122101,2.626187 -335,41,1627,-0.6377698,-0.4573524,2.299759 -493,249,1633,-0.7376702,-0.2116526,2.473042 -403,326.2,1647,-0.6343705,-0.1631567,2.054741 -347,33,1649,-0.09483109,-0.1502892,2.368086 -448,260,1652,-0.4549048,-0.6096095,2.348616 -382.6,382.6,1653,1.008546,-0.1672922,2.25381 -595,163,1656,-0.6952914,-0.1925981,2.109357 -382.6,381.16,1662,-0.7841259,-0.7818989,2.112867 -577,75.88,1667,-0.9238087,-0.6533441,2.167159 -189.4,147.4,1671,-0.9683676,-0.5363057,2.286811 -434.2,320.2,1676,-0.9017099,-0.7370709,2.097533 -578,67,1678,-0.6183886,-0.1856823,2.126972 -422.2,334.6,1683,-0.9275224,-0.6554605,2.1464 -378.28,375.4,1684,-0.9785099,-0.2166578,2.471647 -399.88,365.32,1688,-0.5066483,-0.7882154,2.24883 -342.28,75.88,1692,0.4921443,-0.1254399,2.221679 -562.6,204.04,1695,-0.9768177,-0.2364687,2.426159 -538.12,224.2,1696,-0.7499965,-0.1218539,2.072971 -412.264,365.608,1699,-0.7996775,-0.6263247,2.211977 -536.68,208.36,1704,-0.3833075,-0.2209385,2.354895 -491.8,248.2,1705,-0.7346755,-0.09613345,2.181921 -377.704,377.704,1708,0.4557782,-0.2073159,2.435583 -505.576,134.056,1710,-0.7288091,-0.1324147,2.115785 -397.0576,359.7328,1713,-0.02835348,-0.3340809,2.366842 -378.3953,376.3217,1714,0.02134368,-0.2122535,2.491308 -490.024,242.92,1718,0.6191614,0.5002679,2.39113 -502.1201,201.448,1726,0.06657451,-0.1485642,2.362749 -511.1057,158.5936,1735,0.5645837,0.600671,2.445002 -475.8545,243.6112,1744,-0.4088195,-0.4578843,2.290761 -562.6,204.904,1749,-0.6902037,-0.6019157,2.269783 -386.192,293.6265,1770,-0.1953006,-0.0154152,2.095328 -481.1464,312.7368,1775,0.0905299,-0.1767165,2.327491 -491.8959,165.8264,1777,-0.4710456,-0.7089325,2.303795 -316,101,1780,4.282966,-0.9118302,3.130861 -283.24,149.32,1781,-1.002009,-0.8048922,2.167449 -584.2,39.4,1783,-0.9894257,-0.7442133,2.151559 -128,62,1784,-0.4890149,-0.7219593,2.321724 -340,76,1785,-0.9919122,-0.713429,2.115589 -154,93,1786,-0.1266661,-0.7035852,2.520627 -303.4,99.4,1787,-0.9257036,-0.6761617,2.115116 -170,105,1788,0.6618828,-0.4675856,2.646529 -343,111,1789,1.325866,-0.2117231,2.548718 -456,143,1791,0.6514946,-0.1081181,2.229972 -575,195,1794,0.2372968,-0.04403568,2.146546 -453,211,1795,-0.152966,-0.1510187,2.344013 -565,242,1797,-0.6851665,-0.1599119,2.066832 -444,265,1798,0.5706251,0.485068,2.364506 -501,298,1799,-0.6203527,-0.09544793,2.052844 -422,335,1800,-0.6680463,-0.08551075,2.055871 -583,346,1801,-0.6751378,-0.03855612,2.077255 -455,349,1802,-0.9947531,-0.7869323,2.122529 -443.8,364.6,1803,-0.09136557,-0.7625515,2.372141 -441.4,387.4,1804,-0.5401484,-0.7534161,2.256681 -148,60,1805,-0.93946,-0.674574,2.165916 -377,73,1806,-0.3175156,-0.06548499,2.159051 -301,79,1807,-0.6890259,-0.1881672,2.12186 -192,131,1808,0.6136974,0.5693308,2.379992 -482,307,1809,-0.03918223,-0.7036033,2.560545 -589,360,1811,-0.5587363,-0.6205373,2.375056 -352.6,110.2,1812,0.7159736,-0.06199178,2.192287 -586,124,1813,-0.2121355,-0.1649948,2.349061 -286,151,1814,-0.1056984,0.002144307,2.155019 -595,200.2,1815,-0.959048,-0.783482,2.102854 -525,298,1817,-0.5240591,-0.7841845,2.264933 -573,50,1819,1.030103,-0.2061496,2.372268 -298.6,67,1820,0.29814,-0.274822,2.542104 -566,161,1822,-0.7276444,-0.09369203,2.182163 -429.4,268.6,1824,0.5670052,-0.5080971,2.575506 -379,376,1825,-1.010484,-0.668588,2.207516 -162,32,1826,-0.4362284,-0.4548455,2.266036 -455.8,133,1827,-0.1269401,-0.7688686,2.363421 -147,151,1828,-0.9836089,-0.7971566,2.133804 -371,189,1829,3.951848,-0.8018329,3.125535 -148.6,56.2,1831,0.8073218,-0.1911147,2.264557 -573.4,49,1832,0.9830564,-0.143651,2.236816 -516.52,166.6,1833,0.7858497,-0.0593609,2.342751 -597.4,167.8,1835,-0.6918515,-0.1891132,2.117127 -563.8,205,1836,-0.09688397,-0.8579309,2.400046 -481,235,1837,-0.9742754,-0.7724876,2.096712 -358.6,44.2,1839,-0.05048357,-0.7158876,2.586004 -170.2,59.8,1840,-1.011686,-0.7167925,2.190183 -254.44,65.8,1841,0.8943286,-0.2002288,2.234424 -139,120,1843,0.2407459,-0.2431285,2.50424 -536,205,1847,-0.7647075,-0.1502658,2.074882 -475,244,1848,-0.1362317,-0.8580832,2.467601 -562.6,343,1849,-1.029043,-0.7823601,2.130798 -398.2,358.6,1850,-0.9191533,-0.7267957,2.116669 -334.6,58.6,1851,-1.007256,-0.7124127,2.184656 -131.8,68.2,1852,-0.91802,-0.6430492,2.229548 -143.8,121,1854,0.2944551,-0.2336235,2.496408 -191.8,157,1855,-0.06805189,-0.8693631,2.532635 -506,196,1856,0.9462867,-0.1810851,2.23561 -463,208.6,1857,0.2391515,-0.04909664,2.145464 -593,161,1859,-0.7178659,-0.05656146,2.121547 -565,241,1860,-0.988538,-0.7944831,2.139798 -595,247,1861,-0.6118533,-0.1616846,2.359298 -410,390,1862,0.6591733,0.5399987,2.564981 -344.2,328.6,1864,-0.914514,-0.7279311,2.122669 -548.2,350.2,1865,0.8330653,-0.4157229,2.472594 -204,89,1867,-0.2177711,-0.1784278,2.402313 -548.2,222.76,1869,0.5848536,0.4839086,2.370811 -414.28,267.4,1870,-0.718487,-0.108684,2.093813 -358.12,319.24,1871,4.382434,-0.8423396,3.319101 -411.4,366.76,1873,-0.4099128,-0.4563289,2.283953 -569.8,51.4,1874,0.2950257,-0.2364672,2.4958 -336.52,58.6,1875,-0.6123323,-0.4593369,2.295754 -371.8,188.2,1876,0.5006539,0.06635261,2.172778 -463.24,208.36,1877,-0.2309012,-0.08019581,2.244413 -316.36,212.68,1878,-0.1227507,-0.01092784,2.120948 -592.6,245.8,1879,0.6880165,0.389431,2.333005 -467.8,292.6,1880,-0.9842966,-0.2183106,2.461043 -532.36,294.76,1881,-0.7243864,-0.05001622,2.116255 -592.6,311.8,1882,0.9732168,-0.1094584,2.332114 -193.96,382.6,1883,1.022475,-0.08913168,2.318757 -411.4,394.6,1884,0.8005413,0.634013,2.4094 -585.64,182.44,1886,-0.1212392,-0.8910208,2.437988 -601,353.8,1887,0.2940825,-0.3605508,2.493603 -499.24,222.76,1888,0.3666455,-0.1697636,2.301319 -340.6,43,1889,-0.4309238,-0.4583909,2.304373 -361,191.08,1892,-0.9932995,-0.2266969,2.431366 -510.76,92.58401,1897,-0.9156484,-0.6524909,2.177383 -382.888,381.16,1899,-0.6147761,-0.162657,2.357348 -204.904,142.696,1900,0.5648666,-0.5077782,2.573389 -560.8721,341.416,1904,-0.9801583,-0.2392626,2.413472 -546.3569,347.2913,1906,0.5984274,0.4868276,2.373896 -562.9457,338.9969,1908,-0.5785401,-0.1589011,2.371558 -382.5424,357.6592,1910,-0.7379031,-0.1185337,2.0691 -560.8721,339.4116,1912,-0.3860781,-0.2343405,2.339293 -414.0612,366.7831,1913,-0.9976539,-0.2318648,2.417355 -177.6708,197.5773,1914,-0.8874307,-0.6428291,2.179639 -391.6663,267.2503,1915,0.3972976,-0.1208781,2.354612 -195.089,381.713,1916,-0.1835051,-0.0311717,2.128353 -218.9769,144.3273,1917,-0.04156824,-0.578584,2.251302 -518.5707,219.9722,1918,0.777104,-0.5458227,2.580195 -518.5707,297.1101,1919,1.297479,-0.1005106,2.621452 -472.7856,114.4674,1921,0.6034855,0.3690673,2.556613 -543.4539,182.6474,1922,0.9919398,-0.6427597,2.791935 -463.8276,110.4861,1923,0.7656143,-0.496704,2.617916 -532.5053,320.5004,1924,0.006636909,0.02534857,2.168049 -451.8837,105.5095,1925,-0.9374304,-0.6505136,2.167293 -470.3968,129.9946,1926,0.5562765,0.4469128,2.536877 -538.4773,290.6405,1927,5.026943,-0.9426986,3.619286 -198.075,144.3273,1928,5.127528,-0.4187097,4.123372 -538.4773,341.4023,1929,4.481342,-0.1567616,3.566902 -561,48,1930,0.05610022,-0.3080356,2.441984 -538,110,1931,-0.93557,-0.6510278,2.169994 -570,124,1932,-1.045217,-0.8208524,2.152736 -435.88,205.48,1933,-1.004964,-0.7714977,2.113415 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0012.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0012.csv deleted file mode 100644 index d0f2e797811e04c4bc10e8b27b9845d32867bc46..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0012.csv +++ /dev/null @@ -1,277 +0,0 @@ -500.2,183.4,40,0.8196315,-0.2927457,2.644495 -512,126,208,0.8769877,-0.5421132,2.535522 -605,349,349,0.8465772,0.618761,2.37258 -512,101,392,1.040495,-0.6636826,2.568528 -476.2,130.6,665,1.139831,0.05037994,2.556748 -518,414,841,-0.5755368,-0.3872024,2.34199 -484.1489,177.256,852,0.1774846,0.02554613,2.118128 -591.4,362.44,964,-0.6603102,-0.2198435,2.137705 -590.2,307,970,0.5771835,0.4761269,2.549273 -463.4129,204.2128,1106,-0.748418,-0.01623421,2.018126 -521.1281,242.92,1165,-1.359143,0.2075002,2.909084 -430.2353,133.7104,1323,0.7528253,-0.2194714,2.394335 -574.6,351.4,1399,-0.9434299,-0.7566786,2.140271 -509.0321,129.5632,1420,0.1476494,-0.1591669,2.396279 -605,222,1459,-0.6338834,-0.2259774,2.379084 -422.92,265.96,1460,-0.8315998,-0.7832711,2.088437 -565,377,1476,-0.1428347,-0.1605773,2.364982 -500,257,1503,0.8243489,-0.4165068,2.714169 -570,84,1560,-0.9198198,-0.7171212,2.114153 -371,219,1590,0.3292895,-0.1667825,2.290411 -589,218,1592,-0.285599,-0.2180791,2.430687 -531,225,1593,-0.1552355,-0.07886732,2.268622 -369.4,297.4,1598,-0.6159189,-0.1620222,2.081834 -358.12,47.08,1610,-0.5162848,-0.7656963,2.275357 -397,205,1629,0.3290284,-0.09815773,2.22013 -508,258,1633,-0.7376702,-0.2116526,2.473042 -448,273,1646,-0.1060213,-0.9137005,2.415391 -482,320,1650,-0.7370454,-0.08412302,2.171337 -388,53,1664,4.341048,-0.5930322,3.316429 -332.2,84.52,1666,4.048819,-0.1863462,3.331704 -498,291,1685,-0.7285945,-0.1199138,2.114307 -457.192,356.968,1699,-0.7996775,-0.6263247,2.211977 -489.16,253,1729,-0.6105462,-0.159202,2.07279 -430.12,123.4,1734,0.351434,0.4376956,2.66828 -545.8,302.2,1748,-0.4981599,-0.6401197,2.422102 -284,119,1788,0.6618828,-0.4675856,2.646529 -550,177,1792,0.2861008,-0.2367301,2.535492 -579,365,1811,-0.5587363,-0.6205373,2.375056 -574.12,146.44,1813,-0.2121355,-0.1649948,2.349061 -411,92,1830,1.21054,-0.2322629,2.688073 -595,190,1835,-0.6918515,-0.1891132,2.117127 -399,69,1839,-0.05048357,-0.7158876,2.586004 -587,183,1844,0.3232694,-0.1707779,2.23792 -555.4,347.8,1849,-1.029043,-0.7823601,2.130798 -376.84,77.32,1851,-1.007256,-0.7124127,2.184656 -519.4,153.4,1868,-0.5673828,-0.1651374,2.34709 -476.2,219.88,1877,-0.2309012,-0.08019581,2.244413 -370.6,219.4,1878,-0.1227507,-0.01092784,2.120948 -259,364.6,1883,1.022475,-0.08913168,2.318757 -574.12,201.16,1898,0.9352776,-0.2100456,2.289278 -574.12,349.48,1909,0.5849816,0.4571039,2.452651 -523.72,127.72,1931,-0.93557,-0.6510278,2.169994 -268.6,88.60001,1936,-0.9329154,-0.6924466,2.121112 -541,224,1942,4.249409,-0.6997681,3.036044 -163,403,1944,4.041743,-0.6241055,2.925643 -286.6,94.60001,1948,0.8070721,-0.1736481,2.478219 -117.4,315.4,1954,-1.09635,-0.7265081,2.404646 -581,83,1955,-0.2531264,-0.02067746,2.173898 -469,134.92,1956,4.405167,-0.6247887,3.121564 -156.52,163.72,1957,1.142894,-0.697082,2.587606 -585.64,85.96001,1959,-0.1701477,-0.1472341,2.380175 -454,275,1962,-0.5501055,-0.7554422,2.241595 -370,297,1963,1.054816,-0.0956519,2.362625 -575,201,1966,-0.927646,-0.6498978,2.182461 -580,80,1967,4.416242,-0.7143833,3.137547 -276,107,1977,-1.134704,-0.4297871,2.758237 -262,363,1981,-1.006432,-0.7682293,2.10944 -505,93.4,1985,-0.9558597,-0.6693514,2.143812 -379,125.8,1986,-1.039902,-0.6893468,2.216106 -450,247,1992,-1.004728,-0.7565476,2.129054 -594,100,1994,0.3108232,-0.1697459,2.232789 -545,222,1997,-0.937759,-0.7223087,2.102197 -574,187,2001,-0.6453565,-0.1901786,2.104952 -587,317,2003,-1.115644,-0.1762044,2.7029 -302,108,2011,-0.6897331,-0.1878883,2.121507 -250,151,2012,0.5042772,0.5551882,2.47027 -449.8,309.4,2013,-1.153665,-0.2819015,2.839475 -120.52,369.64,2016,-0.03969624,-0.7795352,2.375519 -311.8,133,2018,0.363844,-0.1399905,2.280269 -365,113,2020,0.5936458,0.2856105,2.277571 -585.64,306.28,2023,-0.90987,-0.7286803,2.127003 -415,94,2025,0.7265859,0.5596318,2.604736 -261.64,196.84,2027,-1.120865,-0.3129673,2.615615 -515.8,154.6,2031,-0.6476848,-0.4588701,2.292498 -568.36,185.32,2032,-0.2229763,-0.1809388,2.399887 -363,220,2034,-0.5355882,-0.4548889,2.294502 -439,271,2035,0.1162357,-0.1592011,2.379536 -441.64,319.24,2036,-0.1685445,-0.08788569,2.225703 -386.92,209.8,2037,0.4853111,0.5457703,2.465297 -489.16,245.8,2038,-1.114741,-0.268935,2.631451 -502.12,286.12,2039,0.4336168,-0.2014706,2.391321 -550.6,373,2040,0.20372,-0.06502379,2.08083 -170.92,369.64,2041,-0.7395091,-0.1386385,2.140579 -516.52,211.24,2042,-0.9670193,-0.7764981,2.090114 -585.4,250.6,2043,0.7897895,-0.6322423,2.65957 -290.44,78.76,2045,-0.9744308,-0.5872378,2.271845 -581.32,202.6,2047,0.01046375,-0.2090657,2.48029 -467.56,221.32,2049,-0.7047018,-0.09098077,2.096552 -448.84,245.8,2050,0.004597436,0.439538,2.234661 -506.44,257.32,2051,-0.7135066,-0.06865498,2.160595 -286.6,82.60001,2055,-0.9367523,-0.719327,2.095156 -306.28,107.56,2057,-0.6015051,-0.461934,2.301767 -309.4,109,2058,-0.5801892,-0.1449114,2.150809 -371.08,219.88,2060,-0.725023,-0.1127194,2.082454 -458.2,319,2061,-0.6947459,-0.04512645,2.131755 -484.84,350.92,2062,-0.1277807,-0.7185447,2.34457 -412.84,198.28,2068,0.3732415,-0.1585714,2.285952 -358.12,132.04,2070,0.960333,-0.314436,2.721311 -538.12,222.76,2071,0.3056068,-0.144704,2.374913 -316.36,155.08,2072,-1.144846,-0.3171774,2.597821 -474.76,316.36,2077,-0.05898098,-0.6093067,2.279302 -566,107,2090,-0.9452882,-0.8327919,2.111587 -586.6,248.2,262,0.3198724,-0.04043575,2.149696 -586.6,316.6,927,0.2664365,-0.2822404,2.311766 -478,166,1132,1.102283,-0.3277071,2.619909 -541,354,1337,-0.5074672,-0.6242241,2.320531 -465.4,212.2,1357,-1.140406,-0.1923946,2.835502 -579.4,364.6,1386,-0.1567328,0.02283363,2.142477 -571,183.4,1454,0.411131,-0.210265,2.388765 -587.8,244.6,1461,-0.07585914,-0.7613562,2.356274 -490,253,1504,0.534241,0.03944094,2.166917 -516.0823,175.1824,1553,0.6500082,0.3968843,2.149279 -302,154,1579,-0.8800091,-0.6260574,2.207459 -518,304,1599,0.7789015,0.4239661,2.666071 -553.96,348.04,1606,0.5618217,0.6516402,2.306779 -363,96,1613,-0.8346402,-0.6869093,2.120162 -561,140,1617,0.5610178,-0.5122101,2.626187 -558,143,1619,0.344258,-0.04157669,2.116998 -489,272,1623,-0.8826281,-0.2241639,2.406717 -449,322,1647,-0.6343705,-0.1631567,2.054741 -390,55,1649,-0.09483109,-0.1502892,2.368086 -423.4,364.6,1651,-0.8314928,-0.6767171,2.134178 -468,267,1652,-0.4549048,-0.6096095,2.348616 -428.2,370.6,1653,1.008546,-0.1672922,2.25381 -473,331,1660,-0.7403678,-0.07714219,2.129681 -427.24,369.64,1662,-0.7841259,-0.7818989,2.112867 -443.368,374.248,1663,-0.8470312,-0.7613151,2.101122 -566.2,100.6,1667,-0.9238087,-0.6533441,2.167159 -474,317,1676,-0.9017099,-0.7370709,2.097533 -466,329,1683,-0.9275224,-0.6554605,2.1464 -424.36,363.88,1684,-0.9785099,-0.2166578,2.471647 -566.92,221.32,1695,-0.9768177,-0.2364687,2.426159 -544.6,224.2,1704,-0.3833075,-0.2209385,2.354895 -503.8481,253.288,1718,0.6191614,0.5002679,2.39113 -453.16,244.36,1723,0.5158582,-0.1892337,2.458456 -502.6454,314.5284,1775,0.0905299,-0.1767165,2.327491 -401,67,1782,-0.106044,-0.8099734,2.498482 -574,63,1783,-0.9894257,-0.7442133,2.151559 -380,126,1789,1.325866,-0.2117231,2.548718 -577,215,1794,0.2372968,-0.04403568,2.146546 -570,256,1797,-0.6851665,-0.1599119,2.066832 -385,126,1812,0.7159736,-0.06199178,2.192287 -455,273,1816,4.315099,-0.8379387,3.265596 -464,213,1823,-0.9526387,-0.827099,2.118424 -424,364,1825,-1.010484,-0.668588,2.207516 -287,83,1840,-1.011686,-0.7167925,2.190183 -251,131,1843,0.2407459,-0.2431285,2.50424 -591.4,184.6,1845,0.03491458,-0.1506039,2.336469 -544.6,221.8,1847,-0.7647075,-0.1502658,2.074882 -252,87,1852,-0.91802,-0.6430492,2.229548 -516,211,1856,0.9462867,-0.1810851,2.23561 -476.2,220.6,1857,0.2391515,-0.04909664,2.145464 -591,184,1859,-0.7178659,-0.05656146,2.121547 -591.4,263.8,1861,-0.6118533,-0.1616846,2.359298 -574,351,1872,-0.1346323,-0.8545421,2.463655 -414,198,1876,0.5006539,0.06635261,2.172778 -591.4,263.08,1879,0.6880165,0.389431,2.333005 -574.6,201.4,1885,0.2355324,-0.1600803,2.342144 -587.8,359.8,1887,0.2940825,-0.3605508,2.493603 -532.6,221.8,1891,0.1474101,-0.256559,2.444614 -463,359.8,1893,-0.08745039,-0.8719997,2.512607 -427.816,367.336,1899,-0.6147761,-0.162657,2.357348 -385,322.6,1902,-0.9601526,-0.588258,2.265028 -388.6,319,1911,-0.9732252,-0.5821927,2.237691 -309.5518,155.2759,1917,-0.04156824,-0.578584,2.251302 -486.2225,135.3693,1921,0.6034855,0.3690673,2.556613 -551,72,1930,0.05610022,-0.3080356,2.441984 -555,144,1932,-1.045217,-0.8208524,2.152736 -455.8,215.8,1933,-1.004964,-0.7714977,2.113415 -230,71,1935,-1.00417,-0.739566,2.118163 -597.4,104.2,1937,-0.5296593,-0.6807055,2.293587 -273,106,1938,-0.9794418,-0.6831188,2.190127 -306,127,1939,0.5032505,-0.1276513,2.322735 -363,129,1940,-0.2121643,-0.01643846,2.169177 -268,145,1941,-1.13783,-0.1878693,2.687914 -520,311,1943,-1.000371,-0.7855071,2.107861 -589,80,1945,-0.9707363,-0.7538893,2.108191 -269.8,79,1946,-0.9729863,-0.7131092,2.136514 -595,88.60001,1947,-0.8542302,-0.6220821,2.224487 -283,121,1949,0.2996306,-0.2288342,2.497107 -308,167,1950,-0.261298,-0.04516272,2.15394 -530,203,1951,-1.134313,-0.4285345,2.761525 -477,221,1952,3.836536,-0.7168198,2.970384 -516,308,1953,0.02513277,-0.5741448,2.285877 -513,315,1958,-0.9858311,-0.7355302,2.140598 -506,94,1960,-0.6337221,-0.2457754,2.364947 -273,111,1961,0.5999962,0.4851195,2.461065 -556,349,1964,4.150602,-0.7239887,3.078595 -364.6,95.8,1965,0.7488996,-0.6245272,2.539655 -486,117,1968,-1.025771,-0.7043683,2.156143 -294,157,1969,0.0395438,-0.1344628,2.2907 -584,79,1970,4.458843,-0.70412,3.099053 -258,133,1971,-0.9601368,-0.7833068,2.100778 -505,255,1972,-0.1067402,-0.7565904,2.362523 -584.2,79,1973,-0.9717497,-0.7525796,2.106638 -288,77,1974,-0.9782639,-0.741152,2.137199 -415,94.60001,1975,0.1618625,-0.1357914,2.190835 -287,95,1976,-0.1316197,-0.0647046,2.21676 -545.8,238.6,1978,-0.9827676,-0.2216197,2.4499 -512,289,1979,-0.07288859,-0.9077061,2.453457 -117.64,314.92,1980,4.117926,-0.7210883,3.051396 -385.48,60.04,1982,1.243627,-0.7207272,2.629702 -579.4,82.60001,1983,-0.1711138,-0.7009506,2.492001 -270,89,1984,-0.9064158,-0.6798265,2.138104 -311,133,1987,0.8723455,-0.2966687,2.545964 -294,143,1988,0.9996887,-0.1913411,2.330041 -236,151,1989,-0.03622524,-0.2139617,2.448203 -514.6,178.6,1990,0.4338526,0.4769291,2.738595 -573.4,187,1991,3.881393,-0.4998161,2.930742 -486,363,1993,-0.9478726,-0.7195696,2.107565 -266,99,1995,-0.6285738,-0.1880648,2.134153 -301,111,1996,-1.116651,-0.2691468,2.627817 -450,310,1998,0.8729715,-0.1923983,2.288026 -171,370,1999,0.4112521,-0.2173265,2.376869 -306,108,2000,1.070374,0.5239415,2.464534 -515.8,211,2002,-0.5349023,-0.8374451,2.274253 -457,311,2004,1.125647,-0.7162491,2.580776 -349,69,2005,-0.8859527,-0.6220218,2.196912 -169,401,2006,-0.5686144,-0.4568134,2.268249 -505,93.16,2007,0.06499581,-0.1449544,2.358213 -307,166.6,2008,-0.9497738,-0.7236219,2.100949 -387.4,209.8,2009,-1.022853,-0.6807952,2.197116 -489.4,253,2010,-0.6207798,-0.1868479,2.139376 -442.6,320.2,2014,4.385121,-0.7115495,3.136155 -551.08,372.52,2015,-0.915266,-0.6779886,2.128184 -578.44,81.64,2017,-0.5456783,-0.7155414,2.259893 -420.04,87.4,2019,-0.184466,-0.1588306,2.400768 -539.8,227.8,2021,0.6633229,0.5904802,2.404147 -446.2,273.4,2022,-0.09627932,-0.7595541,2.368054 -578.44,363.88,2024,-0.9786599,-0.5921188,2.259404 -305.8,107.8,2026,0.9138284,-0.2955707,2.538704 -539.56,352.36,2028,0.9891648,-0.4022488,2.557169 -519.4,176.68,2029,1.038395,-0.1819982,2.367548 -166.6,353.8,2030,1.085898,-0.08830455,2.375281 -574.696,201.448,2033,-0.6647002,-0.1794897,2.140676 -431.272,348.328,2044,0.9517866,-0.09571718,2.29708 -467.5601,127.144,2046,0.1688863,-0.2554271,2.473539 -260.2,200.0656,2048,0.07298373,-0.1179293,2.304803 -460.648,360.424,2052,-0.9861821,-0.7679145,2.084988 -560.8721,408.808,2053,0.4282476,-0.1445795,2.315147 -438.1841,370.792,2054,-0.935339,-0.7232587,2.103325 -536.6801,223.912,2056,-0.09166329,-0.7114407,2.418715 -407.4257,112.9744,2059,-0.6370635,-0.08237834,2.069108 -459.2657,355.5857,2063,0.6982964,0.365495,2.429245 -455.1185,376.3217,2064,-0.7431299,-0.1317802,2.09889 -419.8672,104.68,2065,-0.3828337,-0.452572,2.30604 -562.9457,316.1873,2066,0.6817068,-0.7173759,2.449532 -446.8241,351.4384,2067,-0.5153672,-0.6793123,2.323123 -492.4433,94.31201,2069,-0.8877815,-0.6369814,2.159783 -488.7108,180.1591,2073,-0.2624619,-0.0203378,2.208493 -511.1057,234.9021,2074,-0.5854188,-0.1508708,2.099379 -160.2525,356.8298,2075,-1.001328,-0.6434792,2.299258 -501.1524,317.0167,2076,-0.9623101,-0.2742162,2.64337 -233.9068,180.1591,2078,-1.111159,-0.2789117,2.614778 -215.9909,341.4023,2079,-0.9537849,-0.6693124,2.428813 -456.3627,127.9044,2080,-0.5303379,-0.4472899,2.301964 -174.1871,365.2902,2081,1.271894,-0.5460643,2.65734 -219.5741,183.7423,2082,-0.6301678,-0.4507277,2.287685 -386.6897,212.5072,2083,-0.9753504,-0.2198293,2.464213 -511.1057,125.416,2084,-0.5783207,-0.1768759,2.367832 -369.2715,219.9722,2085,-0.9713317,-0.6015542,2.284244 -260.7807,362.3042,2086,1.02763,-0.3553232,2.560561 -387.9836,312.7368,2087,4.076031,-0.5175581,3.244679 -255.4059,194.4918,2088,4.838553,-0.4284188,3.806031 -520.5613,162.2432,2089,4.703625,-0.415909,3.903147 -539.8,119.8,2091,-0.9779584,-0.8455133,2.114584 -529,128.2,2092,-1.064626,-0.8662642,2.223063 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0013.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0013.csv deleted file mode 100644 index 068b50cb07102f0c83a830854618fdfa6272a77c..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0013.csv +++ /dev/null @@ -1,262 +0,0 @@ -530.92,71.56001,15,1.038088,-0.6787227,2.482506 -506.44,150.76,253,0.8289648,-0.3403659,2.653784 -496.6,95.8,680,0.2517415,-0.4743268,2.492201 -589,152.2,786,-0.4945612,0.8095509,2.175019 -519.4001,156.52,844,0.1169316,-0.08683841,2.456627 -484.6,187,1344,-0.07011613,-0.7727424,2.404452 -486,197,1359,-0.7299117,-0.1208495,2.064957 -440.2,106.12,1364,0.4200275,-0.22522,2.375799 -540,207,1383,0.6320972,0.5583377,2.393092 -573,261,1410,0.6583613,0.580775,2.414458 -492,147,1411,0.885973,-0.5677095,2.528299 -481.384,109.864,1430,-0.369602,-0.2131411,2.358722 -492,237,1479,0.01193849,-0.6048293,2.306313 -379,111.4,1570,-0.5088274,-0.6690422,2.31401 -568,114,1574,-0.9500203,-0.6590893,2.14886 -427,184.6,1589,0.8156871,-0.05547466,2.242977 -415,39,1664,4.341048,-0.5930322,3.316429 -556,121,1669,0.3795118,-0.5091401,2.599706 -364,139,1671,-0.9683676,-0.5363057,2.286811 -412,71,1691,0.496102,-0.2097258,2.443993 -382.6,136.36,1781,-1.002009,-0.8048922,2.167449 -561,121,1813,-0.2121355,-0.1649948,2.349061 -370.6,135.4,1900,0.5648666,-0.5077782,2.573389 -574.12,57.16,1945,-0.9707363,-0.7538893,2.108191 -524,154,1990,0.4338526,0.4769291,2.738595 -579,155,1991,3.881393,-0.4998161,2.930742 -507.4,328.6,1993,-0.9478726,-0.7195696,2.107565 -198.28,346.6,2016,-0.03969624,-0.7795352,2.375519 -568.6,58.6,2017,-0.5456783,-0.7155414,2.259893 -528,152,2029,1.038395,-0.1819982,2.367548 -531.4,185.8,2042,-0.9670193,-0.7764981,2.090114 -589,173,2047,0.01046375,-0.2090657,2.48029 -245.8,327.4,2075,-1.001328,-0.6434792,2.299258 -344,43,2094,0.8947275,-0.7156005,2.571272 -279,59,2095,-0.9376744,-0.7104095,2.095706 -287,74,2096,0.7087739,-0.6252686,2.553255 -384,99,2098,-1.015047,-0.6390878,2.227187 -357.4,113.8,2100,-0.1907042,-0.1666885,2.379246 -121,345.4,2106,-1.030865,-0.7921419,2.136073 -222,334,2107,-0.9962659,-0.6525953,2.217007 -382,57,2108,-0.9980212,-0.644101,2.226081 -331,75,2109,-1.238463,-0.7500547,2.668099 -168,314,2115,-1.042549,-0.8178725,2.153437 -201.16,136.36,2119,-1.243899,-0.4804086,2.771497 -582,188,2120,-1.230595,-0.2350976,2.946965 -156,294,2122,-1.223191,-0.8086768,2.573142 -164,375,2123,-1.147649,-0.162917,2.824471 -147,153,2125,-1.027265,-0.8157424,2.132702 -401,75,2136,-1.002643,-0.679482,2.162691 -494.2,77.8,2137,-1.22714,-0.8105376,2.561512 -488,195,2142,-0.9858444,-0.228214,2.465367 -329.8,326.2,2145,-1.154845,-0.1826401,2.720447 -164.2,374.2,2147,-0.5531374,-0.8766368,2.208676 -415,41.8,2152,-0.08379073,-0.0533369,2.27177 -417,43,2153,-1.019893,-0.4242648,2.684242 -243,276,2156,-1.020613,-0.8016391,2.149054 -350,47,2158,-0.009855691,-0.2078442,2.46358 -486,193,2160,-1.008219,-0.7308093,2.119321 -477,219,2161,-0.9895623,-0.7010449,2.136235 -333,79,2165,-1.055159,-0.7912334,2.116543 -247,152.2,2166,0.700175,-0.07252359,2.28283 -579.88,189.64,2169,-1.247971,-0.4819505,2.765678 -322.6,139,2175,-0.7090903,-0.05363071,2.123003 -601,209.8,2176,-1.037003,-0.8200055,2.160857 -333.4,327.4,2177,-0.9690071,-0.7397109,2.069707 -381,83,2180,-0.7317465,-0.1305604,2.119839 -417,196,2181,-1.064239,-0.7887459,2.11499 -437,285,2182,-0.6159069,-0.1655034,2.35822 -329.32,74.44,2184,-0.9731613,-0.8354834,2.109018 -297,47,2186,-1.130972,-0.5440179,2.689308 -556.6,196.6,2188,-0.7245489,-0.1121272,2.089802 -571.2401,260.2,2190,0.2445264,-0.2411191,2.524718 -518,127,2192,-0.9923632,-0.2850221,2.573098 -484.84,196.84,2193,0.8829694,-0.375726,2.547604 -526.6,186.76,2197,-0.7661487,-0.1433524,2.100266 -458.92,263.08,2198,0.8444504,-0.3085417,2.5329 -499,269,2199,-0.4396431,-0.4573119,2.269744 -523.72,152.2,2201,-0.6047201,-0.1630602,2.364292 -452.2,173.8,2202,-0.7104345,-0.138635,2.167401 -536.68,276.04,2203,0.596208,0.486847,2.375016 -434.44,286.12,2204,-0.7372698,-0.126712,2.103232 -481.96,300.52,2205,-1.157781,-0.1987432,2.654775 -589.96,309.16,2206,-1.155428,-0.1594905,2.905701 -502.12,306.28,2207,-0.09840048,-0.7587692,2.363668 -245.8,369.64,2208,-1.035016,-0.6930919,2.227863 -201.16,384.04,2209,-1.02964,-0.7062258,2.380991 -442,78,2210,-1.242901,-0.2440064,2.915011 -316.36,136.36,2211,-1.126541,-0.1822808,2.443931 -271,151,2212,-0.9918838,-0.6604961,2.222516 -309.16,369.64,2214,-1.119935,-0.2715791,2.616564 -335.08,145,2215,-1.136599,-0.189475,2.686209 -345.16,175.24,2220,-0.3955086,-0.4528466,2.294905 -580.6,171.4,2222,-1.152511,-0.2008157,2.6661 -451.72,173.8,2223,-1.119705,-0.5806395,2.439043 -250.12,217,2226,-1.107051,-0.8016665,2.534868 -377,159,2233,-0.4102901,-0.1882293,2.359214 -553,80.2,2245,4.207774,-0.1759384,3.258315 -531.4,224.2,2250,-0.9563116,-0.8035752,2.085113 -601,212.2,262,0.3198724,-0.04043575,2.149696 -599.8,320.2,964,-0.6603102,-0.2198435,2.137705 -603,267,970,0.5771835,0.4761269,2.549273 -558,62,1560,-0.9198198,-0.7171212,2.114153 -550,195,1593,-0.1552355,-0.07886732,2.268622 -552,116,1617,0.5610178,-0.5122101,2.626187 -550,119,1619,0.344258,-0.04157669,2.116998 -518,239,1623,-0.8826281,-0.2241639,2.406717 -501,279,1647,-0.6343705,-0.1631567,2.054741 -479.8,319,1651,-0.8314928,-0.6767171,2.134178 -555,78,1667,-0.9238087,-0.6533441,2.167159 -517,284,1683,-0.9275224,-0.6554605,2.1464 -479.08,319.24,1684,-0.9785099,-0.2166578,2.471647 -526,253,1685,-0.7285945,-0.1199138,2.114307 -572.2,261.4,1748,-0.4981599,-0.6401197,2.422102 -588,221,1797,-0.6851665,-0.1599119,2.066832 -480,319,1825,-1.010484,-0.668588,2.207516 -593,153,1844,0.3232694,-0.1707779,2.23792 -597.4,158.2,1845,0.03491458,-0.1506039,2.336469 -571,309.4,1849,-1.029043,-0.7823601,2.130798 -336,79,1852,-0.91802,-0.6430492,2.229548 -532,186,1856,0.9462867,-0.1810851,2.23561 -605,228,1861,-0.6118533,-0.1616846,2.359298 -590,310,1872,-0.1346323,-0.8545421,2.463655 -419,191,1878,-0.1227507,-0.01092784,2.120948 -333,329,1883,1.022475,-0.08913168,2.318757 -582,172,1885,0.2355324,-0.1600803,2.342144 -549,192,1891,0.1474101,-0.256559,2.444614 -517,310.6,1893,-0.08745039,-0.8719997,2.512607 -483.1121,322.408,1899,-0.6147761,-0.162657,2.357348 -590.2,309.4,1909,0.5849816,0.4571039,2.452651 -538,51,1930,0.05610022,-0.3080356,2.441984 -547,121,1932,-1.045217,-0.8208524,2.152736 -350,79,1936,-0.9329154,-0.6924466,2.121112 -379,111,1939,0.5032505,-0.1276513,2.322735 -557,193,1942,4.249409,-0.6997681,3.036044 -246,371,1944,4.041743,-0.6241055,2.925643 -582,64,1947,-0.8542302,-0.6220821,2.224487 -364,84,1948,0.8070721,-0.1736481,2.478219 -573.4,65.8,1959,-0.1701477,-0.1472341,2.380175 -510,77,1960,-0.6337221,-0.2457754,2.364947 -486,243,1962,-0.5501055,-0.7554422,2.241595 -496,97,1968,-1.025771,-0.7043683,2.156143 -366,138,1969,0.0395438,-0.1344628,2.2907 -569,58,1970,4.458843,-0.70412,3.099053 -341,119,1971,-0.9601368,-0.7833068,2.100778 -571,56.2,1973,-0.9717497,-0.7525796,2.106638 -564,207,1978,-0.9827676,-0.2216197,2.4499 -540,252,1979,-0.07288859,-0.9077061,2.453457 -434,185,2009,-1.022853,-0.6807952,2.197116 -514,222,2010,-0.6207798,-0.1868479,2.139376 -377,95,2011,-0.6897331,-0.1878883,2.121507 -495,278,2014,4.385121,-0.7115495,3.136155 -383,117,2018,0.363844,-0.1399905,2.280269 -594.28,322.12,2024,-0.9786599,-0.5921188,2.259404 -376.6,94.60001,2026,0.9138284,-0.2955707,2.538704 -337.96,176.68,2027,-1.120865,-0.3129673,2.615615 -248.68,325,2030,1.085898,-0.08830455,2.375281 -414,194,2034,-0.5355882,-0.4548889,2.294502 -569,332,2040,0.20372,-0.06502379,2.08083 -253,339.4,2041,-0.7395091,-0.1386385,2.140579 -488.2,195.4,2049,-0.7047018,-0.09098077,2.096552 -530.92,224.2,2051,-0.7135066,-0.06865498,2.160595 -366,74,2055,-0.9367523,-0.719327,2.095156 -383,95,2058,-0.5801892,-0.1449114,2.150809 -434.3824,96.38561,2059,-0.6370635,-0.08237834,2.069108 -418.6,189.4,2060,-0.725023,-0.1127194,2.082454 -446.8241,88.09121,2065,-0.3828337,-0.452572,2.30604 -553.96,192.52,2071,0.3056068,-0.144704,2.374913 -284.6685,165.2292,2082,-0.6301678,-0.4507277,2.287685 -356,47,2093,-1.060832,-0.8331116,2.22007 -495,78,2097,-0.9907514,-0.7019171,2.136638 -490,99,2099,0.4001386,-0.1565382,2.332601 -331,157,2101,-0.2205773,-0.03077485,2.160736 -545,194,2102,-0.624853,-0.1703754,2.37383 -482,240,2103,-1.28705,-0.3676314,2.9982 -551,268,2104,-1.147151,-0.3076325,2.70586 -428,287,2105,-0.9161429,-0.7933426,2.078149 -337,148,2110,0.4863597,-0.225485,2.440332 -335,153,2111,0.3078872,-0.1319485,2.323936 -133,190,2112,-1.222475,-0.4133924,2.79147 -523,180,2113,-0.7202249,-0.1171428,2.107892 -542.2,205,2114,-1.026482,-0.8441694,2.194807 -504,307,2116,-1.098109,-0.8043722,2.518183 -303.4,62.2,2117,0.5668645,-0.1043712,2.236734 -317,67,2118,-0.6307324,-0.337267,2.327431 -421,234,2121,-0.954836,-0.7523761,2.08423 -377,79,2124,-0.9797032,-0.8083092,2.097761 -218,381,2126,-1.031666,-0.6803701,2.213738 -356,57,2127,0.5418845,-0.09963563,2.231917 -329,63,2128,0.1637245,-0.09313458,2.33558 -324,139,2129,-1.237498,-0.4799591,2.780925 -583,191,2130,-0.9875005,-0.8371464,2.108456 -532,225,2131,-0.9381936,-0.796335,2.070108 -155.8,293.8,2132,-0.9715379,-0.7776247,2.088075 -345,46,2133,-0.8867757,-0.7452348,2.066755 -379,55,2134,0.9772015,-0.7208086,2.607133 -367,69,2135,-0.9984791,-0.7379313,2.117572 -356.2,94.60001,2138,-1.022165,-0.7058519,2.385276 -349,129,2139,0.2397538,-0.2510901,2.503424 -147.4,153.4,2140,-1.23658,-0.6780306,2.710412 -272,151,2141,-0.6909488,-0.1838087,2.034178 -137.8,219.4,2143,-0.7705773,-0.08567983,2.115728 -527,275,2144,-1.24336,-0.2441601,2.917699 -498,327,2146,0.1122182,0.545805,2.464801 -235,376,2148,-0.1265406,-0.9145895,2.379391 -545,372,2149,-0.1594506,-0.9063967,2.384334 -403,35,2150,-0.1446469,-0.9017824,2.386292 -419.8,38.2,2151,-0.235205,-0.1709889,2.339281 -487,241,2154,-1.140385,-0.2796734,2.851094 -530,253,2155,-0.9984716,-0.8279576,2.090645 -199,345,2157,0.2600829,-0.2535421,2.521241 -328,72,2159,-0.6124207,-0.1302897,2.08699 -524,285,2162,-1.013817,-0.7860901,2.147345 -354,99,2163,-1.087071,-0.7224657,2.398685 -358,114,2164,-1.252935,-0.2124642,2.92419 -166,388,2167,-1.240339,-0.2453579,2.915289 -331,73,2168,0.8524863,-0.4250401,2.512722 -165.16,372.52,2170,-1.218756,-0.4161185,2.812878 -520.84,129.16,2171,-0.9888861,-0.8374562,2.109244 -155.08,293.32,2172,-1.032089,-0.6819001,2.216702 -165.16,313.48,2173,0.3886025,-0.03688428,2.13288 -344.2,46.6,2174,-0.9900451,-0.2254162,2.449971 -507.88,327.88,2178,-0.6433465,-0.450063,2.287514 -315.4,67,2179,-0.5804997,-0.1570656,2.370195 -496.36,304.84,2183,-1.042938,-0.8734447,2.18317 -434.2,286.6,2185,0.3203067,-0.1497059,2.261259 -349,46.6,2187,-0.1455355,-0.01825136,2.116977 -195.4,251.56,2189,1.086804,-0.4247137,2.611634 -510.76,309.16,2191,0.2724676,-0.1363584,2.357448 -531.496,208.36,2194,0.3718104,-0.2124238,2.388113 -293.3777,312.04,2195,-0.4365388,-0.170599,2.356123 -519.4,139.24,2196,-0.5648864,-0.1701883,2.164513 -496.936,305.128,2200,-0.3173782,-0.04456306,2.17419 -165.16,374.248,2213,-1.030462,-0.3036677,2.548036 -285.0833,307.8929,2216,-0.7513815,-0.1404019,2.102471 -253.9792,338.9969,2217,-0.9582606,-0.5881786,2.253422 -245.6848,370.1009,2218,-0.9810383,-0.595828,2.258025 -498.6641,303.7456,2219,1.090042,-0.0905561,2.373059 -336.9232,175.1824,2221,0.8617724,-0.3065271,2.637043 -506.1291,157.7642,2224,-0.9826394,-0.2821191,2.589291 -244.8554,369.2715,2225,0.3746555,-0.5516313,2.449917 -292.1335,312.0401,2227,-0.5668898,-0.1606617,2.378282 -488.7108,117.9511,2228,0.9172013,-0.3061892,2.546109 -195.089,140.3459,2229,-1.077077,-0.8004397,2.564601 -436.4561,282.1802,2230,-0.6823409,-0.5889732,2.34452 -526.0356,150.2992,2231,-1.158364,-0.5407496,2.654174 -198.075,141.3413,2232,-1.113517,-0.4733659,2.521392 -195.089,254.8087,2234,-1.033298,-0.3020653,2.535354 -248.2395,262.5723,2235,-1.145463,-0.3182768,2.598266 -459.6473,255.4059,2236,1.019609,-0.2773417,2.639213 -290.6405,311.5424,2237,-1.093491,-0.5781894,2.487609 -244.6564,327.0695,2238,-0.8418446,-0.6427595,2.210535 -517.5754,156.2712,2239,-1.029974,-0.7183228,2.389349 -245.8508,218.9769,2240,0.02931334,-0.115374,2.327191 -377.2341,137.1609,2241,-1.109068,-0.2778441,2.587892 -266.7527,147.3133,2242,4.040322,-0.5604751,3.240444 -520.5613,230.3236,2243,4.589638,-0.1052912,3.356642 -262.5723,334.2359,2244,4.350686,-0.07566303,3.277936 -570,117,2246,-0.1027381,-0.8384191,2.310781 -572,121,2247,0.05281397,-0.1241219,2.288918 -567.4,113.8,2248,5.041872,-1.058347,3.584209 -447,49,2249,-1.049859,-0.8909281,2.212398 -536.2,40.6,2251,-1.032976,-0.754529,2.112918 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0014.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0014.csv deleted file mode 100644 index c1f8b6ae5c63d48d117e166bf0ec5adb6a3fa704..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0014.csv +++ /dev/null @@ -1,210 +0,0 @@ -529,323,71,0.3101837,0.5964633,2.549619 -476,88,208,0.8769877,-0.5421132,2.535522 -443.08,109,1025,0.1537108,0.02065909,2.16055 -466.12,172.36,1052,0.2540739,0.6185226,2.441661 -483.4,117.4,1237,0.2810751,-0.2551089,2.562289 -419.176,178.984,1376,-0.5450861,-0.4634887,2.288035 -513,181,1383,0.6320972,0.5583377,2.393092 -456.04,227.08,1433,0.7408586,-0.4019152,2.619524 -522.28,280.36,1699,-0.7996775,-0.6263247,2.211977 -489,37,1832,0.9830564,-0.143651,2.236816 -450,87,1931,-0.93557,-0.6510278,2.169994 -508,38,1945,-0.9707363,-0.7538893,2.108191 -273.4,368.2,2006,-0.5686144,-0.4568134,2.268249 -563,288,2024,-0.9786599,-0.5921188,2.259404 -437,89,2046,0.1688863,-0.2554271,2.473539 -451,84,2099,0.4001386,-0.1565382,2.332601 -175,303,2122,-1.223191,-0.8086768,2.573142 -240,383,2126,-1.031666,-0.6803701,2.213738 -506,201,2131,-0.9381936,-0.796335,2.070108 -373,88,2138,-1.022165,-0.7058519,2.385276 -461.8,173.8,2142,-0.9858444,-0.228214,2.465367 -153,229,2143,-0.7705773,-0.08567983,2.115728 -542.44,165.16,2169,-1.247971,-0.4819505,2.765678 -341.8,133,2175,-0.7090903,-0.05363071,2.123003 -566.92,181,2176,-1.037003,-0.8200055,2.160857 -554,231,2190,0.2445264,-0.2411191,2.524718 -273,369,2208,-1.035016,-0.6930919,2.227863 -340,356,2214,-1.119935,-0.2715791,2.616564 -415.72,93.16,2257,-1.13129,-0.7059139,2.338785 -337,131,2258,-1.225894,-0.797443,2.565991 -274,155,2260,-1.182353,-0.8560885,2.939023 -165.16,165.16,2261,-1.290224,-0.8072242,3.02844 -114.76,340.84,2269,-1.14994,-0.1656159,2.798813 -243,382,2272,-1.01877,-0.6570369,2.201707 -354,139,2275,-1.310871,-0.8453724,2.963455 -490.6,129.16,2276,-1.281936,-0.8519239,3.06812 -89.8,185.8,2277,0.001533152,-0.1276249,2.371688 -355.24,169.48,2286,-1.162368,-0.05645247,2.739451 -141.4,363.4,2292,0.390168,-0.07449312,2.223173 -342,356,2297,-1.029839,-0.7917973,2.138283 -80.48801,426.088,2299,1.026335,-0.1214772,2.250548 -349,70.60001,2300,-1.291469,-0.5016989,3.19277 -140.968,363.88,2305,-1.030318,-0.8964635,2.226702 -186.76,420.04,2306,-0.9997762,-0.6557246,2.214765 -221.8,441.4,2307,0.395099,-0.2406599,2.402075 -297.4,44.2,2308,0.3994249,-0.1589243,2.308201 -491.8,159.4,2310,0.2296619,-0.2322711,2.516115 -460,181,2313,-1.269304,-0.3634574,3.563172 -55,373,2316,-0.6294576,-0.1920982,2.130832 -80.48801,336.232,2320,-0.5927646,-0.4481251,2.323848 -471.88,97.48,2324,-1.280654,-0.6841966,2.72488 -208.36,196.84,2326,-1.299232,-0.3742821,2.971077 -135.784,234.28,2327,0.1320206,-0.2659341,2.444698 -152.2,228.52,2328,-1.308924,-0.764658,2.985141 -137.512,358.696,2329,0.03480465,-0.1515033,2.344441 -466.6,173.8,2330,-0.7060679,-0.1314791,2.154148 -59.75201,237.736,2331,-1.076584,-0.1555917,2.490565 -280.36,54.28,2336,-0.5949419,-0.1640032,2.367137 -484.84,132.04,2338,-0.7103606,-0.1065046,2.095883 -436.6,265,2339,-0.7170669,-0.08781271,2.189005 -517.96,278.92,2341,-0.4393348,-0.4575945,2.269534 -442.6,157,2344,0.07529138,-0.1394959,2.360754 -501.4,243.4,2345,-1.261087,-0.3746839,3.502323 -559,241,2349,-1.231028,-0.4785762,2.786645 -469,133.48,2350,-1.251236,-0.678514,2.69177 -548,270,2351,-1.305603,-0.3784642,2.960773 -204.904,144.424,2355,-0.1427064,-0.5851585,2.497498 -376.84,137.8,2362,-0.757567,-0.5998045,2.217285 -541,296,2382,-1.003931,-0.6469758,2.251379 -567.4,181,262,0.3198724,-0.04043575,2.149696 -492,41,1560,-0.9198198,-0.7171212,2.114153 -504,253,1647,-0.6343705,-0.1631567,2.054741 -488.2,292.6,1651,-0.8314928,-0.6767171,2.134178 -496,97,1669,0.3795118,-0.5091401,2.599706 -489,293,1825,-1.010484,-0.668588,2.207516 -499,162,1856,0.9462867,-0.1810851,2.23561 -523,280.6,1893,-0.08745039,-0.8719997,2.512607 -521.8,169,1942,4.249409,-0.6997681,3.036044 -516,45,1947,-0.8542302,-0.6220821,2.224487 -506.2,49,1959,-0.1701477,-0.1472341,2.380175 -501,40,1970,4.458843,-0.70412,3.099053 -508,40,1973,-0.9717497,-0.7525796,2.106638 -537,181,1978,-0.9827676,-0.2216197,2.4499 -217,350.92,2016,-0.03969624,-0.7795352,2.375519 -271.72,323.56,2030,1.085898,-0.08830455,2.375281 -463,177.4,2049,-0.7047018,-0.09098077,2.096552 -506.2,200.2,2051,-0.7135066,-0.06865498,2.160595 -294.6218,160.2525,2082,-0.6301678,-0.4507277,2.287685 -137.8,358.12,2106,-1.030865,-0.7921419,2.136073 -349,71,2109,-1.238463,-0.7500547,2.668099 -189,322,2115,-1.042549,-0.8178725,2.153437 -543,165,2120,-1.230595,-0.2350976,2.946965 -543.4,164.2,2130,-0.9875005,-0.8371464,2.108456 -163.72,157.96,2140,-1.23658,-0.6780306,2.710412 -185.8,382.6,2147,-0.5531374,-0.8766368,2.208676 -259,375,2148,-0.1265406,-0.9145895,2.379391 -344.2,68.2,2159,-0.6124207,-0.1302897,2.08699 -525,256,2162,-1.013817,-0.7860901,2.147345 -375,107,2164,-1.252935,-0.2124642,2.92419 -185.8,393.4,2167,-1.240339,-0.2453579,2.915289 -186.76,381.16,2170,-1.218756,-0.4161185,2.812878 -175.24,303.4,2172,-1.032089,-0.6819001,2.216702 -358.6,41.8,2174,-0.9900451,-0.2254162,2.449971 -515.8,297.4,2178,-0.6433465,-0.450063,2.287514 -333.4,64.60001,2179,-0.5804997,-0.1570656,2.370195 -505,277.48,2183,-1.042938,-0.8734447,2.18317 -362.2,41.8,2187,-0.1455355,-0.01825136,2.116977 -518.2,279.4,2191,0.2724676,-0.1363584,2.357448 -507.304,277.48,2200,-0.3173782,-0.04456306,2.17419 -335.08,130.6,2211,-1.126541,-0.1822808,2.443931 -185.896,382.888,2213,-1.030462,-0.3036677,2.548036 -309.9664,305.8192,2216,-0.7513815,-0.1404019,2.102471 -270.568,368.0273,2218,-0.9810383,-0.595828,2.258025 -269.7386,366.7831,2225,0.3746555,-0.5516313,2.449917 -436.9538,263.7667,2230,-0.6823409,-0.5889732,2.34452 -207.033,147.3133,2232,-1.113517,-0.4733659,2.521392 -213.0049,257.7947,2234,-1.033298,-0.3020653,2.535354 -269.7386,262.5723,2235,-1.145463,-0.3182768,2.598266 -489.4,62.2,2245,4.207774,-0.1759384,3.258315 -420,41,2249,-1.049859,-0.8909281,2.212398 -297,44,2252,-0.085811,-0.6792375,2.40948 -381,49,2253,0.975204,-0.5386364,2.511259 -364.6,82.60001,2254,-0.7811978,-0.6803392,2.125937 -416,93,2255,-1.038024,-0.6905509,2.224787 -478,87,2256,-1.222493,-0.8114063,2.563396 -164.2,158.2,2259,-1.110134,-0.8721473,3.031484 -91,185,2262,-1.300617,-0.6995311,2.972868 -89,187,2263,-1.296673,-0.6517299,2.903081 -51,226,2264,-1.314123,-0.5956436,2.944999 -80,257,2265,-1.290094,-0.5007111,3.197483 -100.6,266.2,2266,-1.298025,-0.4399628,3.034342 -98.2,291.4,2267,-1.302298,-0.3704575,2.966376 -80.2,331,2268,-1.176802,-0.1907336,2.715794 -137.8,358.6,2270,-0.8034764,0.2351371,2.162953 -255,377,2271,-1.104484,-0.8060886,2.54269 -532,404,2273,0.9048016,-0.3000893,2.519145 -203.8,143.8,2274,-1.144291,-0.8641531,2.987848 -46.6,208.6,2278,-1.292373,-0.5647162,2.9785 -38,214,2279,-1.001995,-0.753501,2.126098 -486,210,2280,-1.008012,-0.6655905,2.203109 -104,299,2281,-1.234453,-0.1208137,3.019143 -366,83,2282,-1.023033,-0.7962456,2.138737 -354,135,2283,-0.9590526,-0.5873232,2.268863 -187,416,2284,-1.301082,-0.7153118,2.978513 -349,68,2285,-1.299961,-0.5467851,3.087556 -73,252,2287,-1.230579,-0.8383104,2.962538 -86.2,311.8,2288,-1.156043,0.03839193,3.047221 -273,414,2289,-1.285156,-0.3473711,2.998392 -75,200,2290,0.7601265,-0.6229717,2.638979 -222,442,2291,-0.6244726,-0.4133382,2.308346 -439,88.60001,2293,-0.6881105,-0.06954812,2.189403 -417.16,192.52,2294,-1.114535,-0.1726021,2.446537 -542,179,2295,-1.29094,-0.2856817,3.726325 -493,293.8,2296,-1.281966,-0.1583287,3.579331 -41.8,401.8,2298,-1.078943,-0.7849402,2.239717 -303.4,98.2,2301,-1.237316,-0.4088013,2.776313 -555.4,136.36,2302,-1.287398,-0.3490799,2.996417 -80.2,330.76,2303,-1.245655,-0.1339657,2.996147 -188.2,321.4,2304,-1.146539,0.04208082,3.060624 -353.8,139,2309,-1.118288,-0.685065,2.607056 -519.4,167.8,2311,-1.276416,-0.6445996,2.965195 -207.4,197.8,2312,-1.28504,-0.4452186,2.949493 -97,269.8,2314,-0.09551459,-0.754479,2.343322 -133.48,332.2,2315,-1.212054,-0.8518451,2.975047 -422.2,64.60001,2317,-1.290635,-0.4796546,3.212792 -75.88,195.4,2318,-1.242247,-0.1254727,3.006547 -501,243,2319,-1.143007,-0.04893243,2.749332 -187,416.2,2321,-0.08465505,-0.5749729,2.222243 -276,412,2322,-1.263137,-0.8492937,3.017084 -412.6,182.2,2323,-1.113793,-0.6856363,2.607306 -52.84,208.36,2325,-1.243751,-0.6794118,2.701441 -492.04,199.72,2332,-0.5564895,-0.1566821,2.375543 -494.92,274.6,2333,-1.074839,-0.8878005,2.245545 -339.4,356.2,2334,-0.659754,-0.04805455,2.176766 -439,262.6,2335,0.8824323,-0.3043053,2.541618 -502.12,294.76,2337,-0.7293147,-0.1415857,2.154008 -491.752,275.752,2340,-1.184425,-0.04513085,2.964695 -488.2961,293.032,2342,-0.6076369,-0.1832629,2.138322 -220.456,426.088,2343,-1.295014,-0.5035304,3.190165 -79.79681,330.7025,2346,-0.1984897,0.01477032,2.099386 -491.752,199.72,2347,0.6065576,-0.3741624,2.529622 -63.20801,367.336,2348,-0.3065044,0.06238303,2.137977 -175.1824,301.672,2352,-1.100918,-0.8040016,2.544736 -152.3728,229.096,2353,-0.7096424,-0.08410803,2.186303 -137.8576,357.6592,2354,-1.287681,-0.4627986,3.039678 -490.3697,293.3777,2356,-1.122532,-0.8411554,2.957445 -112.9744,332.7761,2357,-1.296837,-0.379144,2.985298 -401.1219,126.4114,2358,-1.326185,-0.4698275,3.018255 -105.5095,187.624,2359,-0.9263257,-0.6372921,2.19894 -135.3693,356.8298,2360,-1.300785,-0.6761023,2.785717 -102.5235,335.4303,2361,-1.12018,-0.264691,2.615659 -117.4534,248.8367,2363,-1.294484,-0.6694726,2.733614 -278.6966,338.4163,2364,-0.7678532,-0.03421057,2.08081 -401.6196,135.3693,2365,-1.303817,-0.3841103,2.969948 -132.3833,242.8648,2366,-1.110905,-0.7286122,2.38855 -528.524,307.0634,2367,-1.08598,-0.7017617,2.622194 -135.3693,356.3322,2368,-1.081939,-0.5680729,2.495833 -258.9891,151.4936,2369,-1.133134,-0.4662148,2.515589 -208.8246,190.9086,2370,-1.07796,-0.3333607,2.535205 -266.1555,219.5741,2371,-0.286168,-0.1553494,2.372508 -266.1555,269.7386,2372,-1.304732,-0.3910186,2.973357 -294.8209,301.9873,2373,-1.126784,-0.26419,2.605434 -463.2305,230.3236,2374,-1.095273,-0.7989637,2.537804 -133.5777,355.735,2375,-1.141415,-0.4442189,2.72061 -280.4882,337.8191,2376,-1.262042,-0.6705762,2.771145 -208.8246,144.3273,2377,3.923303,-0.1084123,3.108788 -215.9909,291.2377,2378,4.639277,-0.8639444,3.492751 -133.5777,244.6564,2379,-0.5238613,0.04149209,2.118011 -515,93,2380,-1.001155,-0.8829367,2.1834 -471.4,39.4,2381,-1.042818,-0.8658736,2.233168 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0015.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0015.csv deleted file mode 100644 index 94ff2ad3854086b7865bf1da7ddf9010f7f720fa..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0015.csv +++ /dev/null @@ -1,201 +0,0 @@ -389,105,665,1.139831,0.05037994,2.556748 -414,99,1029,-0.4299376,-0.4473057,2.295659 -397,76.60001,1225,0.3459406,-0.1843482,2.296627 -387,108,1519,0.6216545,0.3113595,2.301782 -405,59,1560,-0.9198198,-0.7171212,2.114153 -421,108,1574,-0.9500203,-0.6590893,2.14886 -381.16,51.4,1930,0.05610022,-0.3080356,2.441984 -418.6,52.6,1955,-0.2531264,-0.02067746,2.173898 -417.16,52.84,1983,-0.1711138,-0.7009506,2.492001 -413,54,2017,-0.5456783,-0.7155414,2.259893 -301,81,2095,-0.9376744,-0.7104095,2.095706 -434.2,167.8,2113,-0.7202249,-0.1171428,2.107892 -483,168,2120,-1.230595,-0.2350976,2.946965 -240,396,2126,-1.031666,-0.6803701,2.213738 -482,171,2130,-0.9875005,-0.8371464,2.108456 -171,179,2140,-1.23658,-0.6780306,2.710412 -441.4,172.6,2197,-0.7661487,-0.1433524,2.100266 -338,148,2258,-1.225894,-0.797443,2.565991 -73,283,2265,-1.290094,-0.5007111,3.197483 -137.8,381.16,2270,-0.8034764,0.2351371,2.162953 -351,89,2285,-1.299961,-0.5467851,3.087556 -61.48001,225.64,2290,0.7601265,-0.6229717,2.638979 -395,201,2294,-1.114535,-0.1726021,2.446537 -461,174,2311,-1.276416,-0.6445996,2.965195 -61,220.6,2318,-1.242247,-0.1254727,3.006547 -67,365.8,2320,-0.5927646,-0.4481251,2.323848 -219.4,441.4,2343,-1.295014,-0.5035304,3.190165 -369,151,2362,-0.757567,-0.5998045,2.217285 -540,297,2388,1.413104,0.05731941,2.1659 -96.04,343.72,2389,-1.156533,-0.4290435,2.733454 -214.6,315.4,2392,0.6105301,-0.1950185,2.473351 -146.2,399.4,2394,1.331689,0.7262365,2.296467 -532.36,245.8,2397,0.8170291,0.5038657,2.214965 -529.48,244.36,2400,-1.138391,-0.2780765,2.598903 -320.2,61,2409,0.8843778,0.5310917,2.221343 -283,76.60001,2410,-1.247686,-0.4786322,2.767622 -422.2,142.6,2411,-0.8201454,0.2487319,2.133136 -178.12,322.12,2413,-0.6050482,-0.1778619,2.131766 -220,442,2417,-1.202908,-0.06668289,2.813592 -397,188.2,2419,-1.144642,-0.4243237,2.746791 -63.20801,213.544,2426,-0.7415031,-0.06163881,2.099602 -397,170.2,2430,-1.021755,-0.7921983,2.14334 -402,73,2432,-1.051845,-0.7554243,2.90522 -350.2,91,2433,-0.8314419,0.2371557,2.129616 -203.8,163,2434,-0.554114,-0.426395,2.330845 -134.056,220.456,2435,-1.119709,-0.7733803,2.810799 -135.784,215.272,2438,-1.281091,-0.6662892,2.733233 -140.968,263.656,2441,0.3927412,-0.071183,2.268776 -220,404,2443,-0.2580521,-0.1539669,2.314519 -475,185,2444,-0.6940466,-0.09122144,2.094127 -92.2,214.6,2445,-1.107386,-0.5758557,2.458509 -441,225,2446,-1.17527,-0.06344122,2.725888 -494.92,274.6,2447,-0.9234128,-0.771652,2.498282 -273.16,231.4,2448,-1.245683,-0.6775714,2.703942 -278.2,421,2449,-0.7168199,-0.08011282,2.179646 -496.36,291.88,2453,-0.9883595,-0.6541163,2.219207 -104.2,363.4,2454,-1.107454,-0.8356307,2.969905 -352.36,153.64,2456,-0.9448231,-0.7641618,2.561516 -209.8,273.16,2458,-1.28426,-0.4951556,3.206669 -236,162,2459,0.7911922,-0.4974679,2.41748 -424.36,231.4,2460,0.4344366,-0.01423458,2.141889 -505,185.32,2463,-1.240704,-0.2416007,2.909263 -388.36,136.36,2467,-0.8429766,-0.5924134,2.252447 -367,165,2470,-1.159548,-0.1586737,2.901179 -351.4,88.60001,2471,-0.5348444,-0.425633,2.332258 -276,282,2472,0.1818087,-0.06745732,2.136248 -219.88,402.76,2473,-1.224369,-0.7671728,2.782475 -392,189,2474,-0.1051197,-0.1336146,2.444769 -420.04,225.64,2477,0.201112,-0.1737655,2.163279 -485,173,2480,-1.236486,-0.6715396,2.724882 -452,206,2484,-1.136739,-0.5626829,2.681797 -471,138,2485,-1.343233,-0.4779604,2.931459 -422.2,231.4,1433,0.7408586,-0.4019152,2.619524 -476,251,1647,-0.6343705,-0.1631567,2.054741 -443,169,1856,0.9462867,-0.1810851,2.23561 -417.16,58.6,1959,-0.1701477,-0.1472341,2.380175 -419,53,1973,-0.9717497,-0.7525796,2.106638 -215.8,365.8,2016,-0.03969624,-0.7795352,2.375519 -415,184,2049,-0.7047018,-0.09098077,2.096552 -457,205,2051,-0.7135066,-0.06865498,2.160595 -178.6,321.4,2122,-1.223191,-0.8086768,2.573142 -373,107,2138,-1.022165,-0.7058519,2.385276 -347,90,2159,-0.6124207,-0.1302897,2.08699 -188.2,399.88,2170,-1.218756,-0.4161185,2.812878 -358.6,64.60001,2174,-0.9900451,-0.2254162,2.449971 -344,149,2175,-0.7090903,-0.05363071,2.123003 -337,85,2179,-0.5804997,-0.1570656,2.370195 -481.96,273.16,2183,-1.042938,-0.8734447,2.18317 -505,230,2190,0.2445264,-0.2411191,2.524718 -494.2,274.6,2191,0.2724676,-0.1363584,2.357448 -277,378,2208,-1.035016,-0.6930919,2.227863 -187.624,400.168,2213,-1.030462,-0.3036677,2.548036 -307.8929,314.1136,2216,-0.7513815,-0.1404019,2.102471 -274.7153,376.7364,2225,0.3746555,-0.5516313,2.449917 -377,71,2253,0.975204,-0.5386364,2.511259 -170.92,178.12,2259,-1.110134,-0.8721473,3.031484 -72,209,2262,-1.300617,-0.6995311,2.972868 -36,253,2264,-1.314123,-0.5956436,2.944999 -65.8,358.6,2268,-1.176802,-0.1907336,2.715794 -245,394,2272,-1.01877,-0.6570369,2.201707 -512,386,2273,0.9048016,-0.3000893,2.519145 -427.24,139.24,2276,-1.281936,-0.8519239,3.06812 -277,422,2289,-1.285156,-0.3473711,2.998392 -483,183,2295,-1.29094,-0.2856817,3.726325 -351,91,2300,-1.291469,-0.5016989,3.19277 -309.4,117.4,2301,-1.237316,-0.4088013,2.776313 -191.8,338.2,2304,-1.146539,0.04208082,3.060624 -186.76,433,2306,-0.9997762,-0.6557246,2.214765 -298,66,2308,0.3994249,-0.1589243,2.308201 -353,155,2309,-1.118288,-0.685065,2.607056 -89.8,293.8,2314,-0.09551459,-0.754479,2.343322 -137.8576,253.9792,2327,0.1320206,-0.2659341,2.444698 -137.8576,378.3953,2329,0.03480465,-0.1515033,2.344441 -417,181,2330,-0.7060679,-0.1314791,2.154148 -341,359,2334,-0.659754,-0.04805455,2.176766 -65.28161,357.6592,2346,-0.1984897,0.01477032,2.099386 -204.904,163.432,2355,-0.1427064,-0.5851585,2.497498 -99.5375,362.3042,2361,-1.12018,-0.264691,2.615659 -120.4394,269.7386,2363,-1.294484,-0.6694726,2.733614 -282.1802,346.8766,2364,-0.7678532,-0.03421057,2.08081 -137.1609,266.1555,2366,-1.110905,-0.7286122,2.38855 -135.3693,377.2341,2368,-1.081939,-0.5680729,2.495833 -275.7106,275.7106,2372,-1.304732,-0.3910186,2.973357 -305.5704,314.5284,2373,-1.126784,-0.26419,2.605434 -284.0714,348.5686,2376,-1.262042,-0.6705762,2.771145 -219.5741,309.1536,2378,4.639277,-0.8639444,3.492751 -320,61,2383,-1.224396,-0.8090855,2.557652 -299.8,80.2,2384,-1.304388,-0.6414799,2.972245 -341,163,2385,0.5087625,0.6737397,2.216568 -171.4,178.6,2386,-1.27686,-0.5059872,3.063615 -82,299,2387,-1.198472,-0.1837271,2.791244 -236,398,2390,-1.123464,-0.1367867,2.372487 -512,147,2391,-1.31573,-0.3173391,2.965657 -376,367,2393,-1.239891,-0.8365709,2.953143 -434,167,2395,-1.307408,-0.6554962,2.961993 -61,226.6,2396,-1.248464,-0.8483587,3.049402 -79,296,2398,-1.308527,-0.3243235,2.984476 -36,235,2399,-1.023396,-0.2393188,2.436708 -142,397,2401,-1.076235,-0.8576761,2.996605 -349,320,2402,-1.060266,-0.764425,2.472479 -281,345,2403,-1.1154,-0.7725574,2.814063 -89.8,203.8,2404,-1.285245,-0.7656636,3.030548 -240,161,2405,-1.184591,-0.02688677,2.967546 -137.8,214.12,2406,-0.9952039,-0.8827563,2.186753 -46.6,265,2407,-1.01877,-0.8932908,2.278013 -221,444,2408,1.031006,-0.2715634,2.588798 -530.2,244.6,2412,-0.6355518,-0.431314,2.299136 -522,390,2414,-1.191902,-0.0402104,2.959183 -393.4,195.4,2415,-1.00547,-0.8165646,2.143698 -475,243,2416,-0.5993801,-0.4428122,2.293823 -346.6,80.2,2418,-0.7522272,-0.1300399,2.101597 -250,432,2420,0.2357685,-0.1454513,2.304104 -487,274.6,2421,-1.018864,-0.6993821,2.423562 -214,316,2422,-1.129221,-0.5398663,2.689414 -459,186,2423,-1.189329,-0.8615065,2.981277 -274.6,172.36,2424,-1.203222,-0.8398636,2.996334 -211,273,2425,-0.7384362,-0.1281414,2.106953 -61.48,225.64,2427,-0.4676253,-0.4706034,2.307732 -486.28,273.16,2428,-1.259373,-0.6020153,3.046858 -496.6,291.4,2429,1.111498,-0.6863574,2.55134 -85,313,2431,-1.095801,-0.8052485,2.549359 -521.8,389.8,2436,-1.294344,-0.7214962,2.924377 -391,189.4,2437,-1.30701,-0.4509639,3.03159 -74.44,270.28,2439,-1.130323,-0.2729307,2.607284 -103.24,362.44,2440,-1.183896,-0.1703834,2.874077 -280.6,345.4,2442,-1.175214,-0.8235637,2.904809 -255.016,147.88,2450,-0.754518,-0.06693298,2.095667 -154.792,249.832,2451,-1.304308,-0.454548,3.044294 -469.2881,289.576,2452,1.009532,-0.6368026,2.408813 -424.0145,71.50241,2455,-1.110674,-0.5351471,2.709163 -92.23841,210.4336,2457,-0.3505613,-0.1874903,2.354059 -66.66401,358.696,2461,0.3199338,-0.1225604,2.365919 -426.0881,102.6064,2462,-1.270822,-0.4486143,3.102064 -450.9713,189.6976,2464,-0.323841,-0.5732445,2.328616 -100.5328,361.8065,2465,-1.2783,-0.6659929,2.740064 -189.6976,399.1313,2466,-1.108731,-0.5356568,2.707743 -139.9312,264.3472,2468,-1.013014,-0.7945921,2.144083 -210.4336,272.6416,2469,-1.159676,-0.4646771,2.490839 -499.6595,189.117,2475,-0.1663314,-0.01864886,2.201756 -120.4394,224.9489,2476,-1.132941,-0.5354791,2.683113 -483.7342,237.3905,2478,-0.4735753,-0.1492478,2.224987 -212.5072,274.7153,2479,-1.296509,-0.6745164,2.78999 -456.3627,244.8554,2481,0.2242908,-0.07397492,2.368342 -120.4394,269.7386,2482,1.211097,-0.1356607,2.348175 -152.7876,252.3204,2483,-0.6278127,-0.289257,2.316509 -406.5963,234.9021,2486,0.8581904,-0.2707884,2.478852 -207.033,266.7527,2487,-1.303875,-0.43223,2.940299 -115.6618,355.735,2488,-1.154816,-0.1994461,2.661841 -434.565,140.7441,2489,-1.167387,-0.2748654,2.816577 -132.3833,362.3042,2490,-1.148282,-0.3389569,2.580239 -275.7106,374.2481,2491,-1.089348,-0.5883625,2.461682 -218.9769,368.2761,2492,-0.199412,-0.5537509,2.403401 -273.3218,327.0695,2493,-0.9625769,-0.6369807,2.326369 -272.7246,224.9489,2494,-0.958499,-0.6592728,2.413767 -380.8173,144.3273,2495,-1.032981,-0.8171723,2.973431 -323.4864,172.9927,2496,-1.295673,-0.6726323,2.7907 -293.6265,177.1731,2497,-0.6975813,0.001724401,2.108172 -112.0786,208.8246,2498,-0.8522956,-0.5958397,2.261039 -119.245,269.7386,2499,-0.9810752,-0.8811847,2.135267 -502.6454,302.5845,2500,-0.9752124,-0.8761858,2.145128 -362.9014,165.8264,2501,-1.245227,-1.044883,2.407094 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0016.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0016.csv deleted file mode 100644 index 2b49bddda7390fd0eba55f7c7306a07ad7444a47..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0016.csv +++ /dev/null @@ -1,229 +0,0 @@ -445.96,178.12,1165,-1.359143,0.2075002,2.909084 -450,175,1169,-0.6906291,-0.08949237,2.039335 -389.8,142.6,1282,-0.006203084,-0.5840369,2.298979 -388.6,133,1436,-0.4680544,-0.7142997,2.314894 -424.36,153.64,1493,0.07459058,-0.14608,2.370643 -472,253,1538,0.7302327,0.5390272,2.648048 -196,209,2112,-1.222475,-0.4133924,2.79147 -298,371,2148,-0.1265406,-0.9145895,2.379391 -226,400,2167,-1.240339,-0.2453579,2.915289 -147.4,359.8,2269,-1.14994,-0.1656159,2.798813 -178.12,373.96,2270,-0.8034764,0.2351371,2.162953 -295,372,2271,-1.104484,-0.8060886,2.54269 -384,341,2297,-1.029839,-0.7917973,2.138283 -466,135,2302,-1.287398,-0.3490799,2.996417 -98.2,353.8,2303,-1.245655,-0.1339657,2.996147 -75.30401,229.096,2325,-1.243751,-0.6794118,2.701441 -185.896,249.832,2327,0.1320206,-0.2659341,2.444698 -399,131,2350,-1.251236,-0.678514,2.69177 -83.08,260.2,2407,-1.01877,-0.8932908,2.278013 -253,433,2408,1.031006,-0.2715634,2.588798 -247,262,2425,-0.7384362,-0.1281414,2.106953 -389,80,2433,-0.8314419,0.2371557,2.129616 -172.072,204.904,2438,-1.281091,-0.6662892,2.733233 -312,406,2449,-0.7168199,-0.08011282,2.179646 -140.968,356.968,2454,-1.107454,-0.8356307,2.969905 -225.64,389.8,2466,-1.108731,-0.5356568,2.707743 -388.36,80.2,2471,-0.5348444,-0.425633,2.332258 -252,392,2473,-1.224369,-0.7671728,2.782475 -160.6,214.6,2476,-1.132941,-0.5354791,2.683113 -210,46,2504,-1.056039,-0.8141149,2.148381 -397,56,2505,-1.24465,-1.013595,2.511153 -320.68,62.92,2506,-0.9986404,-0.7623982,2.112189 -452.2,193,2519,-0.6436706,0.01098999,2.089283 -94.60001,217,2520,-1.318299,-0.6905615,3.017106 -520,273,2522,-1.305231,-0.5495892,3.02543 -285,377,2530,-0.6737373,0.6211624,2.079277 -212,46,2536,-1.01533,-0.917279,2.370527 -400,56,2537,-1.216756,-1.023388,2.536649 -326,68,2538,-1.02706,-0.7750645,2.129157 -177.256,83.94401,2540,0.4424307,-0.123904,2.300205 -382.6,73,2551,-1.305333,-0.732778,3.003117 -376.6,151,2552,-1.336206,-0.6825041,2.981754 -101.8,290.2,2555,-1.167601,-0.1709774,2.772899 -299,411,2559,-1.251091,-0.8362455,2.945781 -439,193,2567,-1.03856,-0.9256295,2.279454 -469,159.4,2572,-0.8465893,0.3018239,2.048908 -221.32,417.16,2576,-1.15346,-0.8645949,2.98437 -293.32,64.36,2589,-0.7360376,-0.08280855,2.179823 -484,271,2592,-0.7474137,-0.08846145,2.161748 -484.84,270.28,2597,-1.026162,-0.5972885,2.233796 -227.8,383.8,2598,-1.115565,-0.8731069,2.914809 -389,166,2600,-1.227648,-1.048744,2.419172 -124.84,186.76,2601,-1.23613,-0.9009596,2.567542 -80.2,414.28,2602,-1.244857,-0.7946188,2.638965 -377.8,303.4,2608,-1.129261,-0.270365,2.609886 -470.2,157,2610,-1.0599,-0.8664954,2.174713 -316.36,330.76,2611,-1.119203,-0.8044645,2.529526 -316,157,2615,0.1279286,-0.1667601,2.32218 -249.4,304.6,2619,-0.3517878,0.1829132,1.894795 -493.48,172.36,2620,-1.150794,-0.2748787,2.836418 -315,219,2621,-1.31937,-0.3820309,2.947547 -579.88,255.88,2622,-1.242103,-0.9006661,2.562156 -250.6,353.8,2623,0.1093045,-0.09707212,2.324708 -192.808,137.512,2625,-1.061401,-0.298058,2.525873 -342.28,300.52,2628,-0.2839531,-0.08729165,2.245725 -381,303,2629,-1.28502,-0.6793475,2.712843 -428.68,215.56,2630,-1.103639,-0.6829221,2.61236 -188.2,250.12,2632,-1.044093,-0.301085,2.545901 -245.8,205.48,2633,-1.293288,-0.4286157,2.953497 -520.84,209.8,2634,0.9287855,-0.1054877,2.314554 -431,65,2652,-0.9518736,-0.8242288,2.467852 -490.6,233.8,1647,-0.6343705,-0.1631567,2.054741 -453,193,2051,-0.7135066,-0.06865498,2.160595 -219.4,310.6,2122,-1.223191,-0.8086768,2.573142 -470,160,2130,-0.9875005,-0.8371464,2.108456 -411,96,2138,-1.022165,-0.7058519,2.385276 -224.2,389.8,2170,-1.218756,-0.4161185,2.812878 -397,55,2174,-0.9900451,-0.2254162,2.449971 -377.8,75.4,2179,-0.5804997,-0.1570656,2.370195 -497.8,254.44,2183,-1.042938,-0.8734447,2.18317 -341.0704,299.5984,2216,-0.7513815,-0.1404019,2.102471 -74,248,2264,-1.314123,-0.5956436,2.944999 -280,380,2272,-1.01877,-0.6570369,2.201707 -473,171,2295,-1.29094,-0.2856817,3.726325 -352,107,2301,-1.237316,-0.4088013,2.776313 -221.32,421.48,2306,-0.9997762,-0.6557246,2.214765 -451,163,2311,-1.276416,-0.6445996,2.965195 -142.8343,356.8298,2361,-1.12018,-0.264691,2.615659 -165.2292,260.7807,2363,-1.294484,-0.6694726,2.733614 -317.0167,331.9466,2364,-0.7678532,-0.03421057,2.08081 -174.1871,371.2621,2368,-1.081939,-0.5680729,2.495833 -311.5424,266.7527,2372,-1.304732,-0.3910186,2.973357 -335.4303,299.5985,2373,-1.126784,-0.26419,2.605434 -319.9032,334.2359,2376,-1.262042,-0.6705762,2.771145 -377,151,2385,0.5087625,0.6737397,2.216568 -219.4,169,2386,-1.27686,-0.5059872,3.063615 -97,219,2396,-1.248464,-0.8483587,3.049402 -505,230.2,2397,0.8170291,0.5038657,2.214965 -120,291,2398,-1.308527,-0.3243235,2.984476 -358.6,53.8,2409,0.8843778,0.5310917,2.221343 -253,432,2417,-1.202908,-0.06668289,2.813592 -410.2,176.2,2419,-1.144642,-0.4243237,2.746791 -285,417,2420,0.2357685,-0.1454513,2.304104 -502.6,254.2,2421,-1.018864,-0.6993821,2.423562 -250,305,2422,-1.129221,-0.5398663,2.689414 -96.38561,212.5072,2426,-0.7415031,-0.06163881,2.099602 -500.68,253,2428,-1.259373,-0.6020153,3.046858 -511,271,2429,1.111498,-0.6863574,2.55134 -116.2,263.08,2439,-1.130323,-0.2729307,2.607284 -316.6,331,2442,-1.175214,-0.8235637,2.904809 -465,174,2444,-0.6940466,-0.09122144,2.094127 -197.992,241.192,2451,-1.304308,-0.454548,3.044294 -484.8401,270.568,2452,1.009532,-0.6368026,2.408813 -494.2,172.6,2463,-1.240704,-0.2416007,2.909263 -491.1992,177.6708,2475,-0.1663314,-0.01864886,2.201756 -425.0098,215.9909,2486,0.8581904,-0.2707884,2.478852 -311.5424,359.3182,2491,-1.089348,-0.5883625,2.461682 -312.7368,312.7368,2493,-0.9625769,-0.6369807,2.326369 -165.8264,262.5723,2499,-0.9810752,-0.8811847,2.135267 -514.5894,281.6826,2500,-0.9752124,-0.8761858,2.145128 -377,41,2502,-0.9972349,-0.8304684,2.104298 -375,46,2503,-1.060461,-0.9020652,2.262735 -379,75,2507,-1.09839,-0.8060565,2.278988 -182,83,2508,-1.082059,-0.7880815,2.248153 -406,84,2509,-1.025206,-0.8077586,2.358079 -330,107,2510,-0.9860817,-0.6968444,2.172232 -346,107,2511,0.9296997,-0.1915202,2.325838 -301,113,2512,-1.068741,-0.7151365,2.252849 -396,118,2513,-1.23329,-0.9021099,2.569911 -449,131,2514,0.3850662,-0.1946999,2.395922 -359,133,2515,0.6229874,0.1319349,1.996399 -191.8,137.8,2516,0.1388988,-0.08309245,2.322097 -431.8,163,2517,-1.234073,-0.8521217,2.952421 -527.8,173.8,2518,-1.319429,-0.7361131,2.999412 -89,272,2521,-1.147316,-0.3785046,2.549275 -99.4,289,2523,-1.310233,-0.5084612,3.16979 -318,295,2524,-1.148878,-0.1698615,2.401587 -126,328,2525,-1.320904,-0.4779574,3.106283 -98,354,2526,-1.313299,-0.408644,3.087988 -395.8,343,2527,-1.11498,-0.1442892,2.801378 -118,359,2528,-1.162472,-0.04897798,2.769217 -137,375,2529,-0.541064,0.6106938,2.38652 -304,408,2531,-1.256236,-0.09134413,2.991549 -499,403,2532,-1.243213,-1.068495,2.433758 -583,412,2533,-1.241996,-1.045678,2.40293 -227.8,434.2,2534,-0.983207,-0.8263063,2.100154 -195,41,2535,-1.064868,-0.8874056,2.254745 -286,75,2539,-1.082986,-0.7948475,2.261047 -396,84,2541,-1.254412,-0.8059141,2.626353 -340,107,2542,-1.130857,-0.5094845,2.482552 -455,164,2543,0.437236,0.6874903,2.155045 -192,187,2544,-1.309068,-0.6041667,2.965697 -314,246,2545,-1.310381,-0.4898044,3.179968 -538,283,2546,-1.28923,-0.3707838,3.040363 -129,307,2547,-1.24451,-1.069686,2.437879 -100,362,2548,-1.080163,-0.8179195,2.135605 -161,375,2549,-0.9734589,-0.6331197,2.261006 -193,42,2550,-1.11555,-0.8668351,2.927763 -123,191,2553,-0.269278,0.3696557,1.964724 -92,271,2554,-1.278645,-0.4491839,3.15045 -575,290,2556,-1.130274,-0.02215447,2.814898 -121,360,2557,-1.084355,-0.8005551,2.274505 -283,379,2558,-1.12793,-0.6822541,2.600934 -334,107,2560,-1.304966,-0.7573667,3.008043 -245.8,206.2,2561,-0.7342513,-0.08036951,2.164006 -96,222,2562,-1.152833,-0.3838385,3.672533 -86,264,2563,0.3298399,-0.08023553,2.234879 -489,270,2564,0.0666974,-0.1305023,2.364752 -51.4,389.8,2565,-1.282031,-1.073179,2.440495 -470,173,2566,-1.235217,-1.045984,2.41253 -183,44,2568,-1.070137,-0.8114992,2.168158 -209.8,46.6,2569,0.4813245,-0.1063349,2.227528 -313,57,2570,-1.232422,-0.6701047,2.716758 -372,81,2571,-1.31127,-0.668652,2.700483 -198.28,240.04,2573,-1.251377,-0.1535778,2.981523 -189,254,2574,-1.033196,-0.6623522,2.195996 -570,373,2575,0.578984,0.08050328,1.922323 -391,139,2577,-0.08590346,-0.1052326,2.310316 -539,162,2578,-0.3402229,0.1894578,1.8972 -102,205,2579,-1.311484,-0.4433151,3.203195 -451,206,2580,-1.299997,-0.4043048,3.105802 -580,256,2581,-1.306043,-0.365666,2.964553 -103,374.2,2582,-1.321975,-0.3300977,2.97451 -136.6,374.2,2583,-0.5003054,0.570161,2.442354 -178.6,374.2,2584,-1.245788,-0.1336228,2.995825 -179.8,388.6,2585,-1.245958,-0.119193,3.006115 -482,392,2586,-1.011208,-0.9316961,2.340768 -221.8,422.2,2587,-1.113093,-0.7202162,2.403674 -221.8,427,2588,0.4725374,-0.1146692,2.21984 -302.2,161.8,2590,-0.3822769,0.3303587,1.916707 -471,158,2591,-1.313519,-0.4420912,2.915808 -589,294,2593,0.05334124,-0.1376957,2.361207 -175,350.2,2594,-0.6548068,-0.04314135,2.191152 -488.2,269.8,2595,-1.194876,-0.2259951,2.936006 -439,193,2596,-1.157185,-0.04601737,2.744633 -311.8,406.6,2599,-1.310861,-0.341548,3.402094 -208.36,45.64,2603,0.02614285,-0.124409,2.300606 -192.52,136.36,2604,-1.300416,-0.8215267,2.935719 -192.52,192.52,2605,-0.9920674,-0.2219342,2.458891 -451.72,192.52,2606,-1.304053,-0.5106008,3.173527 -90.28001,232.84,2607,0.4524632,-0.1240864,2.217232 -98.92001,353.8,2609,-1.330726,-0.5076445,3.178638 -100.36,361,2612,-1.057927,-0.7063666,2.386902 -359.8,59.8,2613,-0.7549463,-0.1318738,2.108449 -244.6,153.4,2614,-1.293988,-0.4275221,2.947171 -500.3921,253.288,2616,-1.119212,-0.4156665,2.765267 -173.1088,353.5121,2617,0.390534,-0.01605136,2.13678 -445.096,178.984,2618,-1.131111,-0.5752154,2.441647 -177.256,370.1009,2624,-1.145332,-0.6954363,2.550215 -450.28,192.808,2626,-1.011732,-0.2309289,2.440254 -256.0529,195.9184,2627,-0.3120923,-0.1722127,2.367625 -465.4865,222.8752,2631,0.6418982,0.3383411,2.10549 -336.9233,299.5985,2635,-1.268778,-0.7090126,2.799771 -171.2011,353.3462,2636,0.9785768,-0.1081638,2.32455 -456.3627,142.8343,2637,-1.024864,-0.127686,2.542483 -159.2572,245.8508,2638,-1.131156,-0.2639214,2.608507 -454.8697,141.3413,2639,-1.156998,-0.419154,2.757822 -365.2902,341.4023,2640,-1.118715,-0.7961752,2.522288 -317.5144,332.4443,2641,-1.090244,-0.5825046,2.45207 -245.8508,308.5564,2642,-1.082725,-0.162344,2.507086 -248.2395,155.0768,2643,-1.162705,-0.6911448,2.322729 -312.7368,212.4077,2644,-1.138995,-0.4366504,2.525681 -366.4846,341.4023,2645,-1.15723,-0.4170814,2.749961 -330.6527,165.8264,2646,-1.073948,-0.7169104,2.408236 -312.7368,276.905,2647,6.327101,-0.269147,2.696867 -248.2395,309.1536,2648,5.531598,0.7429843,2.588862 -305.5704,159.2572,2649,6.751194,-0.01125506,2.988102 -438,46,2650,-0.9536698,-0.9250584,2.189374 -472.6,116.2,2651,-1.070339,-0.8573232,2.215195 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0017.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0017.csv deleted file mode 100644 index c3feeda2a0a35216384ea56f69b351abad6160f7..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0017.csv +++ /dev/null @@ -1,194 +0,0 @@ -364,169,1211,-1.145531,-0.3017937,2.537215 -273.16,340.84,2115,-1.042549,-0.8178725,2.153437 -183.4,302.2,2266,-1.298025,-0.4399628,3.034342 -187.624,379.432,2269,-1.14994,-0.1656159,2.798813 -179.8,337,2281,-1.234453,-0.1208137,3.019143 -272.2,182.2,2386,-1.27686,-0.5059872,3.063615 -320,162,2405,-1.184591,-0.02688677,2.967546 -265.96,323.56,2413,-0.6050482,-0.1778619,2.131766 -182.44,376.84,2440,-1.183896,-0.1703834,2.874077 -464.2,171.4,2463,-1.240704,-0.2416007,2.909263 -132.328,234.28,2520,-1.318299,-0.6905615,3.017106 -358.12,300.52,2524,-1.148878,-0.1698615,2.401587 -442.6,160.6,2572,-0.8465893,0.3018239,2.048908 -260.2,433,2576,-1.15346,-0.8645949,2.98437 -566.2,248.2,2581,-1.306043,-0.365666,2.964553 -137.8,399.88,2582,-1.321975,-0.3300977,2.97451 -268.84,60.04,2603,0.02614285,-0.124409,2.300606 -436.6,193,2606,-1.304053,-0.5106008,3.173527 -133.48,378.28,2609,-1.330726,-0.5076445,3.178638 -459,219,2631,0.6418982,0.3383411,2.10549 -313,132,2655,-1.30792,-0.6922936,2.803492 -431.56,221.32,2656,-0.4243561,0.1674983,1.864455 -173.8,303.4,2661,-1.307721,-0.5472896,3.058798 -569,279,2662,-1.014482,-0.7856244,2.139263 -353.8,322.6,2663,-1.058254,-0.7351142,2.818994 -431,91,2665,-0.6488241,-0.1870661,2.11975 -592,285,2674,-1.326392,-0.3994501,2.983594 -569.8,418.6,2680,-0.7890248,-0.1489656,2.107187 -111.592,237.736,2681,-0.4928888,0.1447647,1.849642 -511,249.4,2683,-1.290771,-0.5093157,3.016033 -586,252,2684,-1.311051,-0.4942134,3.165212 -177.256,353.512,2686,-0.7269337,0.6789801,2.064671 -73.576,255.016,2702,-1.310822,-0.6172479,2.983657 -496,267,2704,-1.325213,-0.5241848,3.073889 -498,391,2710,-1.058445,-0.7634228,2.82854 -370.6,79,2711,-0.3479847,0.1850896,1.892694 -248.2,139,2712,-1.138159,-0.3089361,2.595145 -590.2,410.2,2724,-1.166827,-0.3196816,3.652219 -175.528,218.728,2726,0.3369952,-0.2345815,2.41389 -73,436.6,2727,0.5111657,0.1148058,1.996277 -519.4,250.6,2732,-0.5503089,0.6062765,2.37898 -567.4,278.2,2734,-0.7447953,-0.07748089,2.133444 -552.52,388.36,2736,-1.0604,-0.7612785,2.829735 -407.08,303.4,2738,-1.311158,-0.3496752,2.97648 -208.36,217,2739,1.155273,0.002237062,2.149823 -352,368,2740,-1.305423,-0.3690975,2.967453 -448.6,139,2742,-1.029406,-0.7957172,2.130928 -222.184,391.528,2743,-1.167092,-0.2856075,2.816894 -350,411,2744,-1.159875,-0.2040278,2.650771 -433,87.4,2745,-1.26047,-0.3609776,3.155077 -289,363.4,2746,-0.5354846,0.5447467,2.408587 -359,227,2752,-0.5545949,0.540742,2.42972 -561,348,2757,-1.109477,-0.7996193,2.536205 -287.8,165.4,2760,-1.281432,-0.6552677,2.727564 -358.6,167.8,2761,-1.085695,-0.6925575,2.39945 -488.2,69.4,2775,4.230454,-0.1035508,1.672755 -453,40,2778,-1.062206,-0.8852602,2.206864 -479.08,51.4,2779,-1.047565,-0.7420076,2.163188 -506.2,266.2,2780,-0.1424782,-0.002648703,2.120561 -437,193,2051,-0.7135066,-0.06865498,2.160595 -266.2,325,2122,-1.223191,-0.8086768,2.573142 -443,162,2130,-0.9875005,-0.8371464,2.108456 -267.4,413.8,2167,-1.240339,-0.2453579,2.915289 -368.0273,303.7456,2216,-0.7513815,-0.1404019,2.102471 -222.76,391.24,2270,-0.8034764,0.2351371,2.162953 -449,172,2295,-1.29094,-0.2856817,3.726325 -106.7536,249.832,2325,-1.243751,-0.6794118,2.701441 -237.3904,264.3472,2327,0.1320206,-0.2659341,2.444698 -215.9909,278.6966,2363,-1.294484,-0.6694726,2.733614 -354.3415,269.7386,2372,-1.304732,-0.3910186,2.973357 -366.7831,304.5751,2373,-1.126784,-0.26419,2.605434 -289,444,2408,1.031006,-0.2715634,2.588798 -160.84,283.24,2439,-1.130323,-0.2729307,2.607284 -356,336,2442,-1.175214,-0.8235637,2.904809 -247.7584,253.9792,2451,-1.304308,-0.454548,3.044294 -182.44,377.704,2454,-1.107454,-0.8356307,2.969905 -430.9818,227.9348,2486,0.8581904,-0.2707884,2.478852 -350.3602,365.2902,2491,-1.089348,-0.5883625,2.461682 -245.8,151,2516,0.1388988,-0.08309245,2.322097 -137.8,310.6,2523,-1.310233,-0.5084612,3.16979 -156,383,2528,-1.162472,-0.04897798,2.769217 -177,397,2529,-0.541064,0.6106938,2.38652 -580,392,2533,-1.241996,-1.045678,2.40293 -268,449,2534,-0.983207,-0.8263063,2.100154 -326,86,2539,-1.082986,-0.7948475,2.261047 -357,254,2545,-1.310381,-0.4898044,3.179968 -172,327,2547,-1.24451,-1.069686,2.437879 -135,387,2548,-1.080163,-0.8179195,2.135605 -132,293,2554,-1.278645,-0.4491839,3.15045 -125,286,2563,0.3298399,-0.08023553,2.234879 -446,175,2566,-1.235217,-1.045984,2.41253 -356,68,2570,-1.232422,-0.6701047,2.716758 -223,392.2,2584,-1.245788,-0.1336228,2.995825 -223,406.6,2585,-1.245958,-0.119193,3.006115 -443,160,2591,-1.313519,-0.4420912,2.915808 -575,281,2593,0.05334124,-0.1376957,2.361207 -500,265,2595,-1.194876,-0.2259951,2.936006 -134.92,385.48,2612,-1.057927,-0.7063666,2.386902 -510.76,249.832,2616,-1.119212,-0.4156665,2.765267 -566.92,247.24,2622,-1.242103,-0.9006661,2.562156 -356.3322,338.4163,2641,-1.090244,-0.5825046,2.45207 -291.2377,165.8264,2643,-1.162705,-0.6911448,2.322729 -356.3322,221.9629,2644,-1.138995,-0.4366504,2.525681 -402.3164,341.4023,2645,-1.15723,-0.4170814,2.749961 -287.6545,319.9032,2648,5.531598,0.7429843,2.588862 -389,46,2653,-0.4709941,-0.2191676,2.328042 -391,83,2654,-0.6420894,-0.1676914,2.364195 -432,255,2657,-1.305553,-0.7229465,2.918729 -203.8,275.8,2658,-1.302486,-0.654692,2.92133 -578,250,2659,-0.3965272,0.3009844,1.931057 -160,283,2660,-1.139275,-0.3173883,2.586516 -157,355,2664,-1.140834,-0.7621825,2.845621 -217,223,2666,-1.216297,-0.7370915,2.819679 -195,231,2667,-1.320765,-0.8447325,2.973624 -496,225,2668,-0.7310861,-0.1011772,2.070429 -197.8,244.6,2669,-0.4353664,0.1915184,1.832194 -111,255,2670,-1.303993,-0.660592,2.917275 -523,250,2671,-0.5183569,0.2818168,1.87511 -589,253,2672,-1.322616,-0.5466626,3.026915 -174,303,2673,-1.317142,-0.4868292,3.124318 -166,348,2675,-1.175886,-0.3309124,3.62637 -149,380,2676,-1.251495,-0.131536,2.986677 -207,390,2677,-0.7159595,0.7051567,2.151548 -75,434,2678,-1.20849,-0.8670575,3.019149 -262,437,2679,-1.314796,-0.8694844,3.073003 -75.4,261.4,2682,-1.311434,-0.5165649,3.019204 -174,359,2685,-1.299045,-0.4327879,3.22063 -137,381,2687,-1.23673,-0.9201263,2.548747 -138,400,2688,-1.319991,-0.8863144,3.063076 -591,410,2689,-1.309993,-0.6763756,3.016472 -248,140,2690,-1.290529,-0.6411297,3.012175 -73,255.4,2691,-1.310405,-0.6857596,3.01612 -140,312,2692,-1.307762,-0.6732578,3.033536 -152,318,2693,-1.12715,-0.8138521,2.882837 -137.8,309.4,2694,-0.7165266,-0.1478186,2.194168 -136,314,2695,-1.16583,-0.3235138,3.64256 -175,218.2,2696,-1.178159,0.06585645,2.797043 -482,251,2697,-0.7419243,0.6804829,2.148775 -75.4,434.2,2698,-0.1030598,0.02651809,2.099607 -349,445,2699,-1.305226,-0.8796112,3.079453 -570,419,2700,-1.276752,-0.7493919,3.014437 -493,211,2701,-0.7534162,-0.08977982,2.172749 -122.2,283,2703,-1.234055,-0.4094314,2.769525 -163,325,2705,-1.325921,-0.4953647,3.176665 -278,340,2706,-0.3754654,0.7000103,2.169647 -158.2,367,2707,-0.5613194,0.5977724,2.377386 -134.2,386.2,2708,-1.00803,-0.8855577,2.262919 -541,364,2709,-1.219232,-0.9188696,2.555001 -207.4,217,2713,-1.160724,-0.33417,3.634681 -566,247,2714,-0.7607981,-0.1306777,2.11441 -352.6,326.2,2715,-1.256999,-0.300633,3.482843 -75,429,2716,0.2671397,-0.118479,2.340865 -508.6,251.8,2717,-0.7553131,-0.1183566,2.075318 -102,447,2718,-1.171193,-0.3172513,3.66037 -424.6,181,2719,-1.233122,-0.8036458,2.560549 -521.8,250.6,2720,-1.317393,-0.7066707,3.039338 -71,438,2721,-0.7179638,0.6865614,2.065132 -270.28,185.32,2722,0.5530069,0.003763681,2.136436 -124.84,307.72,2723,-1.121951,-0.8115367,2.884861 -463.24,166.6,2725,-1.18034,-0.06045512,2.73057 -349,411.4,2728,-0.1853083,-0.03207548,2.11577 -401.8,165.4,2729,-0.7536045,-0.1146572,2.082417 -495.4,177.4,2730,-1.140894,-0.4560131,2.509876 -488.2,208.6,2731,-0.3831927,0.3055106,1.934991 -356.2,274.6,2733,-0.5640553,0.6738955,2.167153 -497.8,391,2735,-1.004999,-0.2317649,2.455412 -507.88,264.52,2737,-1.168797,-0.1951401,2.652941 -220.456,398.44,2741,-1.194775,-0.06925862,2.721841 -351.4384,363.8801,2747,-1.146025,-0.2732565,2.595881 -173.1088,401.2049,2748,-0.6706792,0.5078937,2.390222 -486.2225,380.4688,2749,-1.135583,-0.5751521,2.442353 -357.6592,336.9232,2750,-1.090303,-0.8522113,2.950484 -492.4433,394.9841,2751,-1.302831,-0.8217741,2.93207 -152.3728,212.5072,2753,-0.8998551,-0.7291682,2.495978 -132.881,252.3204,2754,-1.147816,-0.01313866,2.092952 -481.2459,384.2014,2755,-1.352226,-0.4392017,3.120914 -321.9933,160.2525,2756,-1.084766,-0.1609841,2.506562 -155.2759,401.6196,2758,-1.145778,-0.7251671,2.368403 -401.6196,341.8999,2759,-1.164727,-0.2035333,2.649384 -351.8532,364.2948,2762,-1.312522,-0.6693655,2.718642 -239.8788,269.7386,2763,-1.337686,-0.4965638,3.02103 -354.3415,175.1824,2764,-1.156647,-0.3122407,2.609979 -236.8928,272.7246,2765,-1.296797,-0.4920132,3.032677 -174.1871,365.2902,2766,-1.087152,-0.7176362,2.403368 -348.5686,330.6527,2767,-1.185744,-0.3213368,2.797711 -176.5759,366.4846,2768,-1.121166,-0.4437452,2.529 -348.5686,169.4095,2769,-1.331082,-0.7028674,2.690653 -287.6545,355.735,2770,-1.144497,-0.1846408,2.660254 -352.1518,284.0714,2771,4.168875,0.0798658,1.697383 -237.49,255.4059,2772,4.491208,0.4521214,1.410532 -352.1518,362.9014,2773,4.293238,0.6799614,1.649475 -458,57,2774,4.740125,0.286047,1.39402 -481,100,2776,4.488496,0.1946111,1.428489 -482,55,2777,-0.7490344,-0.0774995,2.137855 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0018.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0018.csv deleted file mode 100644 index 447a3f7f62d40e0a136547db0d01c78c13de6094..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0018.csv +++ /dev/null @@ -1,166 +0,0 @@ -236,51,1560,-0.9198198,-0.7171212,2.114153 -249,45,1973,-0.9717497,-0.7525796,2.106638 -248.2,45.4,1983,-0.1711138,-0.7009506,2.492001 -245,48,2017,-0.5456783,-0.7155414,2.259893 -313,63,2069,-0.8877815,-0.6369814,2.159783 -203,34,2251,-1.032976,-0.754529,2.112918 -373,145,2369,-1.133134,-0.4662148,2.515589 -201.16,310.6,2387,-1.198472,-0.1837271,2.791244 -203.176,369.064,2465,-1.2783,-0.6659929,2.740064 -421,37,2502,-0.9972349,-0.8304684,2.104298 -434,67,2507,-1.09839,-0.8060565,2.278988 -406,97,2511,0.9296997,-0.1915202,2.325838 -400.6,97,2542,-1.130857,-0.5094845,2.482552 -170.2,382.6,2548,-1.080163,-0.8179195,2.135605 -278.2,244.6,2573,-1.251377,-0.1535778,2.981523 -213.4,295,2661,-1.307721,-0.5472896,3.058798 -532.6,241,2662,-1.014482,-0.7856244,2.139263 -476.2,195.4,2668,-0.7310861,-0.1011772,2.070429 -215.56,345.16,2686,-0.7269337,0.6789801,2.064671 -169,397,2688,-1.319991,-0.8863144,3.063076 -514,326,2709,-1.219232,-0.9188696,2.555001 -379,59.8,2711,-0.3479847,0.1850896,1.892694 -504,216,2720,-1.317393,-0.7066707,3.039338 -467.56,342.28,2749,-1.135583,-0.5751521,2.442353 -401,54,2781,-0.7059218,-0.1753328,2.109599 -485.8,197.8,2784,-0.9980678,-0.2199337,2.453902 -415,275,2787,-1.297386,-0.5673843,2.981611 -243.4,135.4,2795,-0.9197466,-0.5611272,3.60236 -314.2,416.2,2800,-0.3738067,0.1192452,1.911431 -240.04,137.8,2802,-1.302168,-0.6699392,2.775791 -525,210,2803,-0.9820154,0.223258,2.02761 -496,217,2804,-1.281334,-0.6421744,2.927588 -573,310,2806,-0.5289655,0.6375477,2.394857 -176.2,305.8,2811,-1.289757,-0.4589587,2.975247 -482.2,233.8,2813,-1.206046,-1.037174,2.412319 -303.4,47.8,2816,-1.307264,-0.8154696,3.122425 -462,135,2818,-1.233644,-0.405817,2.765765 -172.072,394.984,2822,-1.021686,-0.8813044,2.20876 -500.2,231.4,2824,-0.9613045,-0.3264287,3.733935 -106.6,95.8,2826,-1.041879,-0.8628979,2.175757 -88.60001,409,2827,-1.244866,-1.056821,2.432856 -140.968,248.104,2832,-0.9342394,0.2595564,2.014055 -573,308,2835,-0.7438071,-0.1236497,2.10501 -313,295,2839,-0.5653163,0.5989856,2.380608 -376.6,248.2,2840,-1.304165,-0.3165904,2.991756 -109,286.6,2841,-1.031057,-0.8106843,2.152211 -479.8,350.2,2842,0.419517,0.01257049,1.894159 -429,67,2844,-0.7069207,0.7134529,2.158234 -545.8,367,2847,0.7531555,-1.099343,3.574443 -414,47,2848,-0.739141,-0.1286086,2.13776 -77.03201,89.12801,2849,0.7773206,-1.124851,3.601033 -486,220,2851,-1.277725,-0.8130919,2.951982 -313,344,2853,-1.220695,-0.1839633,2.875826 -376.84,307.72,2855,-0.3542828,0.1916671,1.890272 -314,381,2856,-1.084648,-0.1607449,2.49734 -309.4,205,2857,-1.23309,-0.833518,2.959812 -417.16,307.72,2859,-1.256821,-0.4139912,2.756919 -310.6,316.36,2862,-1.293129,-0.4460205,3.050743 -124.84,98.92001,2863,-1.288046,-0.4133184,2.940234 -381.4,148.6,2864,-0.2559121,0.2523795,1.872625 -530.2,213.4,2867,-1.209659,-0.8312594,3.040584 -240.04,132.04,2869,0.8844854,-1.051536,3.705929 -310.6,255.4,2871,-1.127062,-0.185181,2.498003 -312,252,2873,-0.9077423,-0.6842811,2.833467 -274.6,188.2,2878,0.6364374,-0.8568427,3.86384 -222,291,2266,-1.298025,-0.4399628,3.034342 -225.64,367.336,2269,-1.14994,-0.1656159,2.798813 -258.76,375.4,2270,-0.8034764,0.2351371,2.162953 -336,145,2405,-1.184591,-0.02688677,2.967546 -217,367.336,2454,-1.107454,-0.8356307,2.969905 -371.7598,336.9233,2491,-1.089348,-0.5883625,2.461682 -279.4,137.8,2516,0.1388988,-0.08309245,2.322097 -163.432,229.096,2520,-1.318299,-0.6905615,3.017106 -175.24,304.84,2523,-1.310233,-0.5084612,3.16979 -376.6,275.8,2524,-1.148878,-0.1698615,2.401587 -339,73,2539,-1.082986,-0.7948475,2.261047 -161,281,2563,0.3298399,-0.08023553,2.234879 -259,376.6,2584,-1.245788,-0.1336228,2.995825 -263.8,389.8,2585,-1.245958,-0.119193,3.006115 -167.8,374.2,2609,-1.330726,-0.5076445,3.178638 -169.48,381.16,2612,-1.057927,-0.7063666,2.386902 -530.92,212.68,2622,-1.242103,-0.9006661,2.562156 -403,65,2654,-0.6420894,-0.1676914,2.364195 -373.96,293.32,2663,-1.058254,-0.7351142,2.818994 -193,346,2664,-1.140834,-0.7621825,2.845621 -292.6,416.2,2679,-1.314796,-0.8694844,3.073003 -177,306,2692,-1.307762,-0.6732578,3.033536 -92.2,442.6,2698,-0.1030598,0.02651809,2.099607 -370.6,413.8,2699,-1.305226,-0.8796112,3.079453 -158.2,279.4,2703,-1.234055,-0.4094314,2.769525 -195.4,359.8,2707,-0.5613194,0.5977724,2.377386 -281.8,125.8,2712,-1.138159,-0.3089361,2.595145 -530,213,2714,-0.7607981,-0.1306777,2.11441 -494,219,2717,-0.7553131,-0.1183566,2.075318 -449,155,2730,-1.140894,-0.4560131,2.509876 -533,241,2734,-0.7447953,-0.07748089,2.133444 -480,351,2735,-1.004999,-0.2317649,2.455412 -258.472,375.976,2743,-1.167092,-0.2856075,2.816894 -210.0189,356.3322,2766,-1.087152,-0.7176362,2.403368 -371.2621,302.5845,2767,-1.185744,-0.3213368,2.797711 -212.4077,355.735,2768,-1.121166,-0.4437452,2.529 -371.2621,335.4303,2773,4.293238,0.6799614,1.649475 -492,233,2780,-0.1424782,-0.002648703,2.120561 -437,93,2782,-1.218819,-0.7432942,2.818857 -454,184,2783,-1.281952,-0.8141074,3.139103 -228,234,2785,-1.299725,-0.6788619,3.0102 -106.6,283,2786,-1.299172,-0.6384784,3.059091 -179,302,2788,-1.111052,0.01166295,2.082685 -173,320,2789,-1.308605,-0.5440481,3.085131 -212,324,2790,-1.295312,-0.3579179,3.023964 -558,294,2791,0.7293052,-0.9906293,3.949194 -185,351,2792,-1.085438,-0.9125353,2.670488 -240,382,2793,-1.230101,-0.7831076,2.646376 -72,149,2794,-1.308881,-0.7640356,3.007637 -277,193,2796,-1.300001,-0.3861932,3.041661 -158,279,2797,-1.196918,-0.04145036,2.952853 -76.60001,340.6,2798,0.7779837,-1.118155,3.598798 -232,378,2799,-1.10123,-0.9103501,2.677609 -107,98,2801,-0.7263988,-0.1078916,2.099522 -256,263,2805,-1.284585,-0.5523404,2.980735 -214,295,2807,-1.310355,-0.6845459,3.018318 -216,326,2808,-1.28199,-0.6608067,3.031805 -478,353,2809,-0.7431279,-0.129259,2.136616 -174,304,2810,-0.7472255,-0.08338313,2.171176 -487,218.2,2812,-1.318133,-0.5266987,3.132749 -236.2,349,2814,0.7150135,-1.09261,3.557861 -173.8,364.6,2815,0.4283826,0.01196232,1.897518 -112.6,100.6,2817,-0.9065028,-0.6981941,3.536002 -109,286.12,2819,-1.308355,-0.4357461,3.207539 -68.68,306.28,2820,-1.064366,-0.9022432,2.263784 -310,319,2821,-0.7465556,-0.05504744,2.109088 -379,60,2823,0.8052307,-1.109234,3.606074 -398.2,52.6,2825,-1.2108,-0.05266394,2.951236 -314,417,2828,-0.4599561,-0.09938969,2.190276 -414,54,2829,-1.280817,-0.8466052,3.005208 -294.76,47.08,2830,-0.9318324,-0.7620712,3.523076 -453.4,201.4,2831,-1.14658,-0.2750072,2.59722 -52.84,293.32,2833,-0.6916676,0.7118581,2.061989 -376.6,308.2,2834,-1.139228,-0.339677,3.663186 -564.04,355.24,2836,-1.146921,-0.4223016,2.740486 -85.96001,434.44,2837,-1.146453,-0.4578455,2.509329 -495.4,217,2838,-1.316018,-0.8179491,3.117553 -259,389.8,2843,-1.218772,-0.8017583,2.552704 -463.24,134.92,2845,-1.031844,-0.8716508,2.162819 -304.6,166.6,2846,1.074211,-1.246794,3.849468 -111.88,100.36,2850,-1.171066,-0.2793738,2.822899 -106.12,96.04,2852,-1.140116,-0.2702808,2.599123 -166.888,248.104,2854,-1.152966,-0.6786829,2.605966 -531.496,213.544,2858,-0.7710261,-0.76522,2.976466 -163.432,236.008,2860,0.7782323,-1.068089,3.510341 -196.264,194.536,2861,-1.047894,-0.683178,2.362272 -216.6544,365.9536,2865,-1.301506,-0.3677259,2.962939 -256.0529,355.5857,2866,-1.055627,-0.9111872,2.687847 -258.1264,374.248,2868,-1.139464,-0.5346577,2.68333 -139.9312,247.7584,2870,-1.122874,-0.5363395,2.676982 -105.5095,112.9744,2872,-0.5480255,0.5581006,2.435475 -416.5495,309.5518,2874,-1.104706,-0.692367,2.390286 -463.8276,347.3742,2875,-1.213799,-0.7939768,2.647158 -242.8648,210.0189,2876,-1.150221,-0.5342792,2.679863 -374.2481,155.2759,2877,-1.299443,-0.421362,2.937321 -312.0401,257.297,2879,-1.296806,-0.8489406,2.520046 -255.4059,355.735,2880,-1.134078,-0.2624665,2.591606 -93.56553,165.2292,2881,-1.104135,-0.6878862,2.396855 -312.7368,158.66,2882,-1.032006,-0.9238127,2.303445 -377.2341,308.5564,2883,-1.043295,-0.8045062,2.195174 -374.2481,156.2712,2884,0.9881601,-1.086629,3.656456 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0019.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0019.csv deleted file mode 100644 index 16a6e7c22a055ba0c0f635a73e6df389547a4b63..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0019.csv +++ /dev/null @@ -1,284 +0,0 @@ -206,57,1667,-0.9238087,-0.6533441,2.167159 -166,92,1931,-0.93557,-0.6510278,2.169994 -182,83,2091,-0.9779584,-0.8455133,2.114584 -178.984,211.816,2277,0.001533152,-0.1276249,2.371688 -337,117,2450,-0.754518,-0.06693298,2.095667 -235,332.2,2525,-1.320904,-0.4779574,3.106283 -200.2,369.4,2526,-1.313299,-0.408644,3.087988 -307.72,123.4,2604,-1.300416,-0.8215267,2.935719 -430.6,257.8,2608,-1.129261,-0.270365,2.609886 -338.2,134.2,2643,-1.162705,-0.6911448,2.322729 -508,192,2671,-0.5183569,0.2818168,1.87511 -244.6,281.8,2673,-1.317142,-0.4868292,3.124318 -117.4,442.6,2678,-1.20849,-0.8670575,3.019149 -552,337,2700,-1.276752,-0.7493919,3.014437 -566,325,2724,-1.166827,-0.3196816,3.652219 -482.2,326.2,2735,-1.004999,-0.2317649,2.455412 -430.12,257.32,2738,-1.311158,-0.3496752,2.97648 -202.6,311.8,2789,-1.308605,-0.5440481,3.085131 -51.4,147.88,2794,-1.308881,-0.7640356,3.007637 -263.656,130.6,2802,-1.302168,-0.6699392,2.775791 -517.96,181,2803,-0.9820154,0.223258,2.02761 -479.8,328.6,2809,-0.7431279,-0.129259,2.136616 -64.936,293.032,2833,-0.6916676,0.7118581,2.061989 -399,289,2834,-1.139228,-0.339677,3.663186 -398,231,2840,-1.304165,-0.3165904,2.991756 -449,115,2845,-1.031844,-0.8716508,2.162819 -330.76,150.76,2846,1.074211,-1.246794,3.849468 -47.8,91,2849,0.7773206,-1.124851,3.601033 -289.2304,363.8801,2868,-1.139464,-0.5346577,2.68333 -440.2,181,2893,-1.23798,-0.678565,2.668829 -516.52,418.6,2910,0.322971,-0.6952327,3.429929 -264.52,183.88,2914,-1.141758,-0.4437729,2.518515 -397,235,2917,-0.8505696,-0.5654324,3.632742 -399,258,2918,-1.31606,-0.5408855,3.116732 -402.76,130.6,2932,-1.314116,-0.7497185,3.015919 -151.336,211.816,2933,-1.285353,-0.5855141,3.028163 -490,209,2941,-1.239824,-0.4654388,2.728755 -173.8,182.44,2943,-0.7902139,-0.5815375,3.795472 -338.2,283,2944,-1.233564,-0.3390199,2.796383 -375,413,2950,-1.073699,-0.752139,2.831316 -397,129.4,2951,-0.4064167,0.2882434,1.738758 -317.8,215.8,2955,-1.296973,-0.8434092,2.996028 -432,347,2973,-0.9006718,-0.701354,3.55237 -246.376,196.264,2974,-1.090115,-0.2694537,3.626934 -566.92,191.08,2975,-1.021599,-0.9180933,2.371418 -355,55,2978,-0.8785321,-0.5178505,3.645053 -178.984,158.248,2979,-1.279719,-0.470765,3.326666 -152.3728,208.36,2980,-0.8948066,-0.2860104,3.795672 -91,349,2981,-1.090197,-0.2687424,3.608963 -161.704,396.712,2982,-1.18591,0.09713967,2.888123 -246.376,201.448,2989,-1.131796,-0.4420028,2.51811 -397,235,2992,-0.608401,0.8246859,1.935614 -135.784,253.288,2993,-0.7766078,0.644277,2.18702 -583,225,2994,-1.226683,-0.2145233,2.856076 -546.76,336.52,2996,-0.4130202,0.2823016,1.691728 -340.84,361,2997,-0.7688308,-0.1012924,2.168813 -341.416,396.712,3002,-1.258394,-0.6447918,2.727251 -306.856,241.192,3005,-1.1943,-0.851542,3.033847 -64.936,128.872,3006,-1.143679,-0.003772232,2.100646 -338,181,3007,-1.115039,-0.7142066,2.38107 -162.28,231.4,3008,-1.119164,-0.6949557,2.370576 -569,270,3009,-0.9211658,-0.7044009,3.540661 -394.984,130.6,3010,-1.243328,-0.3646407,2.78468 -401.8,134.2,3011,-1.15029,-0.1838011,2.658425 -73.576,306.856,3012,-0.6513664,0.7595227,2.048359 -339.4,322.12,3013,-0.6914215,0.7347195,2.158484 -73,294.76,3019,-1.328038,-0.4938527,3.172819 -101.224,115.048,3023,-0.6749625,0.7394673,2.048476 -527.8,215.8,3024,-0.9118564,0.6639568,2.345719 -139.9312,258.1264,3029,0.7196913,-0.8645202,3.886708 -308.584,236.008,3039,-0.5687005,0.6369561,2.105166 -243.6112,187.624,3040,-1.329087,-0.443536,2.922572 -171.0352,243.6112,3041,-1.305642,-0.4393097,3.005868 -287.1568,341.0704,3043,-1.221365,-0.8239794,2.519473 -216.6544,187.624,3047,-1.119399,-0.8286443,2.894684 -341.0704,320.3344,3048,-1.269651,-0.4939302,2.718926 -338.9969,283.0096,3051,-1.251963,-0.7291175,2.585846 -206.632,180.712,3063,-1.317222,-0.7926192,3.013582 -555,219,3076,1.187289,-0.6453984,3.39791 -202,42,1560,-0.9198198,-0.7171212,2.114153 -213,35,1973,-0.9717497,-0.7525796,2.106638 -212,38,2017,-0.5456783,-0.7155414,2.259893 -249.832,358.696,2454,-1.107454,-0.8356307,2.969905 -394.1547,317.0167,2491,-1.089348,-0.5883625,2.461682 -191.08,223.912,2520,-1.318299,-0.6905615,3.017106 -206.92,299.08,2523,-1.310233,-0.5084612,3.16979 -356,55,2539,-1.082986,-0.7948475,2.261047 -202,377,2548,-1.080163,-0.8179195,2.135605 -290.2,364.6,2584,-1.245788,-0.1336228,2.995825 -295,377.8,2585,-1.245958,-0.119193,3.006115 -199.72,369.64,2609,-1.330726,-0.5076445,3.178638 -201.16,376.84,2612,-1.057927,-0.7063666,2.386902 -525.4,188.2,2622,-1.242103,-0.9006661,2.562156 -421,46,2654,-0.6420894,-0.1676914,2.364195 -243.4,285.4,2661,-1.307721,-0.5472896,3.058798 -532,216,2662,-1.014482,-0.7856244,2.139263 -224,339,2664,-1.140834,-0.7621825,2.845621 -115,445,2698,-0.1030598,0.02651809,2.099607 -189.4,273.4,2703,-1.234055,-0.4094314,2.769525 -226.6,352.6,2707,-0.5613194,0.5977724,2.377386 -511,298,2709,-1.219232,-0.9188696,2.555001 -307.72,113.32,2712,-1.138159,-0.3089361,2.595145 -525,189,2714,-0.7607981,-0.1306777,2.11441 -499,196,2717,-0.7553131,-0.1183566,2.075318 -289.576,363.88,2743,-1.167092,-0.2856075,2.816894 -249.8321,351.8532,2766,-1.087152,-0.7176362,2.403368 -392.164,284.6685,2767,-1.185744,-0.3213368,2.797711 -244.6564,348.5686,2768,-1.121166,-0.4437452,2.529 -392.164,317.5144,2773,4.293238,0.6799614,1.649475 -419,34,2781,-0.7059218,-0.1753328,2.109599 -450,168,2783,-1.281952,-0.8141074,3.139103 -489,179,2784,-0.9980678,-0.2199337,2.453902 -257,225,2785,-1.299725,-0.6788619,3.0102 -431,255,2787,-1.297386,-0.5673843,2.981611 -208.6,295,2788,-1.111052,0.01166295,2.082685 -244,316,2790,-1.295312,-0.3579179,3.023964 -274,373,2793,-1.230101,-0.7831076,2.646376 -190,273,2797,-1.196918,-0.04145036,2.952853 -260,368,2799,-1.10123,-0.9103501,2.677609 -340.6,398.2,2800,-0.3738067,0.1192452,1.911431 -288,251,2805,-1.284585,-0.5523404,2.980735 -207.4,299.8,2811,-1.289757,-0.4589587,2.975247 -492,195,2812,-1.318133,-0.5266987,3.132749 -488.2,211,2813,-1.206046,-1.037174,2.412319 -267,342,2814,0.7150135,-1.09261,3.557861 -77.8,305.8,2820,-1.064366,-0.9022432,2.263784 -397,41,2823,0.8052307,-1.109234,3.606074 -505,208,2824,-0.9613045,-0.3264287,3.733935 -578,278,2835,-0.7438071,-0.1236497,2.10501 -565,325,2836,-1.146921,-0.4223016,2.740486 -499,193,2838,-1.316018,-0.8179491,3.117553 -290.2,377.8,2843,-1.218772,-0.8017583,2.552704 -548,337,2847,0.7531555,-1.099343,3.574443 -90.28001,96.04,2850,-1.171066,-0.2793738,2.822899 -84.52,94.60001,2852,-1.140116,-0.2702808,2.599123 -191.08,229.096,2860,0.7782323,-1.068089,3.510341 -287.1568,345.2177,2866,-1.055627,-0.9111872,2.687847 -83.11458,110.4861,2872,-0.5480255,0.5581006,2.435475 -468.8043,324.4817,2875,-1.213799,-0.7939768,2.647158 -341.4023,137.1609,2882,-1.032006,-0.9238127,2.303445 -398.136,290.6405,2883,-1.043295,-0.8045062,2.195174 -395.15,138.3553,2884,0.9881601,-1.086629,3.656456 -377,39,2885,0.8525708,-0.7901869,3.656365 -431,57,2886,-0.7703235,-0.8692156,2.858299 -90,96,2887,0.6249559,-0.7596794,3.675623 -119.8,141.4,2888,-1.211593,-0.7852644,2.552304 -216,141,2889,-1.17908,-0.7745681,2.565119 -113.8,160.6,2890,-0.983107,-0.4271921,2.316807 -333,152,2891,-0.2888419,-0.01233733,2.168677 -329.8,155.8,2892,-1.202989,-0.8272268,2.932702 -451,181,2894,-0.7034373,-0.0460451,2.15413 -200,220,2895,-0.5787951,0.3474665,1.776219 -318,215,2896,-0.8408067,-0.7303964,3.410953 -489,211,2897,-1.301413,-0.7141609,2.919057 -586.6,224.2,2898,-1.317158,-0.6952722,3.015898 -104.2,272.2,2899,-1.254981,-0.6101869,2.982449 -231,267,2900,-1.300488,-0.6666964,3.053253 -203,295,2901,-1.307204,-0.5491982,3.018599 -233,297,2902,-0.6079056,0.8310617,1.93003 -198,306,2903,-1.31814,-0.3690571,2.963357 -235,333,2904,-1.354972,-0.4571131,3.052333 -587,317,2905,-0.8675535,0.8809826,1.992088 -291,365,2906,-0.9291028,0.6301035,2.310623 -245,369,2907,-1.113942,0.572179,2.487531 -608,362,2908,0.9017099,-1.01692,3.883481 -539,376,2909,0.5969363,-0.8027538,3.742107 -64.60001,129.4,2911,-0.308742,-0.4919868,2.883384 -97,162,2912,-0.4693733,0.2422569,1.75297 -149,165,2913,-1.130152,-0.7567295,2.848004 -570,191,2915,-1.142007,-0.3713836,2.547894 -242,211,2916,-1.318112,-0.607297,3.032498 -218.2,321.4,2919,-1.31524,-0.5141388,3.078878 -86,334,2920,-1.319708,-0.4720667,3.117035 -207,353,2921,-1.238872,0.006378735,2.993238 -227,352,2922,0.7990567,-0.7878761,3.621753 -223,369,2923,-1.111967,-0.7099835,2.373903 -339,426,2924,-0.9995614,-0.5925749,2.246022 -124,142,2925,-0.4090112,0.2930499,1.687691 -398,129,2926,-1.165071,-0.1886522,2.653472 -441.4,128.2,2927,-1.094759,-0.3171385,3.697539 -579,187,2928,0.8447342,-1.074427,3.588403 -397,320,2929,-1.121598,-0.704079,2.363997 -107,436,2930,-1.076163,-0.8801277,3.063339 -94.60001,97,2931,-0.708527,-0.0384413,2.125995 -498,207,2934,-1.319109,-0.3117899,2.98061 -190,279,2935,-0.9012534,-0.2870349,3.789574 -226,319,2936,-0.7782487,-0.1222448,2.090729 -295,380,2937,-0.9377193,-0.3003533,3.749527 -104,414,2938,-0.7235939,-0.06380773,2.157652 -507,195,2939,-1.236668,-0.9717329,2.491377 -107,413,2940,-0.207236,-0.6757174,3.238114 -319,76,2942,-1.228118,-0.3952621,2.76419 -340,305,2945,-1.222034,-0.19785,2.867145 -51.4,345.16,2946,-1.250627,-0.04325675,2.95795 -339,323,2947,-1.196149,0.08713547,2.884001 -341,363,2948,-1.116344,-0.712179,2.374983 -343,415,2949,-1.132699,-0.5733759,2.44714 -398.2,187,2952,-1.243384,-0.6782727,2.671852 -247.24,201.16,2953,-1.222839,-0.7421156,2.821005 -568.6,191.8,2954,0.303368,0.9207589,1.641252 -255.4,224.2,2956,-1.130729,-0.4358725,2.519008 -548.2,218.2,2957,-0.5270418,0.5894056,2.448699 -173,245,2958,-0.9252914,-0.2939906,3.759661 -397,235.72,2959,-1.20049,0.13711,2.832842 -466.12,326.44,2960,-1.11072,-0.8527285,2.726399 -106.6,412.6,2961,-1.273807,-0.6620246,2.70822 -395.8,417.4,2962,-1.308595,-0.6926795,3.016776 -259,155,2963,-1.298041,-0.5838034,3.049638 -311,234,2964,-1.231623,-0.3184835,2.806975 -202.6,295,2965,-1.027328,-0.9249601,2.302708 -218.2,326.2,2966,0.3105311,-0.7302408,3.712512 -340,327,2967,-0.8962836,0.2956685,2.026236 -376.6,38.2,2968,-0.6174761,0.6172345,2.117892 -100.36,186.76,2969,-0.4995023,0.9335348,1.843912 -572,281,2970,-1.102746,0.04689951,2.612135 -540,307,2971,-1.039832,-0.7542272,2.8314 -595,308.2,2972,-0.4719263,0.2335034,1.766883 -73,306.28,2976,0.3491078,-0.6307712,3.287754 -133.48,433,2977,-1.002712,-0.8581801,3.086625 -103.24,412.84,2983,0.8706697,-1.023794,3.86711 -137.8,430.12,2984,0.2963559,-0.703665,3.418882 -375.4,412.6,2985,-0.3370897,-0.03996197,2.176941 -64.36,129.16,2986,-1.073319,-0.7545746,2.83285 -149.32,163.72,2987,-0.4789102,0.2433586,1.74657 -451,181,2988,-1.246825,-0.7553904,2.816674 -572.68,189.64,2990,-1.309201,-0.8803274,3.074015 -254.44,224.2,2991,-0.4448077,0.4504375,1.730491 -585.64,316.36,2995,-1.238697,-0.02786842,2.961957 -342.28,412.84,2998,-1.107054,0.01531416,2.084863 -577,186.76,2999,-1.255389,-0.1025965,2.926343 -489.4,208.6,3000,-1.086822,-0.9020622,2.270323 -568.6,265,3001,1.03151,-0.7869273,3.666866 -397,40.6,3003,0.9151365,-1.019156,3.879367 -123.4,139.24,3004,-1.205175,-0.7134167,2.580755 -394.984,318.952,3014,1.114598,-1.091465,3.644321 -566.056,324.136,3015,-0.5352163,0.565605,2.435617 -547.048,337.96,3016,-0.9100202,-0.7368743,3.516958 -94.31201,90.16481,3017,-1.099355,-0.1689346,2.494832 -467.5601,324.136,3018,-0.4523172,0.24975,1.712716 -436.4561,287.848,3020,0.9868147,-0.9617629,3.670777 -576.4241,185.896,3021,0.4384228,0.9222687,1.710111 -201.448,377.704,3022,-1.215674,-0.4804805,2.707851 -341.0704,272.6416,3025,0.7986193,-1.034621,3.828055 -567.0929,324.4817,3026,-1.289775,-0.8552992,3.0863 -529.7681,380.4688,3027,-1.154794,-0.02903293,2.745665 -65.28161,127.4896,3028,-1.176808,0.0653052,2.797867 -392.9105,363.8801,3030,-1.305271,-0.8759851,3.07684 -394.9841,392.9105,3031,0.7888269,-1.049869,3.673155 -75.64961,160.6672,3032,0.3947399,-0.6776063,3.440484 -135.784,251.9056,3033,-1.218592,-0.7178422,2.586582 -83.94402,110.9008,3034,-1.090121,-0.1639329,2.493448 -150.2992,162.7408,3035,-0.7239665,0.6152086,2.199342 -336.9232,185.5504,3036,-1.267341,-0.6580017,2.715199 -436.4561,287.1568,3037,-1.094539,-0.7954551,2.814354 -548.4305,336.9232,3038,-1.344872,-0.8672594,2.978462 -535.4913,302.5845,3042,-0.9003162,0.6198508,2.360681 -260.7807,350.3602,3044,-1.103992,-0.8411505,2.869609 -523.5474,374.2481,3045,-1.271628,-0.3740384,2.778271 -339.4116,135.3693,3046,-1.148147,-0.4464059,2.528932 -394.1547,237.3905,3049,0.9126093,-0.9613014,3.667942 -212.5072,200.0656,3050,-1.155539,-0.8406665,2.892964 -99.5375,117.4534,3052,-0.4526965,0.06613752,2.193047 -210.0189,201.061,3053,0.1877506,-1.065582,3.402172 -335.4303,186.1311,3054,-1.06316,-0.8288354,2.887889 -466.8136,213.0049,3055,-1.087474,-0.7964611,2.886131 -99.5375,108.4955,3056,-1.325352,-0.4435368,2.934996 -215.9909,192.103,3057,-1.031682,-0.7381145,2.860798 -221.9629,201.061,3058,-1.157721,-0.6011707,2.445681 -284.0714,344.9855,3059,-1.31353,-0.3868918,2.958622 -241.0732,205.2414,3060,-0.7494637,-0.769439,2.966363 -396.643,180.1591,3061,-0.7904817,-0.7541097,3.013346 -287.6545,362.3042,3062,-1.105119,-0.805838,2.875152 -198.075,198.075,3064,-1.122939,-0.2510806,2.589703 -223.1573,198.075,3065,-0.4158076,0.757107,2.360235 -180.1591,266.1555,3066,-1.399404,-0.5620354,2.709155 -402.3164,291.2377,3067,-1.128219,-0.4204441,2.532095 -484.7296,326.4724,3068,-1.351654,-0.4902144,3.026865 -337.8191,284.0714,3069,-0.9350079,-0.8254369,2.952329 -395.15,241.0732,3070,-0.4985347,0.7024929,2.1821 -248.8367,359.3182,3071,-1.157974,-0.7338157,2.402232 -198.075,183.7423,3072,-1.139976,-0.4668114,2.511581 -520.5613,312.7368,3073,-0.4543024,0.3454356,1.847938 -389.178,132.3833,3074,-1.062697,-0.8129187,2.159388 -395.15,224.9489,3075,-1.064905,-0.7935138,2.352892 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0020.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0020.csv deleted file mode 100644 index 3baa3755bf872025889738407ceb90a1c03e6e24..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0020.csv +++ /dev/null @@ -1,282 +0,0 @@ -206.2,287.8,2265,-1.290094,-0.5007111,3.197483 -319,306,2304,-1.146539,0.04208082,3.060624 -156.52,212.68,2404,-1.285245,-0.7656636,3.030548 -215.56,270.28,2439,-1.130323,-0.2729307,2.607284 -241.192,360.424,2440,-1.183896,-0.1703834,2.874077 -350,93,2512,-1.068741,-0.7151365,2.252849 -192.52,303.4,2523,-1.310233,-0.5084612,3.16979 -375,255,2524,-1.148878,-0.1698615,2.401587 -333,50,2589,-0.7360376,-0.08280855,2.179823 -289,126.28,2604,-1.300416,-0.8215267,2.935719 -232.552,206.632,2666,-1.216297,-0.7370915,2.819679 -240.04,229.96,2669,-0.4353664,0.1915184,1.832194 -291,115,2690,-1.290529,-0.6411297,3.012175 -121.2688,262.2737,2702,-1.310822,-0.6172479,2.983657 -224.2,201.16,2713,-1.160724,-0.33417,3.634681 -253,342.28,2814,0.7150135,-1.09261,3.557861 -192.808,365.608,2815,0.4283826,0.01196232,1.897518 -309,37,2816,-1.307264,-0.8154696,3.122425 -375,285,2834,-1.139228,-0.339677,3.663186 -397,33,2848,-0.739141,-0.1286086,2.13776 -322,303,2862,-1.293129,-0.4460205,3.050743 -234.28,130.6,2869,0.8844854,-1.051536,3.705929 -62.92,173.8,2890,-0.983107,-0.4271921,2.316807 -407.8,181,2893,-1.23798,-0.678565,2.668829 -275,365,2906,-0.9291028,0.6301035,2.310623 -211.24,355.24,2922,0.7990567,-0.7878761,3.621753 -450,205,2941,-1.239824,-0.4654388,2.728755 -369.4,130.6,2951,-0.4064167,0.2882434,1.738758 -370.6,233.8,2992,-0.608401,0.8246859,1.935614 -323.56,356.68,2997,-0.7688308,-0.1012924,2.168813 -525.16,181,2999,-1.255389,-0.1025965,2.926343 -320.68,270.568,3025,0.7986193,-1.034621,3.828055 -315.496,184.168,3036,-1.267341,-0.6580017,2.715199 -317.224,137.512,3046,-1.148147,-0.4464059,2.528932 -177.4,189.4,3082,-1.30049,-0.7998172,2.897636 -319.24,278.92,3089,-1.328802,-0.7765259,3.098165 -142,299,3092,-1.29315,-0.3876829,3.102914 -373.96,134.92,3100,-1.165961,-0.885981,3.006746 -264.52,186.76,3109,-1.32852,-0.449395,3.199454 -196,300,3115,-0.8462793,-0.1661792,3.615971 -137.512,412.264,3119,-0.7300123,-0.874325,2.851575 -140,167,3120,0.3044678,-0.6976888,3.427315 -466.6,189.4,3125,-1.295667,-0.7149788,2.989852 -82.60001,194.2,3138,-1.124736,-0.4405488,2.51076 -428,187,3140,-0.4114888,0.8908049,1.730858 -43,220.6,3141,-1.305541,-0.7654992,3.10552 -372.52,228.52,3142,-0.9084395,-0.8585652,2.693361 -551.08,270.28,3144,-1.269853,-0.5051583,2.711116 -293.8,235,3147,-1.289325,-0.6626106,2.779815 -321.4,363.4,3149,-0.7557365,-0.110413,2.081634 -140.68,166.6,3155,-0.9850048,-0.5759701,2.249657 -407.08,132.04,3159,-1.241799,-0.7810802,3.158565 -318,230,3162,-1.011192,-0.6767243,2.146737 -121.96,293.032,3163,-1.090801,-0.70161,2.374511 -67.24001,153.64,3168,-1.07892,0.05457879,2.078751 -134.92,169.48,3169,-1.109328,-0.1807331,2.495566 -408.52,165.16,3170,-1.256234,-0.6565897,3.026637 -274.6,378.28,3175,-1.138812,-0.8226643,2.169977 -64.936,230.824,3177,-0.4925633,0.7277507,2.086663 -418.6,54.28,3179,-1.095356,0.3339515,2.76649 -484.84,395.56,3182,-1.009474,-0.635392,2.277288 -507.88,211.24,3188,-0.9820912,-0.6639351,2.137244 -156.52,250.12,3189,0.9231303,-0.7903473,3.666405 -425.8,87.4,3192,-1.286933,-0.3012254,2.997749 -314.92,132.04,3197,-1.130702,-0.3137454,2.580966 -371.08,234.28,3198,-1.0606,-0.6894062,2.376162 -98.92001,214.12,3220,-1.169716,-0.0409345,2.756898 -141,53,1560,-0.9198198,-0.7171212,2.114153 -145,67,1667,-0.9238087,-0.6533441,2.167159 -103,104.2,1931,-0.93557,-0.6510278,2.169994 -153,46,1973,-0.9717497,-0.7525796,2.106638 -150,48,2017,-0.5456783,-0.7155414,2.259893 -371.7598,314.5284,2491,-1.089348,-0.5883625,2.461682 -172.072,229.096,2520,-1.318299,-0.6905615,3.017106 -327,61,2539,-1.082986,-0.7948475,2.261047 -188.2,382.6,2548,-1.080163,-0.8179195,2.135605 -185.32,375.4,2609,-1.330726,-0.5076445,3.178638 -390,51,2654,-0.6420894,-0.1676914,2.364195 -230.2,287.8,2661,-1.307721,-0.5472896,3.058798 -177.4,278.2,2703,-1.234055,-0.4094314,2.769525 -212.2,356.2,2707,-0.5613194,0.5977724,2.377386 -274.024,363.88,2743,-1.167092,-0.2856075,2.816894 -234.9021,354.3415,2766,-1.087152,-0.7176362,2.403368 -368.2761,281.6826,2767,-1.185744,-0.3213368,2.797711 -230.3236,348.5686,2768,-1.121166,-0.4437452,2.529 -371.2621,314.5284,2773,4.293238,0.6799614,1.649475 -448,177,2784,-0.9980678,-0.2199337,2.453902 -238,227,2785,-1.299725,-0.6788619,3.0102 -195.4,299.8,2788,-1.111052,0.01166295,2.082685 -189.4,320.2,2789,-1.308605,-0.5440481,3.085131 -471.88,178.12,2803,-0.9820154,0.223258,2.02761 -451,193,2812,-1.318133,-0.5266987,3.132749 -310.6,152.2,2846,1.074211,-1.246794,3.849468 -274.7152,361.8065,2868,-1.139464,-0.5346577,2.68333 -320.5004,138.3553,2882,-1.032006,-0.9238127,2.303445 -376.7364,284.6685,2883,-1.043295,-0.8045062,2.195174 -365.2902,141.3413,2884,0.9881601,-1.086629,3.656456 -399,61,2886,-0.7703235,-0.8692156,2.858299 -33,108,2887,0.6249559,-0.7596794,3.675623 -67,154.6,2888,-1.211593,-0.7852644,2.552304 -185.8,147.4,2889,-1.17908,-0.7745681,2.565119 -313,155.8,2891,-0.2888419,-0.01233733,2.168677 -450,207,2897,-1.301413,-0.7141609,2.919057 -535.2401,214.12,2898,-1.317158,-0.6952722,3.015898 -216,270,2900,-1.300488,-0.6666964,3.053253 -561,344,2908,0.9017099,-1.01692,3.883481 -500,361,2909,0.5969363,-0.8027538,3.742107 -46.6,176.2,2912,-0.4693733,0.2422569,1.75297 -103,176,2913,-1.130152,-0.7567295,2.848004 -209,374,2923,-1.111967,-0.7099835,2.373903 -71,155,2925,-0.4090112,0.2930499,1.687691 -526,182,2928,0.8447342,-1.074427,3.588403 -457,205,2934,-1.319109,-0.3117899,2.98061 -176,285,2935,-0.9012534,-0.2870349,3.789574 -210,323,2936,-0.7782487,-0.1222448,2.090729 -280.6,380.2,2937,-0.9377193,-0.3003533,3.749527 -75.4,431.8,2938,-0.7235939,-0.06380773,2.157652 -133.48,195.4,2943,-0.7902139,-0.5815375,3.795472 -320,303,2945,-1.222034,-0.19785,2.867145 -325,409.96,2949,-1.132699,-0.5733759,2.44714 -298.6,217,2955,-1.296973,-0.8434092,2.996028 -237.4,226.6,2956,-1.130729,-0.4358725,2.519008 -293,234,2964,-1.231623,-0.3184835,2.806975 -189.64,299.08,2965,-1.027328,-0.9249601,2.302708 -52.84,202.6,2969,-0.4995023,0.9335348,1.843912 -496.6,297.4,2971,-1.039832,-0.7542272,2.8314 -134.056,168.616,2979,-1.279719,-0.470765,3.326666 -74.44,431.56,2983,0.8706697,-1.023794,3.86711 -103.24,175.24,2987,-0.4789102,0.2433586,1.74657 -237.16,227.08,2991,-0.4448077,0.4504375,1.730491 -449.8,205,3000,-1.086822,-0.9020622,2.270323 -367,47,3003,0.9151365,-1.019156,3.879367 -320.68,316.36,3013,-0.6914215,0.7347195,2.158484 -521.1281,312.04,3015,-0.5352163,0.565605,2.435617 -505.576,325.864,3016,-0.9100202,-0.7368743,3.516958 -187.624,382.888,3022,-1.215674,-0.4804805,2.707851 -372.1744,386.6897,3031,0.7888269,-1.049869,3.673155 -104.68,175.1824,3035,-0.7239665,0.6152086,2.199342 -493.6875,293.6265,3042,-0.9003162,0.6198508,2.360681 -248.2395,355.735,3044,-1.103992,-0.8411505,2.869609 -486.2225,361.8065,3045,-1.271628,-0.3740384,2.778271 -195.9184,193.8448,3047,-1.119399,-0.8286443,2.894684 -320.3344,278.8624,3051,-1.251963,-0.7291175,2.585846 -317.0167,185.1357,3054,-1.06316,-0.8288354,2.887889 -192.103,195.089,3057,-1.031682,-0.7381145,2.860798 -269.7386,344.9855,3059,-1.31353,-0.3868918,2.958622 -272.7246,359.3182,3062,-1.105119,-0.805838,2.875152 -177.256,187.624,3063,-1.317222,-0.7926192,3.013582 -165.8264,273.3218,3066,-1.399404,-0.5620354,2.709155 -377.2341,284.6685,3067,-1.128219,-0.4204441,2.532095 -233.9068,359.3182,3071,-1.157974,-0.7338157,2.402232 -507,212,3076,1.187289,-0.6453984,3.39791 -411.4,51.4,3077,-1.260068,-0.9007665,2.569086 -357,97,3078,0.08249092,-0.7327033,3.493589 -122,135,3079,-0.8247858,-0.7877655,2.956916 -289,127,3080,-0.6408342,-0.1521225,2.181334 -83,194,3081,-1.118904,-0.7679672,2.821229 -428,185,3083,-1.285232,-0.6582882,2.711393 -227,205,3084,-1.225483,-0.7858767,2.975372 -203,241,3085,-1.28066,-0.7472965,3.013997 -294,237,3086,-1.156755,-0.4180804,2.731185 -179,249,3087,-0.4588478,0.8887604,1.745574 -177,278,3088,-1.303721,-0.6674227,2.962815 -551.8,271,3090,-1.306252,-0.6410534,2.979171 -213,291,3091,-0.5695315,0.9418042,1.848812 -214,303,3093,-1.334568,-0.45177,3.212206 -554,304,3094,-0.9669603,-0.1016165,3.63629 -277,378,3095,-1.071186,-0.8303387,2.173168 -230,382,3096,-1.10383,-0.6864262,2.368261 -185.8,400.6,3097,0.7011454,-0.6314367,3.348522 -144,448,3098,-0.6912804,-0.1339999,2.197115 -406,49,3099,-0.5312158,0.3121717,1.709664 -127,154.6,3101,-1.226366,-0.8019904,3.013258 -432,195,3102,-1.243698,-0.210252,2.871282 -539,196,3103,-1.328858,-0.5153884,3.163455 -143.8,218.2,3104,0.7046337,-0.8159996,3.617923 -163,253,3105,-0.8871084,-0.6525089,2.719476 -322,363,3106,-1.230946,-0.6709481,2.69917 -186,376,3107,-1.309345,-0.7504339,3.010139 -66,155,3108,-1.324241,-0.6655262,2.908352 -291,224,3110,-1.131473,0.2942879,2.765023 -178,282,3111,-1.35352,-0.7039763,2.993946 -232,285,3112,-1.304613,-0.6433063,2.964734 -190,397,3113,-1.305456,-0.6761635,3.016318 -401.8,407.8,3114,-1.081128,-0.2299107,3.565442 -218,299,3116,0.3607469,-0.6163021,3.262575 -194,302,3117,0.4231249,-0.6039687,3.299939 -136,443,3118,0.9766862,-0.7684876,3.659586 -136,169,3121,-0.7303832,-0.08945076,2.072085 -72,152,3122,-0.6909072,-0.08076601,2.198443 -186,141,3123,-1.3008,-0.844407,2.996977 -103,176.2,3124,-1.304435,-0.6874405,2.806535 -436.6,205,3126,-1.148357,-0.2701605,2.599511 -158,251,3127,-1.250309,-0.4683706,2.76602 -259,253,3128,-1.334615,-0.6150204,2.984438 -193,284.2,3129,-1.322632,-0.4881616,3.176036 -375.4,285.4,3130,-0.9799567,-0.1545762,3.631719 -309.4,290.2,3131,1.031168,-1.118288,3.630094 -219.4,316.6,3132,-1.257119,-0.9021963,2.5674 -188.2,382.6,3133,-1.098907,-0.6917505,2.362543 -135.4,442.6,3134,0.02251976,-0.7469079,3.475711 -34,99,3135,-0.9372965,-0.6720509,2.716046 -289,125.8,3136,-0.636718,-0.141476,2.184006 -374.2,131.8,3137,1.534162,-0.4012021,4.333238 -265,187,3139,-1.141868,-0.367248,2.545672 -375.4,254.2,3143,-1.304248,-0.6739524,2.707635 -142.6,298.6,3145,-1.239405,-0.2064368,2.874344 -236,132,3146,-1.031395,-0.8032627,2.149669 -321,274,3148,0.4258941,-0.5958987,3.27883 -411,51,3150,1.147501,-0.6584014,3.39681 -271.72,251.56,3151,0.4157699,-0.6022372,3.270397 -140.2,167.8,3152,-1.243923,-0.6770057,2.699714 -466,189,3153,-1.172159,0.07381901,2.800122 -120.52,134.92,3154,-0.8675144,-0.2386053,3.712516 -290.44,222.76,3156,-1.182508,-0.8603994,2.982496 -372.52,386.92,3157,0.3600861,1.010152,1.533312 -103.24,420.04,3158,-1.240536,-0.6098419,2.650023 -157.96,222.76,3160,-1.304237,-0.6915061,2.963359 -507.4,211,3161,-1.118387,0.3049538,2.766103 -206.92,287.56,3164,0.9526617,-0.7801186,3.68112 -401.32,407.08,3165,0.3942989,-0.6171201,3.295848 -425.8,87.4,3166,-0.3796832,-0.132758,2.156959 -368.2,130.6,3167,-1.022909,-0.7077224,2.768057 -249.4,197.8,3171,-1.300089,-0.3129815,2.997518 -527.8,255.4,3172,-1.223139,-0.8363491,2.518928 -408.52,280.36,3173,-0.2660221,-0.7318525,3.542249 -193.96,299.08,3174,-1.237313,0.04277623,2.875949 -315.4,133,3176,-1.022399,-0.7212453,2.751122 -356.68,407.08,3178,-1.049177,0.6117581,2.461178 -251.56,191.08,3180,0.267837,1.071419,1.43954 -495.208,294.76,3181,-1.085765,0.5997638,2.48841 -401.896,407.08,3183,0.381225,-0.6832765,3.446753 -529.7681,215.272,3184,0.3624072,1.016096,1.529993 -483.1121,403.624,3185,-1.324523,-0.8579472,2.991035 -394.9841,123.3424,3186,-0.8044227,-0.7089692,3.439229 -102.952,175.528,3187,-1.281441,-0.7955458,3.140296 -73.576,286.12,3190,-0.4984488,0.6673602,2.438458 -123.3424,293.3777,3191,-1.014363,0.617273,2.467506 -67.35521,152.3728,3193,-1.229431,-0.84159,2.519287 -434.728,325.864,3194,-1.117657,-0.421419,2.523093 -479.656,391.528,3195,-0.8086844,-0.3739507,2.249562 -275.752,377.704,3196,-1.064778,0.574358,2.460004 -409.4993,164.8144,3199,-1.295356,-0.7664077,2.56866 -484.1489,392.9105,3200,-1.115938,-0.5776308,2.436508 -372.1744,270.568,3201,-1.260807,-0.1293089,2.914748 -365.9536,131.6368,3202,-1.21819,0.02236137,2.795981 -320.3344,175.1824,3203,1.212073,-0.6621194,3.438069 -372.1744,179.3296,3204,-1.216482,-0.8404096,2.953052 -324.4817,389.178,3205,-1.294857,-0.4057882,2.774116 -371.7598,386.6897,3206,-1.287539,-0.3509566,2.978488 -115.4627,135.3693,3207,-1.143119,-0.01532212,2.754575 -172.6941,227.4372,3208,-0.8668311,-0.8273884,2.715711 -321.9933,314.5284,3209,-1.177308,-0.4637102,2.535046 -272.227,364.2948,3210,-1.329563,-0.7750261,2.859326 -369.2715,359.3182,3211,-0.3181848,0.6940091,2.104599 -233.9068,140.7441,3212,-0.9423075,0.6160717,2.361387 -368.2761,236.8928,3213,-1.246776,-0.7526222,2.560246 -223.1573,244.6564,3214,-0.6919999,0.3776193,2.158725 -472.7856,275.7106,3215,-1.306711,-0.3617618,3.071272 -491.1992,366.7831,3216,-0.2783366,-0.7124728,3.383532 -320.5004,171.2011,3217,-1.318933,-0.4618136,2.902935 -481.7436,275.7106,3218,0.9489371,-0.6132198,3.242426 -244.8554,384.2014,3219,-0.8089929,-0.2919112,2.235664 -275.7106,332.4443,3221,-1.335984,-0.6901656,2.778984 -144.3273,135.3693,3222,-1.14507,-0.3316267,2.585694 -421.5262,180.1591,3223,-1.166255,-0.2974287,2.626182 -368.2761,359.3182,3224,-1.163446,-0.822788,2.510644 -269.7386,251.8227,3225,-1.068517,-0.742682,2.423126 -370.0677,269.7386,3226,-0.956274,-0.7728645,2.938941 -366.4846,287.6545,3227,-0.8101249,0.1921861,2.234931 -314.5284,129.3973,3228,-1.500576,-0.6468002,2.707422 -344.9855,126.4114,3229,-0.3399618,0.7506495,2.203186 -187.3255,205.2414,3230,-0.6884067,0.681329,2.237816 -466.8136,269.7386,3231,-0.8073654,0.2669409,2.17312 -319.9032,280.4882,3232,-1.315586,-0.4520216,2.904391 -463.2305,294.8209,3233,-1.29926,-0.421903,2.761101 -488.3127,327.0695,3234,-1.202794,-0.07105793,2.747194 -484.7296,273.3218,3235,4.614081,-0.6466858,3.18689 -276.905,334.2359,3236,-1.083771,-0.6698348,2.477197 -323.4864,309.1536,3237,0.0956681,-0.6229865,3.201806 -370.0677,359.3182,3238,-1.113977,-0.7545395,2.816561 -149.8,49,3239,-1.159824,-0.881761,3.009392 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0021.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0021.csv deleted file mode 100644 index b189af42dae902a7a281dbcdbdc20419ab4c7e70..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0021.csv +++ /dev/null @@ -1,241 +0,0 @@ -113,119,1930,0.05610022,-0.3080356,2.441984 -149.8,110.2,2378,4.639277,-0.8639444,3.492751 -276.04,355.24,2438,-1.281091,-0.6662892,2.733233 -398,255,2626,-1.011732,-0.2309289,2.440254 -232.6,374.2,2685,-1.299045,-0.4327879,3.22063 -225.4,277,2701,-0.7534162,-0.08977982,2.172749 -230.2,379,2706,-0.3754654,0.7000103,2.169647 -271,317,2788,-1.111052,0.01166295,2.082685 -285,367,2797,-1.196918,-0.04145036,2.952853 -315,249,2803,-0.9820154,0.223258,2.02761 -353,47,2814,0.7150135,-1.09261,3.557861 -393,57,2821,-0.7465556,-0.05504744,2.109088 -506,309,2834,-1.139228,-0.339677,3.663186 -220.456,234.28,2858,-0.7710261,-0.76522,2.976466 -264,330,2902,-0.6079056,0.8310617,1.93003 -312,359,2904,-1.354972,-0.4571131,3.052333 -483.4,395.8,2908,0.9017099,-1.01692,3.883481 -345,415,2922,0.7990567,-0.7878761,3.621753 -395,136,2924,-0.9995614,-0.5925749,2.246022 -280,229,2954,0.303368,0.9207589,1.641252 -391,401,2960,-1.11072,-0.8527285,2.726399 -504,191,2988,-1.246825,-0.7553904,2.816674 -177.4,259,2991,-0.4448077,0.4504375,1.730491 -512.2,217,2992,-0.608401,0.8246859,1.935614 -495.4,322.6,2994,-1.226683,-0.2145233,2.856076 -49.96,157.96,3002,-1.258394,-0.6447918,2.727251 -350,312,3011,-1.15029,-0.1838011,2.658425 -177.256,260.2,3031,0.7888269,-1.049869,3.673155 -426,190,3081,-1.118904,-0.7679672,2.821229 -434,207,3124,-1.304435,-0.6874405,2.806535 -395,282,3128,-1.334615,-0.6150204,2.984438 -395.8,251.8,3141,-1.305541,-0.7654992,3.10552 -328.6,221.8,3154,-0.8675144,-0.2386053,3.712516 -388.6,381.4,3155,-0.9850048,-0.5759701,2.249657 -421.48,139.24,3157,0.3600861,1.010152,1.533312 -392.68,136.36,3165,0.3942989,-0.6171201,3.295848 -281.8,193.96,3178,-1.049177,0.6117581,2.461178 -481.96,395.56,3183,0.381225,-0.6832765,3.446753 -412.84,134.92,3184,0.3624072,1.016096,1.529993 -146,185,3239,-1.159824,-0.881761,3.009392 -267.4,207.4,3240,-0.8181683,-0.7173095,3.42844 -189.4,219.4,3241,-1.352008,-0.61545,2.950261 -418,418,3255,-1.075902,-0.691372,2.368523 -333.4,47.8,3256,-1.222,-0.8353333,2.517779 -355,137,3258,-0.6945769,-0.0823996,2.2051 -70.60001,226.6,3261,-0.9446905,0.8118117,1.986228 -335.8,121,3265,-1.094243,0.02396658,2.080329 -399,137,3266,-0.1383423,-0.6088158,3.188479 -128,245,3269,-1.320744,-0.3299347,2.987297 -417.4,417.4,3272,-1.229934,-0.9078011,2.54627 -53.8,185.8,3275,-1.29972,-0.7134721,2.921253 -263.8,267.4,3277,-0.7335792,-0.1449295,3.752914 -525.4,250.6,3280,-1.209739,-1.054142,2.450134 -124.84,422.92,3286,-1.227563,-0.8274529,2.51874 -334.6,232.6,3287,-0.8306298,-0.7165866,3.425605 -356.68,139.24,3288,-1.31771,-0.3722243,2.963637 -97.48,290.44,3289,-0.7123611,-0.6905888,3.348441 -85,201.4,3294,-1.188375,0.09558307,2.88433 -371.8,398.2,3296,-1.232745,-0.611091,2.643979 -352.36,222.76,3298,-1.319444,-0.6902205,3.016178 -533.8,268.84,3299,-0.7258881,0.6173466,2.230424 -242.92,297.64,3300,-1.005225,-0.7294078,2.736566 -479.8,320.2,3301,-1.106979,-0.5529935,2.451514 -283,188.2,3302,-1.29138,-0.8414813,3.00307 -209.8,248.68,3304,-0.3372408,0.3372456,1.665284 -350.2,272.2,3307,-1.231152,-0.8410908,2.518809 -388.36,381.16,3308,-1.294863,-0.6680459,2.71115 -355.24,136.36,3309,-1.317351,-0.6867982,3.007458 -333.64,232.84,3310,-1.153216,-0.1803716,2.659831 -391,310.6,3312,-0.8873551,0.8057908,2.025501 -350.2,310.6,3313,-1.186514,-0.06345868,2.741987 -543.88,336.52,3314,-1.270378,-0.2251534,2.870086 -388.36,350.92,3315,-1.075245,-0.7695498,2.827991 -349,355,3316,-0.8600001,0.9187273,1.946285 -418.6,134.92,3319,-0.1435989,-0.7904325,3.410951 -130.6,214.6,3322,-0.8684361,0.8155625,2.015744 -548.2,225.64,3323,-0.7215549,0.5651118,1.861046 -423,314,3338,0.214742,-0.687013,3.397606 -101,64,1558,4.002178,-0.5809503,3.201819 -57.4,115,1929,4.481342,-0.1567616,3.566902 -113,57,1971,-0.9601368,-0.7833068,2.100778 -110,59,2015,-0.915266,-0.6779886,2.128184 -254,285,2263,-1.296673,-0.6517299,2.903081 -349,301,2302,-1.287398,-0.3490799,2.996417 -263.08,267.4,2437,-1.30701,-0.4509639,3.03159 -375,101,2510,-0.9860817,-0.6968444,2.172232 -241,301,2521,-1.147316,-0.3785046,2.549275 -396,253,2522,-1.305231,-0.5495892,3.02543 -255.4,352.6,2705,-1.325921,-0.4953647,3.176665 -310.312,358.696,2741,-1.194775,-0.06925862,2.721841 -389.178,278.6966,2765,-1.296797,-0.4920132,3.032677 -449,197,2810,-0.7472255,-0.08338313,2.171176 -418.6,46.6,2846,1.074211,-1.246794,3.849468 -309.9664,357.6592,2866,-1.055627,-0.9111872,2.687847 -419.8,70.60001,2884,0.9881601,-1.086629,3.656456 -51.4,161.8,2886,-0.7703235,-0.8692156,2.858299 -350,156,2889,-1.17908,-0.7745681,2.565119 -446,210,2895,-0.5787951,0.3474665,1.776219 -264,267,2898,-1.317158,-0.6952722,3.015898 -251,369,2921,-1.238872,0.006378735,2.993238 -313,375,2935,-0.9012534,-0.2870349,3.789574 -448,208,2939,-1.236668,-0.9717329,2.491377 -137.8,202.6,2941,-1.239824,-0.4654388,2.728755 -349,404.2,2947,-1.196149,0.08713547,2.884001 -336,215,2953,-1.222839,-0.7421156,2.821005 -96.04,183.88,2985,-0.3370897,-0.03996197,2.176941 -280.6,226.6,2989,-1.131796,-0.4420028,2.51811 -393,232,2990,-1.309201,-0.8803274,3.074015 -505,186.76,2997,-0.7688308,-0.1012924,2.168813 -230.824,379.432,3020,0.9868147,-0.9617629,3.670777 -478.7576,290.6405,3040,-1.329087,-0.443536,2.922572 -308.5564,341.4023,3057,-1.031682,-0.7381145,2.860798 -308.5564,353.3462,3060,-0.7494637,-0.769439,2.966363 -215.9909,269.7386,3064,-1.122939,-0.2510806,2.589703 -395.15,281.6826,3065,-0.4158076,0.757107,2.360235 -383,105,3076,1.187289,-0.6453984,3.39791 -102,144,3077,-1.260068,-0.9007665,2.569086 -252,239,3083,-1.285232,-0.6582882,2.711393 -225,249,3085,-1.28066,-0.7472965,3.013997 -258,287,3089,-1.328802,-0.7765259,3.098165 -195,295,3090,-1.306252,-0.6410534,2.979171 -259,299,3091,-0.5695315,0.9418042,1.848812 -532,302,3092,-1.29315,-0.3876829,3.102914 -227.8,395.8,3095,-1.071186,-0.8303387,2.173168 -398.2,140.2,3098,-0.6912804,-0.1339999,2.197115 -114,164,3099,-0.5312158,0.3121717,1.709664 -519,198,3101,-1.226366,-0.8019904,3.013258 -189.64,218.44,3102,-1.243698,-0.210252,2.871282 -229,372,3105,-0.8871084,-0.6525089,2.719476 -329,222,3108,-1.324241,-0.6655262,2.908352 -228,279,3109,-1.32852,-0.449395,3.199454 -232,393,3111,-1.35352,-0.7039763,2.993946 -262,297,3114,-1.081128,-0.2299107,3.565442 -241,299,3115,-0.8462793,-0.1661792,3.615971 -161,447,3116,0.3607469,-0.6163021,3.262575 -127,178,3119,-0.7300123,-0.874325,2.851575 -462,193,3123,-1.3008,-0.844407,2.996977 -303,250,3126,-1.148357,-0.2701605,2.599511 -229.96,378.28,3131,1.031168,-1.118288,3.630094 -398.2,136.6,3135,-0.9372965,-0.6720509,2.716046 -335,232,3145,-1.239405,-0.2064368,2.874344 -430,63,3148,0.4258941,-0.5958987,3.27883 -314.2,249.4,3149,-0.7557365,-0.110413,2.081634 -130.6,176.2,3150,1.147501,-0.6584014,3.39681 -101.8,145,3152,-1.243923,-0.6770057,2.699714 -203.8,223,3158,-1.240536,-0.6098419,2.650023 -279,197,3169,-1.109328,-0.1807331,2.495566 -525,255,3170,-1.256234,-0.6565897,3.026637 -355,136.6,3174,-1.237313,0.04277623,2.875949 -410.536,401.896,3181,-1.085765,0.5997638,2.48841 -308.584,372.5201,3194,-1.117657,-0.421419,2.523093 -480.0017,382.5424,3198,-1.0606,-0.6894062,2.376162 -260.7807,153.2852,3210,-1.329563,-0.7750261,2.859326 -472.7856,275.7106,3216,-0.2783366,-0.7124728,3.383532 -281.6826,380.2201,3217,-1.318933,-0.4618136,2.902935 -104.68,222.76,3218,0.9489371,-0.6132198,3.242426 -386.192,353.3462,3222,-1.14507,-0.3316267,2.585694 -391.5668,266.1555,3224,-1.163446,-0.822788,2.510644 -387.9836,284.0714,3225,-1.068517,-0.742682,2.423126 -371.2621,132.3833,3227,-0.8101249,0.1921861,2.234931 -110.2,59.8,3237,0.0956681,-0.6229865,3.201806 -369,163,3238,-1.113977,-0.7545395,2.816561 -98,291,3242,-1.301372,-0.5953501,3.035261 -277,305.8,3243,-1.316836,-0.4950843,3.16078 -250,326,3244,-1.343096,-0.49447,3.133903 -234,373,3245,-1.316732,-0.4823332,3.180248 -243,371,3246,-1.221073,-1.058151,2.441312 -230,380,3247,-1.014598,-0.8481927,2.165435 -343,45,3248,-1.334613,-0.6731573,2.898337 -418.6,52.6,3249,-1.309495,-0.6508015,2.903456 -281,279,3250,-0.9611345,-0.7681967,3.504086 -280,282,3251,-1.283595,-0.5586748,2.962548 -65,315,3252,-0.9384997,0.8521661,2.01441 -277,313,3253,-1.345981,0.1091383,2.793452 -554,347,3254,-1.22269,-1.069282,2.470834 -393.4,135.4,3257,0.5609876,-0.8076235,3.732611 -33,188,3259,-0.3753291,-0.8000861,3.473862 -434,209,3260,-1.29279,-0.8103237,2.960399 -230,249,3262,-0.9964275,-0.8543619,2.228893 -558,340,3263,-1.211747,-0.8980563,2.543137 -398.2,61,3264,-1.113896,-0.6990533,2.366925 -526,250,3267,-0.6129646,-0.7002715,3.301213 -155.08,201.16,3268,-1.326283,-0.5123689,3.165747 -229,371.8,3270,-1.338143,0.1202543,2.794426 -311,372,3271,-0.9302977,-0.9556407,2.688727 -251.8,111.4,3273,0.3619086,-0.8008336,3.595745 -336,121,3274,-1.282525,-0.8349221,3.003103 -211,249.4,3276,-1.323621,-0.6555914,3.035827 -241,311.8,3278,-1.06999,0.05424477,2.069447 -125,424,3279,-1.214511,-1.067235,2.470035 -331,49,3281,0.8355361,-0.7909732,3.623986 -339,48,3282,-1.30291,-0.7226429,2.936709 -55,163,3283,-1.228518,-0.7938683,2.560965 -256.6,268.6,3284,-0.7404088,-0.1546282,3.746652 -349,155.8,3285,-1.299404,-0.6742389,2.707675 -310.6,358.12,3290,-0.9159328,0.6582323,2.358719 -120.52,267.4,3291,-1.070204,0.05144718,2.072773 -483.4,361,3292,-0.1079903,-0.7786085,3.425883 -525.4,254.2,3293,-1.320387,-0.4444583,2.925675 -310.312,336.232,3295,-0.6493741,-0.06082521,2.00726 -465.832,184.168,3297,-0.7595209,0.517393,1.886391 -393.256,189.352,3303,-0.7214637,-0.6906343,3.342624 -121.96,267.112,3305,-1.248529,-0.4807278,2.725647 -503.8481,185.896,3306,-1.187732,0.06083122,2.800543 -242.92,298.216,3311,-1.255,-0.3704531,2.786392 -258.1264,202.1392,3317,-0.967507,-0.5686262,2.244898 -556.7249,341.0704,3318,-1.128483,-0.7795632,2.725335 -291.304,189.6976,3320,-0.2492617,-0.6653123,3.289457 -86.01761,200.0656,3321,-0.9205023,0.168457,1.851101 -542.2097,334.8496,3324,-1.084295,-0.7559043,2.82463 -535.9889,274.7152,3325,-0.3870495,0.73401,2.176111 -262.2737,206.2864,3326,-0.07364787,-0.7673334,3.431124 -456.3627,294.6218,3327,-1.300757,-0.4400494,3.033752 -85.6029,200.0656,3328,-1.308728,-0.8022874,3.008215 -277.2036,354.3415,3329,-0.8775758,0.2787389,2.476203 -217.4839,264.762,3330,-0.4396845,0.6197097,2.10065 -433.9678,320.5004,3331,0.8401883,-0.5621404,3.153299 -466.3159,274.7153,3332,0.7913864,-0.6046053,3.296147 -147.9105,147.9105,3333,-0.9882478,-0.7572184,2.79536 -126.4114,159.2572,3334,-0.909662,-0.6570637,2.725223 -255.4059,183.7423,3335,-1.118013,-0.8004032,2.874771 -287.6545,194.4918,3336,-0.5764303,0.5275238,2.442515 -242.8648,207.033,3337,-0.9065346,0.6477395,2.35503 -483.7342,359.3182,3339,-1.129898,-0.2047063,2.512686 -102.5235,189.117,3340,-0.6674007,-0.06822211,2.015126 -419.0379,277.2036,3341,-0.667106,0.616653,2.068866 -466.3159,185.1357,3342,-0.7071339,0.7025841,2.058526 -499.6595,293.6265,3343,-1.291357,-0.4067639,2.777657 -508.6174,308.5564,3344,-0.8143021,0.4573739,2.103467 -351.8532,304.5751,3345,-0.9092174,-0.2753547,2.287548 -502.6454,291.2377,3346,-1.169069,-0.825598,2.915237 -430.9818,207.033,3347,-0.7908044,0.384806,2.042874 -230.9208,218.9769,3348,-1.236704,-0.6225086,2.63545 -506.2286,273.3218,3349,-1.057875,-0.3750025,2.527008 -353.3462,218.9769,3350,-1.301238,-0.7967291,2.893 -387.9836,237.49,3351,-1.219271,-0.4895161,2.695324 -254.8087,245.8508,3352,-0.6416957,0.8154731,2.133192 -353.3462,260.7807,3353,-1.126683,-0.8060374,2.867639 -495.4791,327.0695,3354,4.820126,-0.4911616,2.859951 -244.6564,205.2414,3355,0.1838525,-0.5555421,3.102936 -139,54,3356,-0.6799293,-0.06663407,2.07877 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0022.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0022.csv deleted file mode 100644 index bfa429ab5b84e182fe6ecdfc18f649ae32a5ab98..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0022.csv +++ /dev/null @@ -1,200 +0,0 @@ -120,64,1557,4.554994,-0.7196091,3.276471 -132,119,1929,4.481342,-0.1567616,3.566902 -93.4,112.6,2089,4.703625,-0.415909,3.903147 -148,111,2243,4.589638,-0.1052912,3.356642 -343.72,381.16,2609,-1.330726,-0.5076445,3.178638 -398.44,232.84,2666,-1.216297,-0.7370915,2.819679 -379.72,337.96,2672,-1.322616,-0.5466626,3.026915 -357.4,308.2,2692,-1.307762,-0.6732578,3.033536 -399.4,340.6,2811,-1.289757,-0.4589587,2.975247 -172.072,331.048,2817,-0.9065028,-0.6981941,3.536002 -70.12,119.08,2823,0.8052307,-1.109234,3.606074 -64.36,116.2,2884,0.9881601,-1.086629,3.656456 -557,356,2906,-0.9291028,0.6301035,2.310623 -38.2,154.6,2908,0.9017099,-1.01692,3.883481 -564,188,2925,-0.4090112,0.2930499,1.687691 -460,402,2947,-1.196149,0.08713547,2.884001 -555,193,2951,-0.4064167,0.2882434,1.738758 -395.8,230.2,2953,-1.222839,-0.7421156,2.821005 -358.6,299.8,2962,-1.308595,-0.6926795,3.016776 -499,337,2970,-1.102746,0.04689951,2.612135 -399,233,2988,-1.246825,-0.7553904,2.816674 -55.72,186.76,3029,0.7196913,-0.8645202,3.886708 -345,375,3104,0.7046337,-0.8159996,3.617923 -398.2,285.4,3109,-1.32852,-0.449395,3.199454 -344,396,3110,-1.131473,0.2942879,2.765023 -154.6,187,3121,-0.7303832,-0.08945076,2.072085 -487,284.2,3127,-1.250309,-0.4683706,2.76602 -509.8,279.4,3170,-1.256234,-0.6565897,3.026637 -132.328,63.20801,3236,-1.083771,-0.6698348,2.477197 -336.232,253.288,3275,-1.29972,-0.7134721,2.921253 -475,382.6,3307,-1.231152,-0.8410908,2.518809 -478,352,3314,-1.270378,-0.2251534,2.870086 -205,212.2,3321,-0.9205023,0.168457,1.851101 -524,195,3357,-0.2257574,-0.646525,3.288309 -457,265,3362,0.5992761,-0.3704,4.09086 -393.4,284.2,3364,-1.30607,-0.6712843,3.00954 -209.8,327.88,3366,-0.785165,0.7816969,2.065662 -537.4,320.2,3379,-0.7420016,-0.6016818,3.739741 -155.8,203.8,3383,-0.5891527,-0.6996992,3.353187 -242.92,310.6,3386,-0.9342278,-0.9316564,2.697179 -97.48,159.4,3388,-1.295426,-0.357078,3.006751 -403,367,3389,-1.078318,-0.9035341,2.691696 -537,191,3391,-0.6405331,-0.7175291,3.31985 -207.4,251.8,3392,-1.294309,-0.8573778,3.084415 -562,309,3395,-1.214912,0.1283022,2.835066 -192.808,293.032,3398,-1.308856,-0.3523499,2.964154 -417.4,362.2,3399,-1.058378,-0.2832855,3.582693 -521,197,3404,-1.314859,-0.6564661,3.022006 -442,404,3408,-0.2861506,-0.6825577,3.27423 -448,346,3411,-1.12699,-0.9317098,2.755868 -182.44,179.56,3414,-1.050387,-0.722147,2.812152 -189.352,147.88,3417,-0.1293191,-0.785843,3.414343 -245.8,262.6,3419,-1.344084,0.1114918,2.783428 -446,350,3422,-1.181282,-0.04638812,2.748289 -477.4,352.6,3423,-1.226908,-0.8383419,2.513387 -472.6,139,3424,0.3225414,-0.6934497,3.425293 -154.792,185.896,3425,-1.250499,-0.3724373,2.781555 -451.72,310.6,3426,-1.202056,0.04995504,2.804262 -172.36,329.32,3431,-1.277349,-0.4769269,3.168079 -452,306,3433,-0.9090984,0.8891155,2.010111 -609,347,3434,-1.116719,-0.5717143,2.436704 -494.2,187,3435,-1.150249,-0.2676212,2.596205 -487.72,283.24,3436,0.940977,-0.7683837,3.442426 -132.328,144.424,3437,-0.2512322,-0.6809018,3.383816 -191.08,312.04,3439,1.207924,-0.5379083,3.279101 -154.792,324.136,3442,-1.243726,-0.1535473,2.890453 -551,119,3461,5.010648,-0.6073699,3.225209 -78.76,65.8,3464,4.867,-0.5395083,3.332062 -374,289,2262,-1.300617,-0.6995311,2.972868 -382.6,270.28,2436,-1.294344,-0.7214962,2.924377 -387.4,358.6,2437,-1.30701,-0.4509639,3.03159 -344,383,2705,-1.325921,-0.4953647,3.176665 -415.72,362.152,2740,-1.305423,-0.3690975,2.967453 -385,319,2787,-1.297386,-0.5673843,2.981611 -392,371,2796,-1.300001,-0.3861932,3.041661 -478,52,2813,-1.206046,-1.037174,2.412319 -415.7201,359.7328,2865,-1.301506,-0.3677259,2.962939 -384,271,2897,-1.301413,-0.7141609,2.919057 -418,362,2903,-1.31814,-0.3690571,2.963357 -554.2,395.8,2907,-1.113942,0.572179,2.487531 -362,372,2920,-1.319708,-0.4720667,3.117035 -420,376,2934,-1.319109,-0.3117899,2.98061 -519,209,2938,-0.7235939,-0.06380773,2.157652 -554,323,2993,-0.7766078,0.644277,2.18702 -562.6,188.2,2996,-0.4130202,0.2823016,1.691728 -416.5495,359.3182,3059,-1.31353,-0.3868918,2.958622 -344.9855,269.7386,3063,-1.317222,-0.7926192,3.013582 -147,145,3076,1.187289,-0.6453984,3.39791 -378,241,3082,-1.30049,-0.7998172,2.897636 -344,255,3084,-1.225483,-0.7858767,2.975372 -377,291,3088,-1.303721,-0.6674227,2.962815 -584,301,3091,-0.5695315,0.9418042,1.848812 -440,225,3107,-1.309345,-0.7504339,3.010139 -381,299,3113,-1.305456,-0.6761635,3.016318 -361,304,3114,-1.081128,-0.2299107,3.565442 -344.2,382.6,3130,-0.9799567,-0.1545762,3.631719 -490.6,251.8,3140,-0.4114888,0.8908049,1.730858 -472,139,3173,-0.2660221,-0.7318525,3.542249 -550.5041,382.5424,3197,-1.130702,-0.3137454,2.580966 -472.7856,356.3322,3221,-1.335984,-0.6901656,2.778984 -484.7296,269.7386,3223,-1.166255,-0.2974287,2.626182 -481.7436,281.6826,3224,-1.163446,-0.822788,2.510644 -366,329,3243,-1.316836,-0.4950843,3.16078 -347,376,3244,-1.343096,-0.49447,3.133903 -399,285,3250,-0.9611345,-0.7681967,3.504086 -461,53,3255,-1.075902,-0.691372,2.368523 -606,252,3266,-0.1383423,-0.6088158,3.188479 -344.2,374.2,3269,-1.320744,-0.3299347,2.987297 -361,313,3277,-0.7335792,-0.1449295,3.752914 -376.6,273.4,3283,-1.228518,-0.7938683,2.560965 -459.4,401.8,3295,-0.6493741,-0.06082521,2.00726 -362.44,299.08,3299,-0.7258881,0.6173466,2.230424 -336.52,253,3303,-0.7214637,-0.6906343,3.342624 -512.2,140.68,3318,-1.128483,-0.7795632,2.725335 -386.6897,356.8298,3328,-1.308728,-0.8022874,3.008215 -174.1871,159.2572,3333,-0.9882478,-0.7572184,2.79536 -362.9014,187.3255,3334,-0.909662,-0.6570637,2.725223 -555.8955,294.6218,3342,-0.7071339,0.7025841,2.058526 -463.8276,212.5072,3349,-1.057875,-0.3750025,2.527008 -380.8173,248.2395,3351,-1.219271,-0.4895161,2.695324 -227,178,3356,-0.6799293,-0.06663407,2.07877 -202,217,3358,-1.208945,-0.8171601,2.934059 -346,231,3359,0.7378145,-0.5311618,3.874427 -99,228,3360,-1.237656,-0.7469153,2.822907 -397,231,3361,-1.235359,-0.4971555,2.702479 -87,279,3363,-1.303729,-0.6537071,2.912893 -363,300,3365,-0.8115507,-0.5585231,3.45883 -578,326,3367,-0.9470083,-0.7148915,3.528037 -172,331,3368,-0.8741141,-0.5409266,3.415141 -227,332,3369,-1.301862,-0.421384,2.921857 -419.8,338.2,3370,-1.291234,-0.4964708,3.015044 -384,340,3371,-0.8198103,-0.5455741,3.790404 -133,386,3372,-1.090235,-0.2147519,3.562144 -258,446,3373,-1.170869,-0.3711084,3.575612 -236,448,3374,-1.147643,-0.8526527,2.978231 -320.2,223,3375,-0.6123951,-0.6610865,3.246292 -231.4,247,3376,-1.31067,-0.6544293,2.921561 -392,287,3377,-1.324126,-0.6761084,3.048887 -353,313,3378,-0.6398826,0.7407598,2.189757 -133,354,3380,-1.035234,-0.2516946,3.599352 -237,442,3381,-1.077147,-0.2339867,3.577615 -250,448,3382,-0.1298116,-0.7823923,3.420635 -198,251,3384,-0.5807897,-0.5719344,3.241179 -235,257.8,3385,-0.9779899,-0.6504619,3.311635 -357.4,122.2,3387,0.9812503,-0.7877235,3.670984 -385,143,3390,-0.7199392,-0.06299642,2.041871 -307,268.6,3393,-0.7147784,-0.6864911,3.348824 -209.8,271,3394,-0.6560733,0.7666681,2.043337 -476,402,3396,-0.9856431,-0.2733547,3.615937 -225,429,3397,-0.79392,-0.6881234,3.42215 -239.8,437.8,3400,-0.7000779,-0.6931089,3.347835 -208.6,267.4,3401,-1.324781,-0.326598,2.989672 -416,375,3402,-0.1946172,-0.1922475,4.043167 -124,378,3403,-0.7512228,-0.1308187,2.139193 -363.88,309.16,3405,-0.7786049,-0.5501898,3.800076 -127,381,3406,-1.05478,-0.7224287,2.770667 -382.6,203.8,3407,-1.261185,-0.04711412,2.956408 -204.04,212.68,3409,-0.6298708,0.7951458,2.029211 -561.4,308.2,3410,-1.242744,-0.2370992,2.843434 -376.6,151,3412,-1.214215,0.1278673,2.833398 -476.2,401.8,3413,0.3732811,-0.6132112,3.298708 -371.08,211.24,3415,-1.144098,-0.2637709,2.594285 -486.5681,284.392,3416,1.071262,-0.5166574,3.17783 -156.52,202.1392,3418,-0.760852,-0.6644977,3.237679 -509.032,417.448,3420,0.4068263,-0.5563667,3.188609 -204.904,175.528,3421,-1.231123,-0.2237877,2.848197 -474.472,382.888,3427,-1.295347,-0.8793953,3.072969 -306.856,260.2,3428,-1.30846,-0.4240939,2.930441 -417.7937,341.0704,3429,-1.312513,-0.4443244,3.029416 -388.7632,357.6592,3430,-0.9356178,-0.714569,3.527141 -341.0704,370.1009,3432,-1.23373,-0.3662084,2.770718 -180.1591,224.9489,3438,-0.857749,-0.6823731,3.461886 -171.2011,147.3133,3440,0.6116217,-0.5985356,3.085411 -208.8246,147.9105,3441,-0.04200111,-0.2305351,3.818579 -442.9258,377.2341,3443,0.8733256,-0.5484827,3.198931 -189.117,153.2852,3444,-1.334241,-0.7337319,2.78197 -427.9958,239.8788,3445,0.9574394,-0.5487352,3.14685 -195.089,147.3133,3446,-1.262722,-0.4036784,2.770342 -453.8744,302.0868,3447,-1.198754,0.03908974,2.806404 -473.7809,381.713,3448,-1.214416,-0.7737022,2.54125 -466.8136,174.1871,3449,-1.182498,-0.1408938,2.548615 -513.395,301.9873,3450,-1.219561,-0.6773394,2.690535 -438.1482,219.5741,3451,-1.245889,-0.4289476,2.745097 -454.8697,299.5985,3452,-1.301555,-0.4115075,2.937687 -416.0519,344.3882,3453,-0.9049543,-0.8219799,2.953516 -301.9873,194.4918,3454,-0.813253,-0.5380536,3.467498 -207.033,332.4443,3455,-0.7486544,-0.5033591,3.437609 -219.5741,319.9032,3456,-1.220427,-0.8414384,2.50671 -472.7856,135.3693,3457,5.098945,-0.4557338,2.852568 -157,53.8,3458,5.123575,-0.8276398,3.609314 -86.2,59.8,3459,4.920648,-0.4991016,3.072713 -142.12,61.48,3460,3.014606,2.444327,-0.8864796 -127.72,58.6,3462,4.979218,-0.6039833,3.131898 -133,56.2,3463,5.867191,-0.7543324,3.803038 -123.688,70.12001,3465,4.81198,-0.6379111,3.312381 -119.8,63.4,3466,4.942867,-0.3287317,2.667174 -178.6,55,3467,4.840568,-0.3678501,2.734378 -173,58,3468,4.867605,-0.3537546,2.656218 -178.12,54.28,3469,4.777374,-0.02685455,3.29427 -153,106,3470,0.63074,-0.899767,3.90414 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0023.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0023.csv deleted file mode 100644 index 7baa3d707f80fcd7f5d9fc0dbe71bb0154813771..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0023.csv +++ /dev/null @@ -1,207 +0,0 @@ -142,99,1571,4.045482,-0.1611432,3.236687 -137.8,45.4,1944,4.041743,-0.6241055,2.925643 -307,77,2459,0.7911922,-0.4974679,2.41748 -75.30401,102.952,2823,0.8052307,-1.109234,3.606074 -106.408,153.064,2885,0.8525708,-0.7901869,3.656365 -423,337,2920,-1.319708,-0.4720667,3.117035 -112.6,152.2,3105,-0.8871084,-0.6525089,2.719476 -406.6,346.6,3130,-0.9799567,-0.1545762,3.631719 -485.8,217,3148,0.4258941,-0.5958987,3.27883 -436.6,253,3161,-1.118387,0.3049538,2.766103 -106.6,45.4,3236,-1.083771,-0.6698348,2.477197 -241,268.6,3241,-1.352008,-0.61545,2.950261 -445,236.2,3276,-1.323621,-0.6555914,3.035827 -518,278,3311,-1.255,-0.3704531,2.786392 -230.2,197.8,3321,-0.9205023,0.168457,1.851101 -409,200,3359,0.7378145,-0.5311618,3.874427 -289,415.72,3381,-1.077147,-0.2339867,3.577615 -243.4,271,3398,-1.308856,-0.3523499,2.964154 -427.24,120.52,3412,-1.214215,0.1278673,2.833398 -523,249.4,3416,1.071262,-0.5166574,3.17783 -523.72,250.12,3436,0.940977,-0.7683837,3.442426 -183.4,314.2,3480,-1.348045,-0.4132325,3.012948 -461,330,3481,-1.348256,-0.5196848,3.170997 -404.2,88.60001,3484,-0.9840587,-0.9622244,2.718427 -63.20801,173.8,3494,-1.102517,-0.2136313,3.451233 -245.8,230.2,3498,0.7928731,-1.01236,3.887651 -602,242,3502,0.2309986,-0.8110234,2.653436 -541,167,3504,0.6257751,-0.8743041,3.963484 -52.6,185.8,3505,-0.0702275,-0.6943704,3.312368 -423.4,181,3507,0.6466086,-0.6077954,3.909301 -95.8,214.6,3508,-1.315193,-0.693483,3.010094 -426,263,3509,-0.5765823,0.9424741,1.855756 -334.6,403,3511,0.2677569,-0.6558511,3.348815 -574.6,351.4,3518,-0.92634,-0.2441011,3.647563 -269.8,401.8,3519,0.7703556,-1.137514,3.681603 -504,201,3525,-0.5482497,-0.662481,3.331952 -595,203,3528,-1.303509,-0.7410462,3.020413 -59.75201,106.408,3531,0.8795733,-0.801763,3.678666 -469,325,3533,-0.9704114,-0.2215659,3.531901 -301.672,393.256,3534,-1.316228,-0.8707052,3.086039 -381.4,235,3535,-0.5538145,-0.6710948,3.321772 -137.8,132.04,3539,0.678316,-0.8354668,3.883266 -525.4,203.8,3543,-1.298033,-0.4986592,2.781402 -500.2,256.6,3544,-1.272084,-0.0774298,2.956307 -188.2,168.04,3547,-0.7687532,0.6366351,2.071451 -547,289,3549,-1.084294,0.5948092,2.463955 -287.56,234.28,3552,0.9159029,-0.7905116,3.686644 -513.4,316.6,3554,0.6261212,-0.7815519,3.658958 -217,161.704,3556,-1.093434,-0.9316376,2.738068 -573,192,3558,-1.198378,-0.0706545,2.755333 -503.8,201.4,3560,-1.131301,-0.8080221,2.889944 -536,109,3562,-0.9332752,-0.6493177,3.349098 -282.664,282.664,3563,-0.8813453,-0.5269552,3.264013 -461,341,3566,-1.205409,0.1259611,2.829985 -525.16,204.04,3570,-0.6225605,0.08674753,1.959709 -512.2,175.24,3585,-0.8146914,-0.5343868,3.470997 -59.8,46.6,3591,-0.3287482,0.3783837,1.68681 -122.2,40.6,3594,4.931931,-0.5426663,3.166381 -111.88,48.52,3595,-1.21502,-0.8326361,2.508448 -247.24,232.84,3598,5.110129,-0.8158206,3.49825 -112,108,1929,4.481342,-0.1567616,3.566902 -444.52,235.72,2436,-1.294344,-0.7214962,2.924377 -447.4,322.12,2437,-1.30701,-0.4509639,3.03159 -407.08,346.6,2609,-1.330726,-0.5076445,3.178638 -451.72,198.28,2666,-1.216297,-0.7370915,2.819679 -440.2,303.4,2672,-1.322616,-0.5466626,3.026915 -407,347,2705,-1.325921,-0.4953647,3.176665 -446,236,2897,-1.301413,-0.7141609,2.919057 -568,161,2925,-0.4090112,0.2930499,1.687691 -536,183,2938,-0.7235939,-0.06380773,2.157652 -452.2,197.8,2953,-1.222839,-0.7421156,2.821005 -565,291.4,2993,-0.7766078,0.644277,2.18702 -64.36,173.8,3029,0.7196913,-0.8645202,3.886708 -440,259,3088,-1.303721,-0.6674227,2.962815 -490.6,190.6,3107,-1.309345,-0.7504339,3.010139 -406,360,3110,-1.131473,0.2942879,2.765023 -523,251,3127,-1.250309,-0.4683706,2.76602 -508.6174,320.5004,3221,-1.335984,-0.6901656,2.778984 -441,238,3283,-1.228518,-0.7938683,2.560965 -425.8,265,3299,-0.7258881,0.6173466,2.230424 -443.9211,321.9933,3328,-1.308728,-0.8022874,3.008215 -180.1591,144.3273,3333,-0.9882478,-0.7572184,2.79536 -244,161,3356,-0.6799293,-0.06663407,2.07877 -230,198,3358,-1.208945,-0.8171601,2.934059 -453,198,3361,-1.235359,-0.4971555,2.702479 -426,265,3365,-0.8115507,-0.5585231,3.45883 -229,307,3368,-0.8741141,-0.5409266,3.415141 -471.88,301.96,3370,-1.291234,-0.4964708,3.015044 -268.6,224.2,3376,-1.31067,-0.6544293,2.921561 -437,113,3390,-0.7199392,-0.06299642,2.041871 -553,165.4,3391,-0.6405331,-0.7175291,3.31985 -278,404,3397,-0.79392,-0.6881234,3.42215 -469,325,3399,-1.058378,-0.2832855,3.582693 -250.6,244.6,3401,-1.324781,-0.326598,2.989672 -425.8,274.6,3405,-0.7786049,-0.5501898,3.800076 -176.2,359.8,3406,-1.05478,-0.7224287,2.770667 -286.12,240.04,3419,-1.344084,0.1114918,2.783428 -546.3569,374.248,3420,0.4068263,-0.5563667,3.188609 -512,320,3423,-1.226908,-0.8383419,2.513387 -444.7505,322.4081,3430,-0.9356178,-0.714569,3.527141 -210.0189,207.5306,3438,-0.857749,-0.6823731,3.461886 -487.7155,335.4303,3443,0.8733256,-0.5484827,3.198931 -198.075,129.3973,3446,-1.262722,-0.4036784,2.770342 -508.6174,344.3882,3448,-1.214416,-0.7737022,2.54125 -518.5707,130.3927,3449,-1.182498,-0.1408938,2.548615 -501.1524,257.297,3452,-1.301555,-0.4115075,2.937687 -468.8043,307.0634,3453,-0.9049543,-0.8219799,2.953516 -257.297,307.0634,3455,-0.7486544,-0.5033591,3.437609 -135.4,39.4,3458,5.123575,-0.8276398,3.609314 -62.92,45.64,3459,4.920648,-0.4991016,3.072713 -120.52,47.08,3460,3.014606,2.444327,-0.8864796 -110.2,41.8,3463,5.867191,-0.7543324,3.803038 -51.4,51.4,3464,4.867,-0.5395083,3.332062 -155.8,41.8,3467,4.840568,-0.3678501,2.734378 -151,43,3468,4.867605,-0.3537546,2.656218 -132,94,3470,0.63074,-0.899767,3.90414 -58.6,175,3471,-0.1373714,-0.6121508,3.191083 -246,183,3472,-0.1515595,-0.6487953,3.248339 -232.6,185.8,3473,-0.1413326,-0.7410988,3.456025 -182.2,197.8,3474,-0.3830786,-0.7637046,3.495386 -185,221,3475,-1.278044,-0.7955841,2.900011 -437,207,3476,-0.5885705,-0.64309,3.248425 -269,225,3477,-1.344975,-0.8662299,2.995421 -416,219,3478,-0.7073381,-0.68264,3.360487 -252,249,3479,-0.5656365,-0.5421094,3.715707 -409,343,3482,-1.239815,0.0433979,2.997967 -479,384,3483,-1.000737,-0.9929055,2.724542 -407,94,3485,-0.6804739,-0.0522562,2.070843 -543,168,3486,-1.102485,-0.7546682,2.82631 -424,181,3487,-0.4073124,-0.8137243,3.474367 -183.4,211,3488,-1.095916,0.01423039,2.165099 -608,226,3489,-0.7667825,0.5750908,1.892179 -603,245,3490,-1.347772,-0.4302022,3.174749 -418,361,3491,-0.9888848,-0.9835215,2.716821 -405,89,3492,-0.9514785,0.2287492,2.099473 -596,238,3493,0.7509915,-0.8573472,3.903181 -337,403,3495,-1.096951,0.5777743,2.461787 -575,351,3496,1.254175,-0.4754255,3.150426 -193,127,3497,-0.5290549,-0.6511232,3.330763 -44.2,147.4,3499,-0.09597252,-0.6376438,2.996835 -274,151,3500,-0.5937846,-0.6659139,3.309435 -254,231,3501,-0.742981,0.5840953,1.872665 -287.56,64.36,3503,-0.6745368,-0.05937366,2.075353 -209,180,3506,-1.045806,-0.7112969,2.802587 -587,270,3510,-1.109146,-0.2317667,3.453619 -190,169,3512,0.6998656,-0.862597,3.89357 -64.60001,175,3513,0.6306906,-0.8960301,3.960378 -50,182,3514,-1.126128,-0.4204109,2.52423 -526,204,3515,-0.9408855,-0.6574372,3.343858 -283,281.8,3516,-0.9213966,0.6606961,2.311704 -571,320,3517,-1.096713,0.5785767,2.464203 -60.04,106.12,3520,0.6593204,-0.7055692,4.041581 -62.92,215.56,3521,0.2641657,-0.6621758,3.350814 -189.4,169,3522,0.823314,-0.7433842,4.034296 -57.4,199,3523,0.6986716,-0.587783,3.926975 -94.60001,215.56,3524,-1.302338,-0.6779729,2.715711 -245.8,229.96,3526,-0.4916608,-0.6046236,3.36522 -241.48,240.04,3527,-0.9581424,0.02574705,2.078718 -415,251.8,3529,-0.9539626,-0.6709777,3.347909 -281.8,281.8,3530,0.812981,-1.129039,3.687815 -101.8,150.76,3532,-1.305806,-0.3504308,2.966078 -247.24,225.64,3536,-0.9386156,-0.5844113,3.269087 -310.6,281.8,3537,0.8080433,-0.9684941,3.681159 -82.21601,130.6,3538,1.234394,-0.6647459,3.460694 -70.12001,178.984,3540,-0.1042158,-0.7792605,3.42089 -181.4032,183.4768,3541,0.6156781,-0.7468622,3.981286 -67.35521,206.2864,3542,-1.144428,-0.4428492,2.539259 -484.8401,365.608,3545,-1.096988,-0.2713794,3.46425 -325.864,396.712,3546,0.409642,-0.6039448,3.347657 -579.8801,274.024,3548,-0.6707693,0.6944197,2.216018 -572.9681,351.784,3550,-0.9174741,-0.3227539,3.617108 -264.3472,384.6161,3551,-0.7224137,-0.6474662,3.222667 -101.224,151.336,3553,-1.167502,-0.03242911,2.736485 -112.9744,164.8144,3555,0.2965057,-0.5903646,3.213983 -426.0881,115.048,3557,-0.4329271,0.4968873,1.71818 -513.1793,318.2608,3559,-1.29529,-0.670155,2.712078 -407.4257,183.4768,3561,-1.146576,-0.7419288,2.416047 -312.0401,287.1569,3564,-1.255509,-0.3027315,2.830409 -493.6875,299.5985,3565,-1.310445,-0.3202151,3.014403 -511.1057,361.8065,3567,0.4844195,-0.6236497,3.087382 -222.4605,132.881,3568,0.5767788,-0.704788,3.834208 -96.55151,198.075,3569,-1.150666,-0.4494245,2.544815 -555.8955,172.6941,3571,-0.2918099,-0.7009276,3.385706 -210.0189,207.033,3572,-1.314548,-0.8042781,3.014185 -411.5729,234.9021,3573,-0.7201355,-0.5495973,3.833425 -165.8264,355.735,3574,-1.115955,-0.2399152,2.618916 -514.5894,254.8087,3575,-1.070827,-0.8826293,2.717987 -431.4795,122.9277,3576,-0.9086085,-0.6177838,3.3354 -287.1569,282.1802,3577,0.06558861,-0.8126912,3.612893 -133.5777,190.9086,3578,-1.244418,-0.8499645,3.072885 -373.6509,226.7405,3579,-1.309051,-0.6772103,2.795107 -484.7296,218.9769,3580,0.6987585,-0.3454627,3.925614 -122.8282,244.6564,3581,-0.7520833,-0.6706439,3.383337 -251.8227,258.9891,3582,-0.9283224,-0.653696,3.379509 -273.3218,287.6545,3583,-1.277589,-0.38369,2.938792 -466.8136,308.5564,3584,-1.181455,-0.6202095,2.583513 -257.7947,308.5564,3586,5.259689,-0.2866534,2.548806 -161,36,3587,5.217186,-0.1256718,2.743125 -157,56,3588,5.837079,-0.8143723,3.677768 -56.2,43,3589,4.985939,-0.5563745,3.030311 -119.8,40.6,3590,5.103899,-0.8449966,3.644703 -559,167,3592,5.672594,-0.7847663,3.654778 -60.04,45.64,3593,4.694564,-0.5888693,3.021548 -524.2,106.6,3596,4.700595,-0.2329897,3.611091 -100.6,94.60001,3597,-0.6203892,-0.6981086,3.332058 -71.8,41.8,3599,5.03823,-0.5422303,3.174495 -110.2,47.8,3600,1.349505,-0.8450667,2.63864 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0024.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0024.csv deleted file mode 100644 index 7e0c8364d27c5f897fa11b1da02c7500cfac1800..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0024.csv +++ /dev/null @@ -1,204 +0,0 @@ -198.28,290.44,2896,-0.8408067,-0.7303964,3.410953 -402,308,2919,-1.31524,-0.5141388,3.078878 -352.36,159.4,3044,-1.103992,-0.8411505,2.869609 -103.24,186.76,3166,-0.3796832,-0.132758,2.156959 -385,340,3246,-1.221073,-1.058151,2.441312 -498,288,3291,-1.070204,0.05144718,2.072773 -532.36,255.88,3313,-1.186514,-0.06345868,2.741987 -394,257,3365,-0.8115507,-0.5585231,3.45883 -292.6,436.6,3373,-1.170869,-0.3711084,3.575612 -178.6,254.2,3384,-0.5807897,-0.5719344,3.241179 -221.32,250.12,3385,-0.9779899,-0.6504619,3.311635 -104.68,189.64,3414,-1.050387,-0.722147,2.812152 -169,201.4,3472,-0.1515595,-0.6487953,3.248339 -384,209,3478,-0.7073381,-0.68264,3.360487 -337.96,77.32,3484,-0.9840587,-0.9622244,2.718427 -337.96,85.96001,3485,-0.6804739,-0.0522562,2.070843 -194.2,250.6,3501,-0.742981,0.5840953,1.872665 -98.2,195.4,3522,0.823314,-0.7433842,4.034296 -184.168,251.56,3526,-0.4916608,-0.6046236,3.36522 -241.48,299.08,3530,0.812981,-1.129039,3.687815 -185.8,250.6,3536,-0.9386156,-0.5844113,3.269087 -452,337,3545,-1.096988,-0.2713794,3.46425 -465,288,3554,0.6261212,-0.7815519,3.658958 -156.52,153.64,3602,-1.065105,-0.8946236,3.081734 -148.6,424.6,3608,-1.307518,0.2213267,3.173242 -96.04,157.96,3610,0.1959627,-0.496712,2.987175 -514,200,3617,-1.318711,-0.7260827,2.988012 -263.08,189.64,3620,-0.01858275,-0.7128345,3.437199 -365.608,102.952,3622,0.1936863,-0.8370005,2.664847 -376.84,157.96,3625,-0.1073451,-0.5890907,3.183806 -369.4,195.4,3627,-0.8833406,-0.7552111,3.133872 -261.928,222.184,3628,-0.8895984,-0.5839551,3.390958 -469,395.8,3631,-1.390095,0.09376098,3.052171 -68.39201,154.792,3633,-0.1626881,-0.7475164,3.349187 -98.2,224.2,3641,-0.2420935,-0.6590772,3.312677 -361,109,3644,-1.051896,-0.1171865,3.574565 -191.08,249.832,3650,-0.7384025,-0.5869812,3.18397 -401.8,308.2,3653,-1.462034,0.08785518,3.003953 -497.8,395.56,3654,-0.2112999,-0.6777252,3.255663 -155.08,206.92,3655,-0.6117075,-0.797066,3.388987 -156.52,244.648,3656,0.8163703,-0.1619546,3.869164 -514.6,309.4,3658,-1.348282,0.1769925,3.035915 -472.744,394.984,3659,0.4896865,-0.5710345,3.041346 -139.24,153.064,3660,0.3294055,-0.6825852,3.434846 -327.592,187.624,3662,-1.32882,-0.6997617,3.021524 -289.576,391.528,3666,-0.9088973,-0.2185794,3.648954 -244.6,427,3667,-1.362525,-0.7564887,3.006361 -232.552,412.264,3669,-1.375114,0.09100697,3.066182 -466.12,398.44,3670,-0.6395091,0.2836443,1.87207 -487.72,159.4,3671,-1.321733,-0.370346,2.975144 -436.6,303.4,3672,-1.063195,-0.8729184,2.717892 -369.064,109.864,3673,-0.1126263,-0.7546248,3.431718 -392.2,275.8,3675,-0.7742717,-0.5066941,3.464293 -465.4,287.8,3677,-1.02539,-0.2651852,3.456458 -304.84,433,3682,-0.5944285,-0.6718404,3.328223 -350.056,166.888,3687,-1.060554,-0.8689768,2.710454 -313.768,417.448,3694,-1.158768,-0.8441185,2.900864 -464.2,85,3700,0.2065756,-0.4851967,2.947755 -464.2,131.8,3703,0.07216634,-0.7126905,3.349472 -453.7361,178.984,3708,-0.6078667,-0.6629788,3.251277 -257.8,305.8,3710,-1.38996,-0.4674719,3.108831 -374.248,142.696,3726,-1.276028,-0.729086,2.732704 -212.68,325,3739,0.3739602,-0.4764706,3.175217 -408.52,221.32,2436,-1.294344,-0.7214962,2.924377 -405.64,182.44,2666,-1.216297,-0.7370915,2.819679 -410,222,2897,-1.301413,-0.7141609,2.919057 -440.2,168.04,3107,-1.309345,-0.7504339,3.010139 -468,222,3127,-1.250309,-0.4683706,2.76602 -463.8276,292.1335,3221,-1.335984,-0.6901656,2.778984 -192.52,291.88,3241,-1.352008,-0.61545,2.950261 -409,221.8,3276,-1.323621,-0.6555914,3.035827 -395.8,254.2,3299,-0.7258881,0.6173466,2.230424 -156.52,219.88,3321,-0.9205023,0.168457,1.851101 -78.13794,167.7175,3333,-0.9882478,-0.7572184,2.79536 -156,220,3358,-1.208945,-0.8171601,2.934059 -406.6,182.2,3361,-1.235359,-0.4971555,2.702479 -189.4,337,3368,-0.8741141,-0.5409266,3.415141 -270.28,430.12,3381,-1.077147,-0.2339867,3.577615 -255,426,3397,-0.79392,-0.6881234,3.42215 -195.4,293.32,3398,-1.308856,-0.3523499,2.964154 -369.64,110.44,3412,-1.214215,0.1278673,2.833398 -231.4,248.68,3419,-1.344084,0.1114918,2.783428 -135.3693,233.9068,3438,-0.857749,-0.6823731,3.461886 -214.9956,331.9466,3455,-0.7486544,-0.5033591,3.437609 -101.8,228.52,3474,-0.3830786,-0.7637046,3.495386 -195.4,269.8,3479,-0.5656365,-0.5421094,3.715707 -338.2,77.8,3492,-0.9514785,0.2287492,2.099473 -183.88,251.56,3498,0.7928731,-1.01236,3.887651 -131.8,205,3506,-1.045806,-0.7112969,2.802587 -244.36,427.24,3519,0.7703556,-1.137514,3.681603 -352.36,231.4,3535,-0.5538145,-0.6710948,3.321772 -270.28,291.88,3537,0.8080433,-0.9684941,3.681159 -97.48,195.4,3547,-0.7687532,0.6366351,2.071451 -127.4896,183.4768,3556,-1.093434,-0.9316376,2.738068 -365.9536,102.6064,3557,-0.4329271,0.4968873,1.71818 -241.192,299.944,3563,-0.8813453,-0.5269552,3.264013 -267.2503,292.1335,3564,-1.255509,-0.3027315,2.830409 -137.1609,233.9068,3572,-1.314548,-0.8042781,3.014185 -379.2247,227.4372,3573,-0.7201355,-0.5495973,3.833425 -371.7598,110.4861,3576,-0.9086085,-0.6177838,3.3354 -245.8508,299.5985,3577,0.06558861,-0.8126912,3.612893 -201.6582,284.0714,3582,-0.9283224,-0.653696,3.379509 -233.9068,305.5705,3583,-1.277589,-0.38369,2.938792 -215.9909,332.4443,3586,5.259689,-0.2866534,2.548806 -188.2,253,3598,5.110129,-0.8158206,3.49825 -97,44.2,3601,0.63199,-0.4371617,2.954332 -286,195,3603,-0.5356012,-0.6633606,3.289924 -190,239,3604,-0.6911334,-0.678003,3.351207 -197,266,3605,-1.329453,-0.6719285,2.93433 -417,236,3606,-1.329358,-0.5996109,2.966296 -418,262,3607,-0.6352907,-0.3189374,3.8712 -445,424.6,3609,0.8388645,-0.5609475,3.175955 -181,169,3611,-0.9074455,-0.8502749,3.075621 -262.6,189.4,3612,-1.320074,-0.8405471,2.994047 -381.4,212.2,3613,-0.9430946,-0.6257681,3.34992 -246,305,3614,1.188663,-0.4901847,3.150627 -86,151,3615,-0.1657888,-0.6640767,3.244051 -154,204,3616,-1.079385,0.01672066,2.252271 -396,238,3618,-1.096768,-0.9297171,2.763404 -361,109,3619,-0.9656398,-0.8918778,3.093054 -98.2,219.4,3621,-1.137901,-0.9585447,2.771906 -185.8,68.2,3623,-0.1293986,-0.6063269,3.024845 -193.96,173.8,3624,-1.173148,-0.8352102,2.83612 -169.48,201.16,3626,-1.26505,-0.8490877,2.968903 -235,314.2,3629,-1.305491,-0.480716,3.16392 -384.04,332.2,3630,-1.365094,0.1133497,3.061161 -473.8,394.6,3632,1.098626,-0.582298,3.247872 -123,209,3634,0.4548642,-0.6230882,3.643736 -44.2,232.6,3635,-0.5518911,-0.6806056,3.340372 -179.56,250.12,3636,-0.6570775,-0.6760769,3.264894 -209.8,244.6,3637,-1.33143,-0.6566722,2.982127 -409,255,3638,-1.14084,-0.1707122,3.573153 -306,449,3639,-1.082507,-0.7903242,2.741171 -381,140,3640,-0.001210338,-0.6952245,3.445544 -149.8,223,3642,-1.146359,0.4382566,2.6833 -492,333,3643,-1.100237,-0.932657,2.765625 -296.2,442.6,3645,-1.480327,0.1195196,2.966615 -512,395,3646,-1.0041,-0.08252557,3.56028 -295,434.2,3647,0.1625603,-0.4538569,2.949083 -195.4,171.4,3648,-1.114695,-0.8517647,2.981852 -327.4,188.2,3649,-0.6169051,-0.6862131,3.316864 -251.8,250.6,3651,-0.9219756,-0.6174817,3.395382 -234.28,313.48,3652,-1.331187,-0.5224353,3.08698 -57.16,294.76,3657,-1.109366,0.5640452,2.473581 -75.88,201.16,3661,-1.151276,-0.8782905,3.008357 -395.56,254.44,3663,-0.8769226,0.7615237,2.314571 -497.8,287.56,3664,-1.317702,-0.5148388,3.166377 -382.6,327.88,3665,-0.9250047,-0.1575299,3.452622 -400.6,241,3668,-0.8148881,-0.208692,3.645489 -100.5328,218.728,3674,-1.333454,-0.6517489,3.064303 -215.272,329.32,3676,-1.181275,-0.04216836,2.745134 -293.3777,392.9105,3678,1.036389,-0.5106875,3.074951 -102.952,144.424,3679,-0.7928408,0.5670468,2.118083 -498.6641,233.2432,3680,-1.31632,-0.4372483,3.032723 -417.448,306.856,3681,-1.096628,-0.1682517,3.537211 -189.352,253.288,3683,-1.314542,-0.8686155,3.08603 -351.784,230.824,3684,-1.320438,-0.4741393,3.175214 -386.344,337.96,3685,1.166937,-0.4944367,3.090874 -94.31201,144.424,3686,-1.142679,-0.8567537,2.909163 -372.1744,110.9008,3688,-1.144319,-0.839624,2.915473 -351.4384,173.1088,3689,-1.192409,-0.8601357,2.956506 -351.4384,183.4768,3690,-1.273799,-0.7886884,2.855139 -405.3521,181.4032,3691,-1.088617,0.5943078,2.460198 -513.1793,307.8929,3692,-1.334705,0.2301736,2.922745 -490.3697,374.248,3693,-1.11784,-0.2132438,3.480124 -357.6592,168.9616,3695,-1.319384,-0.867725,3.085142 -353.5121,231.1696,3696,-0.9461984,-0.6363319,3.248926 -266.4208,278.8624,3697,-1.325062,-0.4012895,3.158399 -399.1313,347.2913,3698,-0.9241562,-0.1731192,3.533504 -274.7152,407.4257,3699,-1.226888,-0.8101475,2.495161 -187.624,164.8144,3701,-0.8762973,-0.5935012,3.464112 -216.6544,328.6288,3702,-1.165028,-0.6174455,2.486609 -105.5095,198.075,3704,-1.14988,-0.852006,2.923288 -349.3649,172.6941,3705,-1.131465,-0.8769771,3.026282 -317.5144,192.103,3706,-1.195466,-0.8151962,2.898894 -371.2621,177.1731,3707,-1.327931,-0.7025181,2.741594 -207.5306,239.8788,3709,-0.6991115,-0.3510229,3.297662 -419.0379,329.4583,3711,-1.25526,-0.8658826,2.958678 -366.7831,187.624,3712,-1.206923,-0.7278768,2.822646 -401.1219,183.1451,3713,-1.087216,-0.8836282,2.933736 -326.97,165.2292,3714,-1.093044,-0.8869565,3.016622 -309.1536,183.7423,3715,-0.4436842,-0.7667275,3.227501 -172.9927,198.075,3716,-0.4746549,-0.596577,3.140347 -219.5741,215.9909,3717,-1.128983,-0.9106336,2.96282 -326.4724,165.2292,3718,-0.4714816,-0.6413121,3.082098 -223.1573,198.075,3719,-1.008499,-0.8633924,3.123469 -269.7386,208.8246,3720,-1.308145,-0.8942042,3.091984 -344.3882,224.9489,3721,-1.253838,-0.433935,2.747798 -454.8697,233.9068,3722,-1.32234,-0.5329843,3.117224 -391.6663,312.0401,3723,-1.378717,-0.5439035,3.078541 -414.0612,307.0634,3724,-1.151029,-0.8537179,2.932311 -347.3742,171.2011,3725,-1.150884,-0.8616276,2.806479 -438.1482,165.8264,3727,-1.106773,-0.4337184,2.571922 -448.8977,180.1591,3728,-1.300149,-0.2538739,2.887467 -456.0641,294.8209,3729,-1.174672,0.08537244,2.883136 -451.8837,332.4443,3730,-1.297008,-0.6592354,2.787419 -439.9398,198.075,3731,-1.291728,-0.4789583,3.003133 -413.0659,290.6405,3732,0.2573542,-0.4806685,2.971768 -180.1591,169.4095,3733,-1.337757,-0.4980993,3.066692 -413.0659,305.5705,3734,-1.160677,-0.003045585,2.744435 -463.8276,293.6265,3735,-1.249435,-0.2787455,2.949806 -430.9818,305.5704,3736,5.175057,0.0336116,2.549237 -39,81,3737,4.958612,-0.1644912,2.37449 -44.2,59.8,3738,-0.789564,-0.5328732,3.465098 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0025.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0025.csv deleted file mode 100644 index 52e41cd89aa103688aa53a8baf0f27be235dbf38..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0025.csv +++ /dev/null @@ -1,220 +0,0 @@ -381.16,182.44,2953,-1.222839,-0.7421156,2.821005 -441,243,2993,-0.7766078,0.644277,2.18702 -226.6,199,3061,-0.7904817,-0.7541097,3.013346 -386.2,244.6,3161,-1.118387,0.3049538,2.766103 -488,247,3253,-1.345981,0.1091383,2.793452 -391,295,3371,-0.8198103,-0.5455741,3.790404 -191.08,274.024,3419,-1.344084,0.1114918,2.783428 -400.168,312.04,3430,-0.9356178,-0.714569,3.527141 -101.8,220.6,3472,-0.1515595,-0.6487953,3.248339 -300.52,78.76,3485,-0.6804739,-0.0522562,2.070843 -298.6,435.4,3495,-1.096951,0.5777743,2.461787 -297.64,434.44,3511,0.2677569,-0.6558511,3.348815 -455,271,3517,-1.096713,0.5785767,2.464203 -428.68,172.36,3560,-1.131301,-0.8080221,2.889944 -136.36,265.96,3604,-0.6911334,-0.678003,3.351207 -427,427,3609,0.8388645,-0.5609475,3.175955 -129.16,185.32,3624,-1.173148,-0.8352102,2.83612 -101.8,219.88,3626,-1.26505,-0.8490877,2.968903 -222.184,236.008,3628,-0.8895984,-0.5839551,3.390958 -123.688,182.44,3648,-1.114695,-0.8517647,2.981852 -299.944,187.624,3649,-0.6169051,-0.6862131,3.316864 -54.28,166.6,3660,0.3294055,-0.6825852,3.434846 -417.448,306.856,3672,-1.063195,-0.8729184,2.717892 -272.296,419.176,3678,1.036389,-0.5106875,3.074951 -401.32,312.04,3681,-1.096628,-0.1682517,3.537211 -386.2,355,3698,-0.9241562,-0.1731192,3.533504 -323.8,178.6,3725,-1.150884,-0.8616276,2.806479 -430.6,284.2,3735,-1.249435,-0.2787455,2.949806 -209.8,261.4,3747,-0.4817697,-0.8215104,3.493878 -49,283,3748,-1.298812,-0.6471864,3.011041 -383.8,181,3751,-0.2890967,-0.5679595,3.014473 -255.4,207.4,3753,-1.121017,-0.8419259,3.068204 -303.4,441.4,3760,-1.121889,-0.3049456,3.49088 -430.6,431.8,3763,-0.8921854,-0.7029141,2.744542 -133,370.6,3766,-1.450568,0.07881641,3.009693 -150.76,322.12,3775,-1.330502,-0.4902836,3.18453 -79,400.6,3777,-1.32771,-0.439796,3.219458 -460.36,365.32,3779,-0.7805151,-0.6696389,3.247435 -211,325,3782,-0.9343159,-0.6255282,3.350038 -80.2,404.2,3784,-1.215319,-0.7921593,2.940532 -348.328,201.448,3785,-0.9483507,-0.7958726,3.552766 -132.04,369.64,3786,-0.6110438,-0.5882328,3.709826 -299.08,196.84,3790,-1.30517,-0.8209256,2.972106 -229.96,433,3792,-1.362982,0.04993485,3.166244 -430.6,417.4,3793,0.2812265,-0.8074039,2.634852 -102.952,66.66401,3794,-1.331907,-0.4943526,3.182641 -64.936,260.2,3797,-0.9756657,0.7692552,2.071714 -211.816,331.048,3799,-1.284634,-0.4537695,3.067894 -327.592,106.408,3802,-0.9780411,-0.7423395,3.531253 -322.408,177.256,3804,-1.31229,-0.4134357,2.938294 -80.48801,405.3521,3807,-1.334248,0.1451509,3.181866 -427.24,425.8,3808,-0.8183977,-0.6794158,2.835632 -346.6,197.992,3810,-0.5563462,-0.6789971,3.33906 -471.0161,299.944,3813,-1.315391,-0.4570851,3.077342 -371.08,340.84,3815,-0.9771165,-0.7390912,3.533201 -373,363.4,3817,-1.382269,0.1236214,2.952286 -479.08,391.24,3819,-0.8750899,0.1770053,1.555514 -493.48,97.76801,3820,-1.312765,-0.8750634,3.080442 -415.72,289.576,3827,-1.464759,0.02369948,3.010917 -477.4,386.2,3828,-1.467764,0.1071327,2.976254 -486.28,385.48,3829,-1.092569,-0.7814886,2.868792 -492.04,378.28,3833,-1.199756,0.1540572,2.828792 -438.1841,329.32,3834,-1.049988,-0.7130372,2.757834 -237.16,297.64,3836,-1.363389,-0.4341699,3.081693 -408.52,330.76,3837,-1.359159,0.1112254,2.94651 -433,360.424,3840,-1.324478,0.1409156,3.136587 -47.08,189.64,3844,-0.7097658,-0.8094889,3.381721 -477.64,241.48,3846,-1.375768,0.06235026,3.067059 -476.2,137.512,3848,-1.2986,-0.8470326,3.01061 -83.94401,270.568,3850,-0.8459541,0.9089493,1.981819 -448.552,277.48,3882,-0.5787976,0.9215559,1.887076 -441.64,222.184,3883,-1.090019,-0.7989247,2.757817 -389.8,222.76,2436,-1.294344,-0.7214962,2.924377 -391,224,2897,-1.301413,-0.7141609,2.919057 -391,224.2,3276,-1.323621,-0.6555914,3.035827 -452,278,3291,-1.070204,0.05144718,2.072773 -89.8,242.2,3358,-1.208945,-0.8171601,2.934059 -382.6,181,3361,-1.235359,-0.4971555,2.702479 -158.2,376.6,3368,-0.8741141,-0.5409266,3.415141 -169.48,273.16,3385,-0.9779899,-0.6504619,3.311635 -152.2,297.4,3479,-0.5656365,-0.5421094,3.715707 -53.8,229,3506,-1.045806,-0.7112969,2.802587 -131.6368,276.7888,3526,-0.4916608,-0.6046236,3.36522 -211.24,323.56,3530,0.812981,-1.129039,3.687815 -210.088,325.864,3563,-0.8813453,-0.5269552,3.264013 -237.3905,312.0401,3564,-1.255509,-0.3027315,2.830409 -335.4303,105.5095,3576,-0.9086085,-0.6177838,3.3354 -71.56001,168.04,3602,-1.065105,-0.8946236,3.081734 -256,207,3603,-0.5356012,-0.6633606,3.289924 -151,292.6,3605,-1.329453,-0.6719285,2.93433 -364.6,217,3613,-0.9430946,-0.6257681,3.34992 -216,329,3614,1.188663,-0.4901847,3.150627 -86,224,3616,-1.079385,0.01672066,2.252271 -202.6,343,3629,-1.305491,-0.480716,3.16392 -448.6,395.8,3631,-1.390095,0.09376098,3.052171 -455.8,394.6,3632,1.098626,-0.582298,3.247872 -47.8,233.8,3634,0.4548642,-0.6230882,3.643736 -161.8,266.2,3637,-1.33143,-0.6566722,2.982127 -345,136,3640,-0.001210338,-0.6952245,3.445544 -86,244,3642,-1.146359,0.4382566,2.6833 -490.6,387.4,3646,-1.0041,-0.08252557,3.56028 -142.0048,274.7152,3650,-0.7384025,-0.5869812,3.18397 -202.6,343.72,3652,-1.331187,-0.5224353,3.08698 -481,391,3654,-0.2112999,-0.6777252,3.255663 -471.4,298.6,3658,-1.348282,0.1769925,3.035915 -299.944,196.264,3662,-1.32882,-0.6997617,3.021524 -380.2,260.2,3663,-0.8769226,0.7615237,2.314571 -449.8,278.2,3664,-1.317702,-0.5148388,3.166377 -266.4208,411.5728,3666,-0.9088973,-0.2185794,3.648954 -448.84,395.56,3670,-0.6395091,0.2836443,1.87207 -334.504,108.136,3673,-0.1126263,-0.7546248,3.431718 -137.8576,276.7888,3683,-1.314542,-0.8686155,3.08603 -374.248,350.056,3685,1.166937,-0.4944367,3.090874 -334.8496,106.7536,3688,-1.144319,-0.839624,2.915473 -469.6337,297.5248,3692,-1.334705,0.2301736,2.922745 -235.3168,299.5984,3697,-1.325062,-0.4012895,3.158399 -292.1335,170.2058,3714,-1.093044,-0.8869565,3.016622 -379.2247,321.9933,3723,-1.378717,-0.5439035,3.078541 -416.5495,195.089,3731,-1.291728,-0.4789583,3.003133 -395.15,314.5284,3734,-1.160677,-0.003045585,2.744435 -62.2,207.4,3740,-1.235737,-0.8701085,3.030477 -325,212,3741,0.06062066,-0.6661476,3.354451 -35,231,3742,-1.168763,-0.8732522,3.082535 -291,222,3743,-0.29164,-0.6683157,3.307474 -92.2,245.8,3744,-0.2104634,-0.6663145,3.395613 -63.4,260.2,3745,-1.312383,-0.7017314,2.981051 -383,245,3746,-0.7897412,-0.6514626,3.183322 -379,264,3749,-0.634692,-0.5930374,3.711977 -80,401,3750,-1.257757,-0.7688808,2.843289 -161,199,3752,-1.010069,-0.8429341,3.057631 -285,220,3754,-0.9947817,-0.6978632,3.325903 -219.4,317.8,3755,-0.9371871,-0.6302893,3.397686 -203,343,3756,-0.84708,-0.7151552,2.927939 -261,187,3757,-0.569398,-0.6222216,3.244101 -159.4,261.4,3758,-0.3364575,-0.7325706,3.49847 -46,286,3759,-1.167008,-0.2768438,3.463053 -283,440,3761,-1.145226,-0.2750442,3.467277 -297.4,439,3762,-1.367509,0.1022104,3.196255 -306,147,3764,-0.1537614,-0.6379881,3.25101 -88,228,3765,-0.9666001,-0.808865,3.55254 -476,390,3767,0.9349293,-0.6736401,2.741117 -39.4,92.2,3768,-0.2051355,-0.4346259,3.004515 -169.48,212.68,3769,-0.1454554,-0.6355559,3.249901 -87.4,227.8,3770,-1.409559,0.02416183,3.05102 -457,389.8,3771,-0.3832365,-0.7627993,3.500399 -45.64,286.12,3772,-1.303628,-0.658284,3.018823 -377.8,265,3773,-0.8763352,-0.7492171,3.420165 -159.4,322.12,3774,-0.7720182,-0.678749,3.426683 -374,352,3776,-0.6214479,-0.5854071,3.714311 -372.52,369.64,3778,-1.254376,0.4217227,2.853679 -191.8,274.6,3780,-1.338347,-0.6489689,2.989736 -395.8,261.4,3781,-0.9468231,-0.6655152,3.35153 -214,327,3783,-0.6390005,-0.5886645,3.719867 -77.8,397,3787,-0.6169782,-0.6854747,3.336945 -137.8,278.92,3788,-1.323903,-0.4731683,3.203046 -373,356.2,3789,-1.123383,-0.8524551,2.997925 -368.2,212.68,3791,-0.9733607,-0.3420022,3.557506 -374.2,351.4,3795,-1.347839,0.1314581,3.17988 -430.12,425.8,3796,-0.2099397,-0.6616431,3.391958 -485.8,248.2,3798,-0.9237202,-0.6136717,3.356032 -383.8,319,3800,-1.339922,-0.4621002,3.209617 -375.4,365.8,3801,-1.054614,-0.8833356,2.726542 -157.96,375.4,3803,-1.124412,-0.8173871,2.90717 -417.16,289,3805,-1.295097,-0.4674584,2.985726 -398.44,294.76,3806,-0.614571,-0.5630811,3.728861 -275.752,172.072,3809,-1.244985,-0.8356328,2.955683 -127.4896,274.7152,3811,-0.8781935,-0.769842,3.432346 -152.3728,322.4081,3812,-1.141071,0.4773386,2.518346 -391.528,322.408,3814,-1.324555,-0.5253391,3.168477 -158.248,375.976,3816,-1.346722,-0.5031302,3.208915 -467.5601,374.248,3818,-1.469858,0.04846715,3.017276 -339.688,236.008,3821,-0.7352565,-0.6595541,3.231623 -187.624,266.4208,3822,-0.9549392,-0.8060677,3.550711 -131.6368,368.0273,3823,-1.108527,-0.8050253,2.897346 -322.4081,177.256,3824,-0.1522245,-0.6161403,3.192026 -102.6064,218.728,3825,-1.309722,-0.8814005,3.086535 -336.232,236.008,3826,-1.298981,-0.3915163,2.934015 -326.5552,173.1088,3830,-1.141443,-0.8816283,3.036711 -291.304,203.176,3831,-0.4418632,-0.5722212,3.150069 -162.7408,237.3904,3832,-1.481039,0.08161908,2.947964 -343.144,158.248,3835,-0.9770882,-0.6636537,3.254408 -461.3393,365.9536,3838,-0.9175253,0.120415,1.60222 -496.5905,96.38561,3839,-1.247458,0.1325804,2.958967 -430.2353,413.6465,3841,-0.9094769,0.865901,1.950436 -486.2225,237.3904,3842,-0.8850586,0.9450741,1.962814 -482.0753,245.6848,3843,0.6067806,-0.4637902,3.127228 -119.1952,278.8624,3845,-0.9169528,0.7724016,2.048762 -448.8977,390.8369,3847,-0.833419,0.3046282,1.714013 -354.3415,217.4839,3849,-0.1795786,-0.5534309,3.379239 -473.7809,242.3671,3851,-1.010752,-0.8603389,3.548925 -130.3927,369.2715,3852,-0.9503046,-0.6836194,3.47631 -177.6708,361.8065,3853,-0.1376787,-0.5268692,3.034179 -141.3413,201.061,3854,-0.8913339,0.9118636,1.980417 -481.2459,244.8554,3855,-1.160091,-0.8210179,2.899252 -335.4303,177.1731,3856,-1.14963,-0.9201823,3.099466 -272.7246,213.0049,3857,-0.2883964,-0.4752811,3.112028 -159.2572,233.9068,3858,-0.9461454,-0.6498556,3.251449 -233.9068,296.6125,3859,-0.6530622,-0.6259121,3.333679 -156.2712,293.6265,3860,-1.120651,-0.5535225,2.449984 -425.0098,120.4394,3861,-0.9206201,-0.785823,2.919382 -269.7386,175.1824,3862,-0.8722442,-0.8193284,2.994195 -237.49,183.7423,3863,-0.9521884,-0.8224453,3.10442 -233.9068,219.5741,3864,-1.309102,-0.8941764,3.070084 -337.8191,226.7405,3865,-0.8491758,-0.7531002,3.394563 -158.66,309.1536,3866,-1.141903,0.4545431,2.540006 -468.8043,299.5985,3867,-0.0800932,-0.5145552,3.066529 -129.9946,205.2414,3868,-0.4119121,-0.5651843,3.133748 -162.2432,230.3236,3869,-1.078537,-0.8876957,3.55208 -138.3553,380.2201,3870,-0.9525913,-0.7433845,3.201865 -227.9348,263.7667,3871,-1.005111,-0.7626806,3.533631 -159.2572,377.2341,3872,-1.122252,-0.8474017,3.037396 -291.2377,208.8246,3873,-1.096622,0.03224787,2.089533 -488.3127,162.2432,3874,-1.218584,-0.7017228,2.848762 -377.2341,198.075,3875,-0.9029683,-0.6692708,3.412557 -183.7423,337.8191,3876,-0.8762563,-0.6812393,3.483263 -158.66,355.735,3877,-0.9378231,-0.7564598,3.518103 -147.9105,362.9014,3878,-1.14721,-0.8196731,2.884084 -334.2359,176.5759,3879,-0.9924424,-0.7228879,3.484422 -176.5759,366.4846,3880,-1.273231,-0.3068734,2.868956 -420.2323,276.905,3881,-0.9358267,0.6026992,2.383034 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0026.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0026.csv deleted file mode 100644 index 1d95b0415b5d32e6b2a9691228a34ac535b1b76d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0026.csv +++ /dev/null @@ -1,100 +0,0 @@ -376.6,261.4,2905,-0.8675535,0.8809826,1.992088 -352.6,190.6,2989,-1.131796,-0.4420028,2.51811 -342.28,326.44,3243,-1.316836,-0.4950843,3.16078 -394.6,181,3266,-0.1383423,-0.6088158,3.188479 -355,351.4,3430,-0.9356178,-0.714569,3.527141 -335.08,412.84,3789,-1.123383,-0.8524551,2.997925 -261.64,130.6,3802,-0.9780411,-0.7423395,3.531253 -352.36,329.32,3806,-0.614571,-0.5630811,3.728861 -407.08,401.896,3818,-1.469858,0.04846715,3.017276 -239.8,179.8,3885,-1.248436,-0.6817914,2.710173 -268.6,208.6,3887,-0.9422134,-0.8706117,3.085699 -149.608,249.832,3888,-1.049781,-0.8612517,3.070706 -196.6,255.4,3889,-0.2579073,-0.4583262,3.012425 -51.4,265,3890,-0.3788286,-0.5201291,3.145228 -343,283,3892,-0.5006292,-0.6098011,3.247835 -121.96,320.68,3894,-0.5669531,-0.6110639,3.245921 -51.4,329.8,3895,-0.5866964,-0.6412906,3.276184 -57.16,412.84,3897,-0.9782413,-0.9299239,2.699118 -189.64,214.12,3899,-1.24341,-0.8295985,2.94978 -304.6,232.6,3900,-1.242733,-0.8833457,3.038119 -113.32,304.84,3906,-1.38639,0.1503657,3.047304 -91,338.2,3911,-0.6853852,-0.6346632,3.257553 -218.44,93.16,3913,-1.293587,-0.6517222,2.701236 -372.5201,197.992,3914,-1.148713,-0.8574241,3.031905 -280.936,251.56,3916,-0.6876879,-0.6408011,3.256484 -268.84,208.36,3919,-1.055848,-0.8282034,2.966317 -225.64,225.64,3920,-0.7958427,-0.6878552,3.413284 -263.8,203.8,3930,-1.052201,-0.8594968,2.707352 -417.16,418.6,3932,-0.9096901,-0.819779,3.048694 -156.52,246.376,3933,-0.9800921,-0.9644454,2.706299 -224.2,94.60001,3934,-0.9241678,0.07070406,1.600695 -48.52,368.2,3936,-1.257416,-0.8348686,2.953868 -309.4,233.8,3937,-1.143217,-0.8767723,3.040842 -238.6,247.24,3938,-0.961399,0.0120452,1.681122 -386.92,109,3939,-1.068963,-0.8650983,2.933468 -340.6,375.4,3944,-1.120096,-0.8055996,2.882603 -353.8,350.92,3947,-1.314551,-0.4430796,3.066123 -349.48,362.44,3948,-1.082167,-0.892529,2.704209 -347.8,257.8,2436,-1.294344,-0.7214962,2.924377 -345.4,279.4,3161,-1.118387,0.3049538,2.766103 -51.4,376.6,3479,-0.5656365,-0.5421094,3.715707 -48.52,371.08,3605,-1.329453,-0.6719285,2.93433 -332,254,3613,-0.9430946,-0.6257681,3.34992 -249.832,235.3168,3662,-1.32882,-0.6997617,3.021524 -236.8928,201.061,3714,-1.093044,-0.8869565,3.016622 -267.4,213.4,3725,-1.150884,-0.8616276,2.806479 -137.8,401.8,3782,-0.9343159,-0.6255282,3.350038 -339.4,359.56,3800,-1.339922,-0.4621002,3.209617 -266.4208,212.5072,3804,-1.31229,-0.4134357,2.938294 -305.8192,233.2432,3810,-0.5563462,-0.6789971,3.33906 -341,414,3817,-1.382269,0.1236214,2.952286 -162.2432,362.9014,3859,-0.6530622,-0.6259121,3.333679 -366.4846,316.32,3881,-0.9358267,0.6026992,2.383034 -278,166,3884,-1.015979,-0.8074169,2.821776 -353,191,3886,-1.126719,-0.8114168,2.89297 -43,298.6,3891,-1.336781,-0.7560033,3.009604 -33,325,3893,-0.7629023,-0.6203663,3.174378 -43,337,3896,-0.8003683,-0.6973206,3.43152 -230,104,3898,-0.9161596,-0.7837299,2.92725 -282,253,3901,-0.6539758,-0.6190988,3.258502 -71.8,340.6,3902,-0.9621438,-0.9606224,2.699658 -219.4,93.4,3903,-1.084545,-0.7805008,2.771384 -276,175,3904,-1.319423,-0.6849119,2.976651 -346,285,3905,-0.7185202,-0.6278123,3.14277 -400,430,3907,-1.130619,-0.857623,2.992748 -245.8,232.6,3908,-1.306104,-0.866731,3.095806 -303,289,3909,-0.9681177,-0.9418547,2.696606 -225,99,3910,-0.6489134,-0.5574012,3.224012 -77.8,340.6,3912,-0.950027,-0.9510178,2.688948 -245.8,249.4,3915,-1.228542,-0.8631244,3.024557 -77.32,339.4,3917,-1.043338,-0.8052944,2.854973 -244.36,192.52,3918,-1.129217,-0.8151177,2.894446 -62.92,405.64,3921,-0.9805894,-0.7589263,2.784719 -240.04,179.56,3922,-1.244361,-0.8300154,2.950517 -304.84,232.84,3923,-0.2800294,-0.4789073,3.018821 -51.4,264.52,3924,-0.6789997,-0.6030611,3.216207 -91.72,330.76,3925,-0.8529816,-0.7208863,3.426818 -70.12,414.28,3926,-0.9568383,0.126819,1.878177 -377,157,3927,-1.340224,-0.7057666,3.054441 -342,313,3928,-1.132671,-0.8919719,3.070318 -225.4,254.2,3929,-1.126625,-0.8383161,2.90029 -265,131.8,3931,-1.431485,0.1552794,2.992467 -385.48,106.12,3935,-0.6781733,-0.66259,3.345624 -231.1696,204.2128,3940,-1.258049,-0.8641033,2.971592 -303.4,232.552,3941,-0.7809059,-0.7292685,3.298656 -75.64961,349.3648,3942,-1.328081,0.02079319,3.060086 -377.704,417.448,3943,-1.330037,-0.5318742,3.132114 -268.4944,206.2864,3945,-1.055337,-0.8917023,2.706675 -262.2737,121.2688,3946,-1.312083,-0.4308266,3.029189 -272.6416,121.2688,3949,-0.9582027,-0.6706616,3.334008 -142.8343,394.1547,3950,-1.162837,-0.8483327,2.941386 -269.7386,218.9769,3951,-1.162072,-0.9042687,3.051878 -239.8788,245.8508,3952,-1.290997,-0.8166106,2.993941 -319.505,257.297,3953,-1.108952,-0.04598592,2.313494 -376.7364,212.5072,3954,-1.071395,-0.8819191,2.720443 -267.2503,130.3927,3955,-1.153316,-0.8475748,2.903488 -272.7246,204.047,3956,-1.348658,-0.4055338,2.916019 -380.8173,319.9032,3957,-1.129967,-0.8522435,3.038491 -237.49,251.8227,3958,-1.239856,-0.8351005,2.994557 -294.8209,248.2395,3959,-1.738303,1.969546,-0.1906991 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0027.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0027.csv deleted file mode 100644 index f5f962e5590805592e20269de918c23b313ab91a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0027.csv +++ /dev/null @@ -1,153 +0,0 @@ -339.4,283,2964,-1.231623,-0.3184835,2.806975 -279.4,249.4,3035,-0.7239665,0.6152086,2.199342 -332.2,170.92,3210,-1.329563,-0.7750261,2.859326 -379.432,419.176,3670,-0.6395091,0.2836443,1.87207 -361,442.6,3841,-0.9094769,0.865901,1.950436 -477.4,106.6,3960,-0.9516669,-0.7102132,2.755687 -201.16,168.04,3961,-1.109001,-0.8511725,3.054303 -206.92,255.88,3962,-1.334272,-0.6939843,3.042251 -176.68,260.2,3968,-1.186542,-0.8354298,2.975652 -261.4,229,3969,-1.04582,-0.8555517,3.06743 -170.92,257.32,3970,-0.9542425,-0.6376365,3.322624 -211.24,253,3975,-0.9985739,-0.8666148,2.688035 -301,223,3979,-1.018722,-0.8002386,2.914561 -193.96,202.6,3980,-1.211687,-0.7441895,2.839791 -404.2,407.8,3982,-0.6492463,-0.5487255,3.205039 -124.6,427,3984,-0.658633,-0.5432814,3.227522 -222.184,97.76801,3986,-1.049182,-0.8779786,2.726138 -249.4,155.8,3988,-1.185871,-0.8331537,2.973396 -261.64,228.52,3989,-0.7393391,-0.7030483,3.038099 -71.56001,263.08,3990,-0.8100222,-0.5827431,3.09913 -113.8,319,3991,-1.323508,-0.6202992,3.047947 -334.6,231.4,3999,-1.14742,-0.8873302,3.046083 -222.76,244.36,4000,-0.9574295,-0.638138,3.25719 -316.36,276.04,4011,-0.9409173,-0.8207967,3.089637 -121.96,270.28,4012,-1.160806,-0.8215178,2.943621 -235.72,90.28001,4015,-1.251985,-0.7526435,2.835082 -317.224,196.264,4016,-1.402835,-0.03539094,3.072665 -381.16,411.4,4017,-1.07429,-0.7249601,2.762788 -248.68,169.48,4018,-0.9593281,-0.64337,3.321152 -125.416,420.9041,4019,-1.332426,0.05810907,3.044738 -183.88,74.44,4021,-1.322716,0.244075,2.897702 -368.2,376.84,4022,-1.073585,-0.86156,2.67365 -388.36,408.52,4025,-0.6017628,-0.5820044,3.028691 -236.008,111.592,4033,-1.128285,-0.8046221,2.906591 -337,406.6,4038,-1.014316,-0.8844483,2.705896 -405.64,397,4040,-1.090378,-0.8492387,2.97804 -337.96,386.92,4050,-1.403619,-0.1692692,3.095756 -339.4,414.28,4052,-1.311051,-0.8635126,3.072047 -348.04,157.96,4062,-1.12197,-0.8577236,2.97854 -352.36,368.2,4085,-1.019211,-0.7714506,2.78748 -115,436.6,3782,-0.9343159,-0.6255282,3.350038 -299.5984,224.9488,3810,-0.5563462,-0.6789971,3.33906 -333,171,3886,-1.126719,-0.8114168,2.89297 -248.68,198.28,3887,-0.9422134,-0.8706117,3.085699 -276.7888,247.7584,3916,-0.6876879,-0.6408011,3.256484 -200.0656,218.728,3920,-0.7958427,-0.6878552,3.413284 -232.84,109,3931,-1.431485,0.1552794,2.992467 -361.8065,407.4257,3943,-1.330037,-0.5318742,3.132114 -255.4059,208.8246,3951,-1.162072,-0.9042687,3.051878 -230.3236,244.6564,3952,-1.290997,-0.8166106,2.993941 -236.8928,105.5095,3955,-1.153316,-0.8475748,2.903488 -340.6,303.4,3963,-1.067074,-0.8524451,2.715907 -237,113,3964,-1.086618,-0.7739975,2.760457 -249,155,3965,-1.023115,-0.7652127,2.838452 -212.2,184.6,3966,-1.250591,-0.743004,2.828223 -317.8,196.6,3967,-1.066854,-0.8703854,3.079368 -124,422,3971,-1.467022,0.01292126,3.025534 -405,403,3972,-0.9352114,-0.9208726,2.654537 -177.4,63.4,3973,-1.178225,-0.8296161,2.96666 -259,226.6,3974,-1.100534,-0.8309816,3.035965 -208.6,97,3976,-1.260462,-0.8284594,2.965693 -302,230,3977,-0.9120501,-0.7242368,2.871642 -166.6,202.6,3978,-1.260043,-0.8448672,2.960492 -298.6,199,3981,-1.4667,0.04515768,3.027222 -41.8,352.6,3983,-0.9422587,-0.6057374,3.325995 -41,367,3985,-1.043929,-0.8911079,2.711558 -224.2,106.12,3987,-1.090606,-0.7802404,2.765788 -338.2,320.2,3992,-1.337215,-0.5666844,3.111841 -341,361,3993,-1.475188,0.01058389,3.019567 -407.8,401.8,3994,-1.401127,-0.01041787,3.065427 -381.4,410.2,3995,-0.9656869,-0.7903804,2.961943 -163.72,222.76,3996,-1.334201,-0.6900322,3.040496 -341,303,3997,-1.064962,-0.8527033,2.714613 -236.2,112.6,3998,-1.319906,-0.824472,2.959802 -137.8,388.6,4001,-1.418404,-0.02054454,3.056762 -387.4,407.8,4002,-0.9549965,-0.6367707,3.321837 -124.84,421.48,4003,-0.9452469,-0.6193692,3.350447 -118.6,437.8,4004,-1.337614,-0.5397031,3.10688 -343,362,4005,-0.9228701,-0.8387022,3.073393 -111.88,258.76,4006,-1.154329,-0.8782436,3.045784 -227.08,247.24,4007,-1.256927,-0.8277245,2.9635 -300.52,228.52,4008,-0.7600079,-0.5095665,3.102626 -107.8,327.4,4009,-1.077209,-0.8659545,2.68055 -244.6,97,4010,-1.31498,-0.8657964,3.071464 -254.44,217,4013,-1.091577,-0.7880017,2.768327 -248.68,153.64,4014,-1.057142,-0.8737791,2.672261 -361,405.64,4020,-0.9601552,-0.9201991,2.68447 -244.36,96.04,4023,-1.41112,0.03757551,3.055127 -385.48,411.4,4024,-1.422043,-0.02974875,3.059962 -49,278.2,4026,-1.482064,0.02795596,3.007946 -410.2,400.6,4027,-1.074848,-0.8848047,2.694317 -239.464,94.31201,4028,-1.065383,-0.8756041,2.732104 -231.1696,110.9008,4029,-1.332509,0.1735621,2.921767 -369.064,377.704,4030,-0.9666772,-0.8029715,2.9808 -158.5936,227.0224,4031,-1.251659,-0.8602314,3.022428 -287.1568,247.7584,4032,-1.065943,-0.8575644,2.715077 -245.6848,204.2128,4034,-1.157389,-0.8655336,3.009847 -237.3904,233.2432,4035,-1.258389,-0.8311141,2.971029 -299.944,230.824,4036,-1.14849,-0.8714044,3.03913 -227.0224,245.6848,4037,-1.332373,-0.4713472,3.18719 -210.4336,96.38561,4039,-1.466541,0.02591743,3.003197 -210.4336,218.728,4041,-0.8048228,-0.654768,3.189836 -79.79681,343.144,4042,-1.419832,0.0004977431,3.053808 -388.072,408.808,4043,-1.096649,-0.764676,2.79809 -249.832,171.0352,4044,-1.180317,-0.8287203,2.949427 -262.2737,216.6544,4045,-0.8290492,-0.8177899,3.09386 -69.42881,264.3472,4046,-0.8472612,-0.6715013,3.200404 -92.23841,347.2913,4047,-1.258061,-0.7678683,2.844094 -318.2608,195.9184,4048,-1.068101,-0.8587811,2.710568 -237.3904,108.8272,4049,-1.339128,-0.5543465,3.16358 -378.3953,409.4993,4051,-1.343512,-0.4875078,3.20092 -314.5284,274.7153,4053,-1.009642,-0.7466388,2.747297 -224.9489,156.2712,4054,-1.111928,-0.7816184,2.890627 -242.8648,204.047,4055,-1.258576,-0.7711265,2.852114 -317.5144,198.075,4056,-1.151556,-0.8082525,2.918373 -254.8087,210.0189,4057,-1.245099,-0.839637,3.006513 -287.6545,245.8508,4058,-1.137212,-0.8666827,3.054957 -218.9769,254.8087,4059,-1.210666,-0.8547174,3.034071 -263.7667,251.8227,4060,-1.044093,-0.8799951,2.723992 -221.9629,105.5095,4061,-1.150108,-0.09342425,2.193523 -224.9489,218.9769,4063,-1.059021,-0.8600563,2.72726 -230.9208,114.4674,4064,-1.161929,-0.8609841,2.919582 -251.8227,195.089,4065,-1.172063,-0.909053,3.057799 -230.9208,245.8508,4066,-0.9188761,-0.7481969,2.891989 -162.2432,204.047,4067,-1.317831,-0.9011275,3.08341 -311.5424,272.7246,4068,-0.9024567,-0.6337116,3.189937 -126.4114,353.3462,4069,-1.091417,-0.7992046,2.768483 -247.3437,150.2992,4070,-1.112976,-0.802553,2.889084 -242.8648,195.089,4071,-0.7952803,-0.6471362,3.176045 -80.62626,336.9233,4072,-1.175958,-0.8263994,2.948103 -260.7807,218.9769,4073,-0.9704402,-0.7240434,2.761271 -207.033,168.2151,4074,-0.9473405,-0.7420915,2.860398 -180.1591,194.4918,4075,-1.075895,-0.848701,3.069422 -187.3255,262.5723,4076,-1.307029,-0.8242264,3.062201 -316.32,280.4882,4077,-1.20122,-0.7894122,2.922551 -280.4882,219.5741,4078,-0.9092699,-0.8118566,3.056866 -115.6618,255.4059,4079,-0.9122084,-0.776374,3.122672 -112.0786,294.8209,4080,-1.131865,-0.8708802,2.986925 -226.7405,219.5741,4081,-1.323034,-0.785459,2.887331 -344.9855,212.4077,4082,-1.23242,-0.8602468,3.018946 -276.905,241.0732,4083,-1.152992,-0.8881099,3.061553 -223.1573,251.8227,4084,-1.35128,-0.4682282,3.0895 -221.9629,165.2292,4086,-1.251915,-0.7556061,2.842167 -316.32,198.075,4087,-0.9078742,-0.6445779,3.192908 -126.4114,352.1518,4088,-1.126205,-0.8302191,2.909697 -241.0732,198.075,4089,-1.251911,-0.847728,3.012711 -287.6545,244.6564,4090,-1.033334,-0.7874289,2.944205 -198.075,219.5741,4091,-1.175449,-0.8330365,2.953601 -258.9891,219.5741,4092,-1.165465,-0.8878186,3.015859 -237.49,230.3236,4093,-1.270814,-0.9316514,3.046422 -287.6545,237.49,4094,-1.147054,-0.06598043,2.199779 -347.3742,168.2151,4095,-1.286348,-0.6260126,2.689346 -350.3602,177.1731,4096,-0.9675838,-0.7898725,2.976612 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0028.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0028.csv deleted file mode 100644 index f11f924127dd05a3c7562778bcd3300af3a6c38f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0028.csv +++ /dev/null @@ -1,86 +0,0 @@ -413.8,263.8,2905,-0.8675535,0.8809826,1.992088 -370.6,265,3035,-0.7239665,0.6152086,2.199342 -474.76,427.24,3692,-1.334705,0.2301736,2.922745 -445.96,238.6,4098,-1.260852,-0.8239675,2.955709 -301.96,49.96,4099,-0.8677893,-0.8306299,2.547393 -163.72,264.52,4100,-0.731235,-0.7072845,3.051286 -356.2,255.4,4101,-1.13749,-0.8399,3.025342 -357.4,251.8,4104,-1.148286,-0.8755186,3.039852 -373,92.2,4106,-1.033921,-0.7739727,2.5932 -309.4,67,4107,-0.9383615,-0.885212,2.663726 -350.2,85,4110,-1.021568,-0.8615196,2.676368 -355.24,254.44,4112,-1.135553,-0.8400073,3.024057 -286.12,223.912,4113,-1.020856,-0.8703257,3.011423 -178.6,262.6,4114,-0.8231723,-0.7956983,3.082091 -326.44,225.64,4119,-1.052486,-0.7873601,2.947391 -445.96,245.8,4121,-1.260519,-0.7984726,2.952122 -307.72,67.24001,4122,-0.9341409,-0.8834829,2.662717 -383.8,203.8,4127,-1.138451,-0.7908296,2.882224 -394.12,201.16,4129,-1.137074,-0.7232391,2.824646 -377.8,191.8,4132,-1.136207,-0.8396754,2.898239 -340.84,265.96,4140,-1.109648,-0.8088133,3.031644 -350.2,266.2,4152,-1.146589,-0.8798579,3.068195 -429.4,251.8,4153,-1.241681,-0.8245857,2.985262 -201.4,297.4,4158,-0.7063979,-0.4883074,3.011034 -510.76,106.408,4162,-1.173463,1.955739,-0.4063481 -326.5552,224.9488,3919,-1.055848,-0.8282034,2.966317 -335.08,261.64,3974,-1.100534,-0.8309816,3.035965 -132.04,356.68,3982,-0.6492463,-0.5487255,3.205039 -362.44,257.32,4006,-1.154329,-0.8782436,3.045784 -204.04,333.64,4008,-0.7600079,-0.5095665,3.102626 -445.096,246.376,4035,-1.258389,-0.8311141,2.971029 -399.1313,227.0224,4044,-1.180317,-0.8287203,2.949427 -344.9855,155.0768,4053,-1.009642,-0.7466388,2.747297 -391.5668,198.075,4064,-1.161929,-0.8609841,2.919582 -472.7856,296.6125,4067,-1.317831,-0.9011275,3.08341 -371.2621,201.061,4070,-1.112976,-0.802553,2.889084 -326.4724,165.2292,4073,-0.9704402,-0.7240434,2.761271 -420.2323,258.9891,4082,-1.23242,-0.8602468,3.018946 -341.4023,162.2432,4085,-1.019211,-0.7714506,2.78748 -373.6509,201.6582,4088,-1.126205,-0.8302191,2.909697 -434.565,262.5723,4089,-1.251911,-0.847728,3.012711 -276,230,4096,-0.9675838,-0.7898725,2.976612 -185,343,4097,-0.8882592,-0.7661689,3.206579 -395,201,4102,-1.120653,-0.6542199,2.772136 -361,259,4103,-1.160014,-0.8856565,3.056458 -444,247,4105,-1.261969,-0.8304486,2.975759 -375,243,4108,-1.172778,-0.8881603,3.027375 -190,350,4109,-0.7739708,-0.5461081,3.153622 -384,204,4111,-1.150179,-0.8296888,2.913395 -358.12,251.56,4115,-1.150425,-0.879528,3.041613 -341,265,4116,-1.12808,-0.8653075,3.061199 -302.2,52.6,4117,-0.8866109,-0.8528597,2.583566 -286.12,224.2,4118,-0.9699004,-0.7672295,2.94666 -178.12,263.08,4120,-0.7575076,-0.7045263,3.040159 -410.2,261.4,4123,-1.212064,-0.7959778,2.991421 -430.12,250.12,4124,-1.243534,-0.8343125,2.98821 -358.696,94.31201,4125,-1.038867,-0.8473404,2.683533 -327.592,178.984,4126,-0.9999098,-0.7410541,2.809896 -363.8801,256.0529,4128,-1.166354,-0.8985428,3.058359 -372.1744,237.3904,4130,-1.162336,-0.8750215,3.010426 -326.5552,185.5504,4131,-0.9817578,-0.6919264,2.788569 -390.8369,231.1696,4133,-1.176646,-0.8354242,2.967489 -344.872,75.30401,4134,-0.9937037,-0.8438662,2.630493 -322.4081,168.9616,4135,-0.9796963,-0.7381533,2.784621 -407.4257,214.5808,4136,-1.173461,-0.7423322,2.86402 -429.544,251.56,4137,-1.241878,-0.8251214,2.985126 -388.7632,224.9488,4138,-1.159331,-0.7925384,2.927347 -424.36,263.656,4139,-1.234285,-0.7937973,2.989273 -345.2177,75.64961,4141,-0.9890898,-0.8329542,2.618705 -301.672,65.28161,4142,-0.9001772,-0.8536572,2.622975 -359.7328,90.16481,4143,-1.048492,-0.871493,2.698943 -174.1871,350.3602,4144,-0.7633438,-0.5838686,3.173696 -406.5963,267.2503,4145,-1.214169,-0.8223556,3.018536 -430.9818,263.7667,4146,-1.2514,-0.8435534,3.017091 -320.5004,159.2572,4147,-0.9790145,-0.7626743,2.781244 -361.8065,257.297,4148,-1.157262,-0.8751743,3.047332 -210.0189,353.3462,4149,-0.8425832,-0.5878335,3.160846 -350.3602,99.5375,4150,-1.000244,-0.7900997,2.638275 -399.1313,227.4372,4151,-1.186095,-0.8291573,2.953609 -279.6919,197.5773,4154,-0.9197726,-0.7397262,2.870771 -305.5705,219.5741,4155,-1.003485,-0.7702482,2.931396 -405.8995,212.4077,4156,-1.185904,-0.8141791,2.911794 -294.8209,266.1555,4157,-1.095558,-0.9468755,3.121873 -377.2341,239.8788,4159,-1.128425,-0.7183698,2.913479 -319.9032,194.4918,4160,-0.9571803,-0.6503537,2.78315 -362.9014,165.8264,4161,-1.030804,-0.6636106,2.699541 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0029.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0029.csv deleted file mode 100644 index 436b9f50033a70da21c59258a71af65d606124cf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0029.csv +++ /dev/null @@ -1,99 +0,0 @@ -458.2,265,3039,-0.5687005,0.6369561,2.105166 -466.12,231.4,3087,-0.4588478,0.8887604,1.745574 -593.8,292.6,4165,-1.199037,-0.796214,2.957587 -528.04,320.68,4172,-1.139568,-0.832288,3.04563 -159.4,359.56,4173,-0.547159,-0.6540971,3.256642 -409.96,291.88,4178,-0.9906445,-0.844828,3.065454 -525.4,95.8,4180,-1.03853,-0.9118475,2.738858 -431.56,258.76,4181,-0.9902195,-0.8238797,2.994291 -153.4,403,4185,-0.6319257,-0.7014513,3.333881 -153.64,409.96,4192,-0.6262783,-0.6829492,3.342623 -536.68,116.2,4193,-1.060458,-0.8916588,2.754844 -243.4,382.6,4194,-0.6990713,-0.6000174,3.223321 -569.512,284.392,4195,-1.168931,-0.8048227,2.960988 -187.624,374.248,4201,-0.6345094,-0.6693859,3.264267 -502.1201,275.752,4202,-1.088565,-0.8229573,2.988141 -552.2321,286.12,4203,-1.152092,-0.8311463,2.987111 -525.16,264.52,4206,-1.105163,-0.7862422,2.937408 -229.96,330.76,4207,-0.5560617,-0.518205,3.124253 -543.592,301.672,4211,-1.152524,-0.8720467,3.036151 -572.2,269.8,4222,-1.166645,-0.8116673,2.94224 -219.88,330.76,4224,-0.6498181,-0.6815607,3.175367 -206.92,327.88,4245,-0.5128409,-0.5342442,3.14302 -588.52,255.88,4249,-1.176779,-0.7360092,2.860406 -568.36,258.76,4250,-1.156258,-0.7920807,2.91321 -521.8,190.6,4256,-1.037049,-0.6792668,2.717446 -565.48,240.04,4127,-1.138451,-0.7908296,2.882224 -427.9958,218.9769,4154,-0.9197726,-0.7397262,2.870771 -470.2,315.4,4163,-1.070284,-0.8218604,3.058842 -525,265,4164,-1.106486,-0.7948458,2.94382 -164,367,4166,-0.5599012,-0.640412,3.26862 -147.4,387.4,4167,-0.5861545,-0.6805875,3.317771 -529,316.6,4168,-1.140018,-0.842145,3.045035 -167,264,4169,-0.3145724,-0.5461565,3.045151 -166,423,4170,-0.6597564,-0.6800869,3.350105 -510,311,4171,-1.115863,-0.8337432,3.041169 -198,449,4174,-0.7297098,-0.6665906,3.35857 -478.6,71.8,4175,-0.9618536,-0.9269776,2.717697 -153.4,410.2,4176,-0.6375614,-0.6985183,3.344163 -183,382,4177,-0.650439,-0.6904874,3.282496 -188,390,4179,-0.6636925,-0.6843569,3.289289 -394,289,4182,-0.963294,-0.8307164,3.061876 -166.6,263.8,4183,-0.3238536,-0.5516756,3.04869 -476.2,316.36,4184,-1.07954,-0.8306406,3.061778 -157,416.2,4186,-0.6452415,-0.6871833,3.348077 -172.36,395.56,4187,-0.6077717,-0.6353176,3.304471 -200,445,4188,-0.7468155,-0.6961789,3.352668 -552.52,286.12,4189,-1.153445,-0.8431894,2.994405 -225.4,395.8,4190,-0.7279885,-0.6771458,3.267803 -152.2,422.92,4191,-0.6173598,-0.6537684,3.360032 -594.28,291.88,4196,-1.199451,-0.8080032,2.963737 -191.08,369.64,4197,-0.6072513,-0.6303489,3.249388 -172.36,414.28,4198,-0.6689345,-0.6916286,3.334481 -561.16,232.84,4199,-1.135878,-0.7922497,2.873075 -587.08,286.12,4200,-1.189562,-0.8116869,2.9606 -224.2,394.12,4204,-0.7176518,-0.6664815,3.265906 -225.64,409.96,4205,-0.7158532,-0.6322462,3.283074 -453.16,300.52,4208,-1.038356,-0.8073724,3.038404 -229.96,392.68,4209,-0.7297174,-0.6730098,3.260583 -546.3569,104.68,4210,-1.040637,-0.7859327,2.60902 -189.6976,370.1009,4212,-0.6229098,-0.6549515,3.254966 -430.2353,218.728,4213,-0.9397403,-0.7684709,2.889376 -571.2401,283.0096,4214,-1.170926,-0.8151391,2.964738 -171.0352,392.9105,4215,-0.6272431,-0.6698697,3.304842 -535.9889,115.048,4216,-1.059546,-0.8943346,2.75563 -223.912,394.984,4217,-0.7320335,-0.6891085,3.269341 -187.624,380.4688,4218,-0.6485474,-0.6790052,3.275362 -179.3296,382.5424,4219,-0.634558,-0.6764641,3.28435 -552.2321,274.024,4220,-1.145148,-0.8095116,2.955609 -500.7377,274.7152,4221,-1.088837,-0.8360382,2.995131 -565.0193,237.3904,4223,-1.141635,-0.7801251,2.870299 -475.7716,272.7246,4225,-1.059843,-0.8439575,3.007708 -311.5424,368.2761,4226,-0.7892781,-0.5669524,3.139706 -186.1311,380.2201,4227,-0.6419724,-0.6730793,3.272289 -299.5985,401.6196,4228,-0.8032436,-0.5733223,3.204941 -511.1057,234.9021,4229,-1.067542,-0.7672763,2.880254 -344.3882,399.1313,4230,-0.8948621,-0.6239569,3.179575 -192.103,386.192,4231,-0.6437596,-0.6514323,3.276749 -442.9258,260.7807,4232,-0.992391,-0.7788155,2.965163 -309.5518,282.1802,4233,-0.8042954,-0.7646822,3.065356 -555.8955,224.9489,4234,-1.122376,-0.7666714,2.841929 -535.989,120.4394,4235,-1.051044,-0.8479139,2.716822 -550.9188,284.6685,4236,-1.153164,-0.8659378,3.007059 -499.0623,223.1573,4237,-1.053092,-0.8072528,2.893645 -532.5053,239.8788,4238,-1.110894,-0.8435504,2.933848 -305.5704,284.6685,4239,-0.8047445,-0.7723252,3.075147 -439.9398,218.9769,4240,-0.9259566,-0.6887393,2.828816 -298.4041,352.1518,4241,-0.7882044,-0.6441619,3.143668 -284.6685,347.3742,4242,-0.7402863,-0.6079941,3.135368 -249.8321,391.6663,4243,-0.8031759,-0.747722,3.257408 -441.7314,258.9891,4244,-1.003162,-0.8220029,2.988815 -327.0695,366.4846,4246,-0.8424601,-0.6298288,3.142638 -314.5284,383.2061,4247,-0.8320006,-0.619169,3.175071 -427.3987,226.7405,4248,-0.9483227,-0.7859777,2.917745 -391.5668,291.2377,4251,-0.9335341,-0.7578447,3.030577 -416.6491,226.7405,4252,-0.9351465,-0.7930406,2.927697 -416.6491,291.2377,4253,-0.9648752,-0.7442096,3.010167 -305.5705,284.0714,4254,-0.7883317,-0.7449877,3.062202 -294.8209,327.0695,4255,-0.8003021,-0.723618,3.130627 -281.6826,338.4163,4257,-0.791011,-0.7255925,3.156225 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0030.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0030.csv deleted file mode 100644 index e0656ed5b8fbb5c29a388b9d0e4559ecb43ac8dd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0030.csv +++ /dev/null @@ -1,150 +0,0 @@ -169.48,132.04,4259,0.1971901,-0.5644987,3.013904 -173.8,313.48,4264,-0.418187,-0.7132611,3.35332 -206.92,142.12,4275,0.2306105,-0.432717,2.931749 -255.88,176.68,4276,-0.2901377,-0.6753655,3.055223 -242.2,317.8,4284,-0.4977661,-0.6716568,3.285431 -286.12,274.6,4294,-0.4205424,-0.5632323,3.15725 -167.8,278.2,4295,-0.329693,-0.6943304,3.315149 -347.8,307,4300,-0.5788981,-0.5684914,3.146967 -171.4,290.2,4301,-0.4247253,-0.7599918,3.32895 -218.44,98.92001,4310,-0.150297,-0.7671798,2.98213 -484.84,407.08,4313,-0.8714793,-0.5982108,3.165894 -352.36,388.36,4318,-0.7456468,-0.7064515,3.269316 -194.536,68.39201,4319,0.2263615,-0.637342,2.844321 -168.616,217,4321,-0.1077351,-0.6106181,3.209406 -199.72,296.488,4322,-0.4429043,-0.7218544,3.306192 -242.92,317.224,4324,-0.5115287,-0.6878321,3.285893 -312.04,275.752,4326,-0.4418419,-0.5224897,3.122532 -286.12,274.024,4327,-0.4196181,-0.5607838,3.157992 -236.008,317.224,4329,-0.5003036,-0.6868687,3.291711 -317.224,274.024,4330,-0.4796349,-0.5632128,3.125543 -332.2,349,4331,-0.6556709,-0.6539631,3.236341 -267.112,343.144,4332,-0.579346,-0.6857719,3.293904 -448.552,379.432,4333,-0.825679,-0.6542292,3.175051 -180.712,94.31201,4334,0.302027,-0.5600054,2.891425 -175.24,276.04,4335,-0.3390371,-0.694723,3.30333 -195.4,139.24,4336,0.08064351,-0.5713779,3.003379 -196.264,293.032,4337,-0.4100964,-0.6989571,3.304042 -185.896,332.776,4338,-0.4731517,-0.7208499,3.362588 -221.8,147.4,4339,-0.1164349,-0.6472282,3.02327 -419.176,303.4,4359,-0.6598475,-0.5194999,3.057593 -481.384,358.696,4370,-0.866496,-0.7268597,3.147419 -263.08,361,4167,-0.5861545,-0.6805875,3.317771 -291.4,219.4,4169,-0.3145724,-0.5461565,3.045151 -268.84,389.8,4176,-0.6375614,-0.6985183,3.344163 -270.28,381.16,4185,-0.6319257,-0.7014513,3.333881 -273.4,398.2,4186,-0.6452415,-0.6871833,3.348077 -319,443,4188,-0.7468155,-0.6961789,3.352668 -352.6,388.6,4190,-0.7279885,-0.6771458,3.267803 -309.9664,353.5121,4201,-0.6345094,-0.6693859,3.264267 -351.784,388.072,4217,-0.7320335,-0.6891085,3.269341 -309.1536,359.3182,4227,-0.6419724,-0.6730793,3.272289 -430.9818,335.4303,4257,-0.791011,-0.7255925,3.156225 -217,99.4,4258,-0.1304244,-0.754499,2.977893 -339.4,231.4,4260,-0.5054478,-0.6366958,3.055775 -316.6,274.6,4261,-0.4833105,-0.5713506,3.128623 -161.8,268.6,4262,-0.2867303,-0.6814831,3.308626 -154,293,4263,-0.3745717,-0.7356318,3.350038 -218,338,4265,-0.5291582,-0.7172261,3.339554 -225.4,343,4266,-0.5388327,-0.7123389,3.334621 -291.4,376.6,4267,-0.6365283,-0.6627397,3.307378 -212.2,364.6,4268,-0.5541736,-0.7212979,3.37048 -309.4,410.2,4269,-0.7092996,-0.6914123,3.328062 -280,414,4270,-0.6798561,-0.6953241,3.357842 -168,133,4271,0.2536531,-0.5284396,3.004128 -153,270,4272,-0.3071859,-0.7124786,3.321993 -152.2,313,4273,-0.3593135,-0.6919912,3.377097 -318,438,4274,-0.7528249,-0.7095249,3.347814 -168,278,4277,-0.3229221,-0.686666,3.314269 -164,287,4278,-0.4062883,-0.7587669,3.332665 -188,299,4279,-0.415783,-0.7099911,3.321041 -177.4,327.4,4280,-0.4436623,-0.711675,3.36562 -214,363,4281,-0.531538,-0.6935096,3.36617 -321,398,4282,-0.705838,-0.6802847,3.304885 -187,141,4283,0.1636786,-0.5298686,2.997557 -238.6,388.6,4285,-0.6028509,-0.6994891,3.370574 -314.2,412.6,4286,-0.7174958,-0.6920014,3.326327 -156,282,4287,-0.3540718,-0.7305802,3.334489 -197,139,4288,0.1111517,-0.5469363,2.988823 -169,223,4289,-0.06554391,-0.5633358,3.212888 -442.6,382.6,4290,-0.8233805,-0.65942,3.184546 -231,384,4291,-0.5844548,-0.6955943,3.373019 -267.4,391,4292,-0.6458625,-0.7041875,3.346135 -193,141.4,4293,0.09473329,-0.5643962,3.006451 -448.84,379.72,4296,-0.8265101,-0.6551102,3.17537 -317.8,437.8,4297,-0.751311,-0.7070668,3.347801 -193,68.2,4298,0.2169426,-0.6449128,2.848817 -339.4,229.96,4299,-0.5194569,-0.6571845,3.062495 -179.8,93.4,4302,0.2829573,-0.5784484,2.902597 -182.2,94.60001,4303,0.2831606,-0.5682296,2.895362 -195.4,140.2,4304,0.1182078,-0.5431286,2.989385 -171.4,141.4,4305,0.1080575,-0.5997834,3.047241 -240.04,186.76,4306,-0.09330282,-0.5098167,3.029758 -162.28,268.84,4307,-0.2675593,-0.6636164,3.306798 -377,380,4308,-0.7317415,-0.6261482,3.229552 -274.6,409.96,4309,-0.6844806,-0.7214215,3.358934 -222,158,4311,-0.2328305,-0.7209472,3.073332 -248.2,187,4312,-0.1701423,-0.5612512,3.038756 -203.8,358.6,4314,-0.5288631,-0.7136335,3.3729 -169,131.8,4315,0.2520098,-0.530088,3.000178 -169,223,4316,-0.2403753,-0.7066357,3.236322 -269.8,343,4317,-0.5990725,-0.7095297,3.29262 -182.44,94.60001,4320,0.2839538,-0.5687745,2.895056 -268.6,308.2,4323,-0.4792495,-0.6100071,3.23814 -193.96,136.36,4325,0.1300081,-0.5494577,2.986167 -168.04,277.48,4328,-0.3294308,-0.6947834,3.314255 -193.8448,67.35521,4340,0.1526841,-0.6793465,2.87387 -239.464,185.896,4341,-0.1559422,-0.5696426,3.049623 -173.1088,272.6416,4342,-0.2958734,-0.6626015,3.300021 -237.3904,316.1873,4343,-0.4770085,-0.6574175,3.287653 -191.7712,92.23841,4344,0.2359362,-0.5818391,2.884486 -220.456,191.08,4345,0.01647296,-0.449683,3.04561 -312.04,256.744,4346,-0.4422378,-0.5649554,3.101179 -356.968,388.072,4347,-0.7408485,-0.6837519,3.263839 -203.176,365.608,4348,-0.5336454,-0.7096947,3.380911 -276.7888,409.4993,4349,-0.6672192,-0.6878834,3.3564 -287.1568,274.7152,4350,-0.4459069,-0.5906281,3.164856 -230.824,382.888,4351,-0.5868711,-0.7005545,3.372641 -239.464,386.6897,4352,-0.5921382,-0.6851001,3.368266 -206.2864,142.0048,4353,0.08915661,-0.5379896,2.978485 -276.7888,341.0704,4354,-0.5734358,-0.6607581,3.279738 -202.1392,357.6592,4355,-0.5132145,-0.6988906,3.374011 -448.8977,378.3953,4356,-0.8244202,-0.6517352,3.172977 -276.7888,187.624,4357,-0.1417485,-0.4648347,2.967192 -194.536,139.24,4358,0.1166568,-0.5480807,2.994687 -234.28,313.768,4360,-0.485016,-0.6796292,3.288782 -272.296,398.44,4361,-0.6648066,-0.7127095,3.349178 -243.6112,212.5072,4362,-0.1745776,-0.5201885,3.08408 -297.5248,224.9488,4363,-0.3040878,-0.5021592,3.035407 -307.8929,249.832,4364,-0.451688,-0.6010621,3.105184 -469.6337,384.6161,4365,-0.8582742,-0.6743334,3.169909 -183.4768,349.3648,4366,-0.4707672,-0.6956208,3.38447 -239.464,185.5504,4367,-0.2197254,-0.6269507,3.070761 -480.0017,278.8624,4368,-0.8135054,-0.7530032,3.064552 -289.2304,280.936,4369,-0.4360295,-0.5600742,3.165726 -357.6592,386.6897,4371,-0.7226152,-0.6451123,3.256921 -215.9909,153.2852,4372,-0.0389473,-0.5893521,3.015261 -233.9068,165.2292,4373,-0.1602588,-0.6281067,3.034527 -320.5004,251.8227,4374,-0.4779589,-0.6021942,3.096065 -213.0049,96.55151,4375,0.03920347,-0.6551132,2.915188 -224.9489,167.7175,4376,-0.1443017,-0.6236964,3.05318 -466.8136,386.192,4377,-0.8538304,-0.6649246,3.171453 -427.9958,383.2061,4378,-0.7822527,-0.5862778,3.181488 -346.8766,389.178,4379,-0.7314878,-0.6868187,3.273826 -287.6545,383.2061,4380,-0.6662476,-0.7094398,3.320115 -237.3905,185.1357,4381,-0.1117666,-0.5359502,3.039052 -275.7106,341.4023,4382,-0.5784323,-0.6700458,3.281805 -224.9489,168.2151,4383,-0.1788452,-0.6520541,3.063885 -233.9068,186.1311,4384,-0.03562582,-0.4743423,3.023613 -226.7405,201.6582,4385,0.01591149,-0.4090426,3.051318 -272.7246,210.0189,4386,-0.2017652,-0.4880985,3.026382 -251.8227,348.5686,4387,-0.5393187,-0.6519036,3.312184 -258.9891,341.4023,4388,-0.5414504,-0.6521927,3.296907 -254.8087,198.075,4389,-0.2366679,-0.5858791,3.063206 -312.7368,262.5723,4390,-0.4432664,-0.5523726,3.106706 -273.3218,255.4059,4391,-0.3669765,-0.5638773,3.1397 -475.7716,299.5985,4392,-0.7871134,-0.6497287,3.050774 -491.8959,305.5705,4393,-0.8270277,-0.6951427,3.065602 -255.4059,198.075,4394,-0.316668,-0.6613864,3.089814 -273.3218,301.9873,4395,-0.5144542,-0.6572716,3.232528 -284.0714,215.9909,4396,-0.1659858,-0.4011874,2.999567 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0031.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0031.csv deleted file mode 100644 index 326a99d8956309582dbebfc8a58ce936bc8675bc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0031.csv +++ /dev/null @@ -1,291 +0,0 @@ -307,129.4,4304,0.1182078,-0.5431286,2.989385 -303.4,124.84,4325,0.1300081,-0.5494577,2.986167 -429.544,280.936,4330,-0.4796349,-0.5632128,3.125543 -161.704,66.66401,4397,0.744769,-0.628448,3.106559 -149.608,102.952,4399,0.6950766,-0.5834377,3.214643 -152.2,268.84,4405,-0.3054547,-0.8492715,3.464527 -431.8,398.2,4412,-0.694429,-0.6944143,3.292746 -441.64,404.2,4413,-0.6899455,-0.6461527,3.284279 -378.28,399.88,4414,-0.6479493,-0.7038953,3.345288 -422.92,427.24,4415,-0.6883696,-0.632677,3.323988 -152.2,96.04,4416,0.5337635,-0.6687016,3.211585 -385,423.4,4421,-0.6790807,-0.7070324,3.35944 -204.04,124.84,4422,0.5341176,-0.4971476,3.135968 -151.336,166.888,4424,0.1845028,-0.6994429,3.355869 -439.912,408.808,4427,-0.6788948,-0.6125352,3.286025 -404.2,217,4432,-0.3372158,-0.5618038,3.052727 -309.4,355,4433,-0.5304143,-0.7039241,3.370735 -195.4,217,4439,-0.131467,-0.7406309,3.355402 -215.8,290.2,4444,-0.3134874,-0.737654,3.41788 -374.248,367.336,4451,-0.6137298,-0.7122908,3.318942 -312.04,356.68,4452,-0.5244772,-0.7022527,3.374204 -379.432,389.8,4454,-0.6195023,-0.6664583,3.333007 -317.8,132.04,4455,0.08659904,-0.5327829,2.97564 -185.8,357.4,4467,-0.3648528,-0.7187266,3.520583 -308.584,282.664,4471,-0.3927073,-0.6789284,3.292901 -239.464,303.4,4481,-0.3886876,-0.7511898,3.403146 -260.2,212.2,4484,-0.2097753,-0.7122437,3.263404 -470.44,322.12,4485,-0.6051774,-0.5869403,3.147443 -567.7841,396.712,4488,-0.8029846,-0.6594176,3.170168 -413.992,417.448,4489,-0.7089256,-0.724941,3.329735 -173.8,265.384,4493,-0.3272469,-0.8448144,3.435422 -574.696,417.448,4494,-0.8220815,-0.6495662,3.182875 -346.6,393.256,4495,-0.6085967,-0.7057666,3.370051 -340.84,312.04,4496,-0.4246043,-0.5982201,3.281195 -303.4,130.6,4499,0.16605,-0.512063,2.984529 -286.6,359.8,4501,-0.490735,-0.6956987,3.40388 -277.48,268.84,4506,-0.3188567,-0.6804581,3.312455 -201.448,158.248,4508,0.1407595,-0.6586686,3.250704 -196.264,80.48801,4510,0.5198935,-0.6283914,3.086534 -547.048,315.496,4518,-0.6716607,-0.546217,3.053218 -189.64,70.12,4526,0.5175604,-0.6708909,3.080038 -333.64,182.44,4530,-0.226791,-0.6617748,3.108044 -232.552,296.488,4532,-0.3791181,-0.7657968,3.399368 -244.36,168.04,4540,0.01970104,-0.6485717,3.199725 -213.544,77.03201,4544,0.4411041,-0.6495581,3.049114 -214.5808,92.23841,4545,0.4829637,-0.5870426,3.06225 -448.552,363.88,4549,-0.6513215,-0.6378458,3.231521 -509.32,332.2,4628,-0.6428137,-0.5374417,3.109404 -382.6,407.08,4186,-0.6452415,-0.6871833,3.348077 -337.96,90.28001,4258,-0.1304244,-0.754499,2.977893 -280.36,119.08,4259,0.1971901,-0.5644987,3.013904 -401.32,386.92,4267,-0.6365283,-0.6627397,3.307378 -263,259,4272,-0.3071859,-0.7124786,3.321993 -278,269,4277,-0.3229221,-0.686666,3.314269 -297,292,4279,-0.415783,-0.7099911,3.321041 -297,129,4283,0.1636786,-0.5298686,2.997557 -351.4,319,4284,-0.4977661,-0.6716568,3.285431 -427.24,430.12,4286,-0.7174958,-0.6920014,3.326327 -308,129,4288,0.1111517,-0.5469363,2.988823 -338.2,386.2,4291,-0.5844548,-0.6955943,3.373019 -303.4,130.6,4293,0.09473329,-0.5643962,3.006451 -277,268.6,4295,-0.329693,-0.6943304,3.315149 -310.6,54.28,4298,0.2169426,-0.6449128,2.848817 -460.36,237.16,4299,-0.5194569,-0.6571845,3.062495 -295,82.60001,4303,0.2831606,-0.5682296,2.895362 -283,128.2,4305,0.1080575,-0.5997834,3.047241 -270.28,257.32,4307,-0.2675593,-0.6636164,3.306798 -385.48,422.92,4309,-0.6844806,-0.7214215,3.358934 -358.6,181,4312,-0.1701423,-0.5612512,3.038756 -473.32,408.52,4318,-0.7456468,-0.7064515,3.269316 -310.312,54.568,4319,0.2263615,-0.637342,2.844321 -294.76,81.64,4320,0.2839538,-0.5687745,2.895056 -277.48,204.904,4321,-0.1077351,-0.6106181,3.209406 -346.6,317.224,4329,-0.5003036,-0.6868687,3.291711 -377.704,348.328,4332,-0.579346,-0.6857719,3.293904 -294.76,82.21601,4334,0.302027,-0.5600054,2.891425 -284.68,265.96,4335,-0.3390371,-0.694723,3.30333 -306.28,129.16,4336,0.08064351,-0.5713779,3.003379 -335.8,141.4,4339,-0.1164349,-0.6472282,3.02327 -350.056,178.984,4341,-0.1559422,-0.5696426,3.049623 -305.8192,79.79681,4344,0.2359362,-0.5818391,2.884486 -424.0145,260.2,4346,-0.4422378,-0.5649554,3.101179 -337.96,386.344,4351,-0.5868711,-0.7005545,3.372641 -386.6897,347.2913,4354,-0.5734358,-0.6607581,3.279738 -305.128,128.872,4358,0.1166568,-0.5480807,2.994687 -540.136,324.136,4359,-0.6598475,-0.5194999,3.057593 -343.144,312.04,4360,-0.485016,-0.6796292,3.288782 -407.4257,222.8752,4363,-0.3040878,-0.5021592,3.035407 -473.7809,407.4257,4371,-0.7226152,-0.6451123,3.256921 -347.3742,156.2712,4373,-0.1602588,-0.6281067,3.034527 -336.9233,162.7408,4376,-0.1443017,-0.6236964,3.05318 -386.192,347.3742,4382,-0.5784323,-0.6700458,3.281805 -338.4163,162.2432,4383,-0.1788452,-0.6520541,3.063885 -329.4583,195.089,4385,0.01591149,-0.4090426,3.051318 -381.713,202.554,4386,-0.2017652,-0.4880985,3.026382 -359.3182,350.3602,4387,-0.5393187,-0.6519036,3.312184 -423.8155,266.1555,4390,-0.4432664,-0.5523726,3.106706 -384.4005,255.4059,4391,-0.3669765,-0.5638773,3.1397 -370.0677,194.4918,4394,-0.316668,-0.6613864,3.089814 -384.4005,305.5705,4395,-0.5144542,-0.6572716,3.232528 -154.6,83.8,4398,0.4905192,-0.7122983,3.193215 -238,115,4400,0.3839196,-0.5388098,3.061534 -228,121,4401,0.2406086,-0.6308488,3.125702 -282,128,4402,0.1472365,-0.5718651,3.033967 -196,228,4403,-0.2213689,-0.7911384,3.372123 -150,238,4404,-0.1867642,-0.8115762,3.443321 -426,301,4406,-0.4886121,-0.530163,3.151721 -314.2,307,4407,-0.4462894,-0.6918548,3.313645 -383,329,4408,-0.5419729,-0.6506112,3.261821 -309,324,4409,-0.4756893,-0.7050256,3.342202 -408,347,4410,-0.6040896,-0.6661119,3.260077 -186,357,4411,-0.4058669,-0.7622851,3.51033 -227.8,117.4,4417,0.2638302,-0.6244963,3.11573 -158,238,4418,-0.1713181,-0.7904377,3.434173 -282,293,4419,-0.3879202,-0.7085233,3.340746 -346.6,393.4,4420,-0.6045265,-0.6980587,3.370381 -173,124,4423,0.3478107,-0.6641693,3.233104 -209.8,176.2,4425,-0.08834526,-0.7634682,3.283198 -184,357,4426,-0.4230278,-0.7825556,3.510609 -304,131,4428,0.0899142,-0.5616763,3.007731 -180,199,4429,-0.09057707,-0.7681773,3.357548 -166,267,4430,-0.2392862,-0.7845263,3.452152 -381,391,4431,-0.6289948,-0.6798743,3.332528 -406.6,218.2,4434,-0.3497002,-0.5703994,3.054581 -343,93,4435,-0.1939448,-0.7866936,2.997301 -183,199,4436,-0.08780633,-0.7619849,3.351991 -251.56,159.4,4437,0.2728806,-0.4697203,3.122461 -191.8,199,4438,-0.11931,-0.7601469,3.33927 -283,285.4,4440,-0.4014528,-0.7273901,3.33023 -587.08,417.16,4441,-0.8401813,-0.6875834,3.184179 -164.2,68.2,4442,0.4792058,-0.7384869,3.14568 -187,92.2,4443,0.6527715,-0.5576184,3.100155 -247,309.4,4445,-0.3909985,-0.7318661,3.400627 -293.8,327.4,4446,-0.4681258,-0.7133642,3.362314 -173.8,119.8,4447,0.4167528,-0.6348891,3.217168 -250.6,136.6,4448,0.134119,-0.6251706,3.125003 -178,223,4449,-0.2307562,-0.83,3.388426 -233.8,278.2,4450,-0.3397292,-0.7555175,3.377701 -449.8,395.8,4453,-0.7031024,-0.6776813,3.273508 -173.8,124.6,4456,0.3562506,-0.6575202,3.232546 -229,193,4457,-0.1326317,-0.7346683,3.278116 -202.6,215.8,4458,-0.187784,-0.7750586,3.348749 -243,273,4459,-0.3058673,-0.7188389,3.363632 -313,292.6,4460,-0.4124281,-0.6770126,3.299348 -170.2,338.2,4461,-0.403009,-0.809798,3.505489 -470.2,321.4,4462,-0.602664,-0.583176,3.146496 -436.6,442.6,4463,-0.7390638,-0.6955805,3.329012 -197,218,4464,-0.2245813,-0.8073958,3.359589 -227,117,4465,0.1518649,-0.6960909,3.139357 -568.36,395.56,4466,-0.8047739,-0.6664154,3.171576 -375.4,415.72,4468,-0.6526341,-0.6872224,3.361342 -182.44,219.88,4469,-0.1777301,-0.7894582,3.381365 -209.8,259,4470,-0.2028743,-0.7018018,3.390207 -175.24,361,4472,-0.4135676,-0.7790261,3.523484 -201.16,159.4,4473,0.1277965,-0.6665592,3.252717 -182.44,332.2,4474,-0.3954235,-0.7938903,3.489135 -487.72,402.76,4475,-0.7282608,-0.635319,3.235678 -197.8,81.4,4476,0.4049868,-0.6859215,3.100181 -227.08,120.52,4477,0.248466,-0.6277365,3.124713 -179.8,199,4478,-0.1107439,-0.7813894,3.357209 -313.48,291.88,4479,-0.4066432,-0.6716644,3.297521 -215.56,290.44,4480,-0.3169906,-0.7403137,3.417244 -350.92,317.8,4482,-0.5016184,-0.6745666,3.286488 -185.32,356.68,4483,-0.4072857,-0.7634663,3.511868 -346.6,307.72,4486,-0.4601183,-0.6443783,3.275457 -309.16,355.24,4487,-0.5226614,-0.7073551,3.373632 -228.52,117.64,4490,0.2581051,-0.6278195,3.115607 -173.8,124.84,4491,0.298758,-0.6883519,3.236954 -248.68,133.48,4492,0.064783,-0.6765,3.134555 -192.52,352.36,4497,-0.4340363,-0.7884137,3.49542 -337.96,385.48,4498,-0.5794035,-0.6870362,3.371689 -374.248,365.9536,4500,-0.6020151,-0.6939554,3.316321 -401.2049,386.6897,4502,-0.6369939,-0.6618391,3.307004 -574.696,410.536,4503,-0.8205824,-0.6658065,3.180179 -222.184,123.688,4504,0.3005776,-0.5988187,3.131722 -438.1841,222.184,4505,-0.4436412,-0.6183298,3.047304 -232.552,134.056,4507,0.2829247,-0.5638155,3.127842 -308.584,355.24,4509,-0.4939764,-0.6690952,3.374551 -249.832,135.784,4511,0.1420442,-0.6245665,3.130337 -246.376,204.904,4512,-0.1707394,-0.7148778,3.270364 -216.6544,289.2304,4513,-0.3503178,-0.7703199,3.413117 -460.648,318.952,4514,-0.5838042,-0.5789391,3.144368 -215.272,92.58401,4515,0.4916838,-0.5816292,3.058527 -303.4,125.416,4516,0.1350218,-0.5432984,2.984366 -229.096,121.96,4517,0.1936276,-0.6555554,3.135796 -533.9153,326.5552,4519,-0.666841,-0.5418513,3.078823 -175.528,360.424,4520,-0.4446087,-0.8107679,3.516188 -173.8,125.416,4521,0.3477077,-0.6606618,3.232872 -182.44,332.776,4522,-0.3686131,-0.7665702,3.495496 -415.7201,372.1744,4523,-0.6382171,-0.663399,3.278948 -184.168,358.696,4524,-0.4150925,-0.7713435,3.510658 -386.344,424.36,4525,-0.6859578,-0.7178161,3.358689 -390.8369,276.7888,4527,-0.420697,-0.567637,3.163775 -375.976,415.72,4528,-0.6585394,-0.6980758,3.36113 -249.832,133.7104,4529,0.1510471,-0.6184468,3.115124 -320.3344,287.1568,4531,-0.429941,-0.6945983,3.286331 -345.2177,307.8929,4533,-0.4610306,-0.6490855,3.276697 -233.2432,301.672,4534,-0.3487571,-0.7251645,3.407437 -183.4768,332.7761,4535,-0.409988,-0.8086631,3.486515 -295.4512,81.87041,4536,0.2419187,-0.5921897,2.908047 -195.9184,79.79681,4537,0.5203885,-0.6354808,3.079588 -208.36,83.94402,4538,0.581062,-0.5668123,3.046499 -272.6416,119.1952,4539,0.171592,-0.5945039,3.038063 -272.6416,266.4208,4541,-0.3143724,-0.6877767,3.318667 -210.4336,287.1568,4542,-0.3266844,-0.7596102,3.420764 -573.3137,378.3953,4543,-0.8108842,-0.725325,3.167491 -403.2784,216.6544,4546,-0.3734224,-0.6115442,3.071088 -206.2864,214.5808,4547,-0.2147272,-0.7918152,3.344172 -440.6033,293.3777,4548,-0.5403439,-0.6035142,3.144694 -488.2961,403.2784,4550,-0.7413879,-0.6656987,3.245044 -376.3217,413.6465,4551,-0.6493398,-0.6829563,3.35837 -202.1392,158.5936,4552,0.110125,-0.6800398,3.253465 -440.6033,222.8752,4553,-0.4845452,-0.6708816,3.067168 -467.5601,407.4257,4554,-0.7219267,-0.6564568,3.264435 -496.5905,411.5728,4555,-0.7449942,-0.6340972,3.23854 -208.36,162.7408,4556,0.1065281,-0.6633263,3.24869 -260.2,212.5072,4557,-0.1857493,-0.690699,3.260897 -270.568,256.0529,4558,-0.3013016,-0.6954894,3.308322 -222.8752,287.1568,4559,-0.3195693,-0.7357522,3.404444 -382.5424,407.4257,4560,-0.6573447,-0.6990217,3.347582 -195.089,78.13794,4561,0.4790168,-0.6603535,3.087753 -219.9722,80.62626,4562,0.5971127,-0.5407954,3.002136 -272.227,120.4394,4563,0.1654015,-0.5966351,3.04249 -192.6007,150.2992,4564,0.2773635,-0.6062888,3.244136 -200.0656,157.7642,4565,0.1265079,-0.6747341,3.25447 -202.554,214.9956,4566,-0.1803844,-0.7716355,3.346709 -488.7108,401.6196,4567,-0.7375529,-0.6592001,3.240635 -354.3415,386.6897,4568,-0.6140687,-0.7131304,3.356841 -336.9233,399.1313,4569,-0.6617966,-0.8066282,3.382716 -190.1124,160.2525,4570,0.2356128,-0.6162903,3.26745 -207.5306,162.7408,4571,0.02784061,-0.713548,3.258345 -399.1313,214.9956,4572,-0.3264212,-0.5640896,3.055999 -279.6919,210.0189,4573,-0.1687032,-0.6472642,3.220563 -309.5518,356.8298,4574,-0.5182548,-0.6993861,3.374783 -214.9956,78.13794,4575,0.5505674,-0.5862934,3.021609 -456.3627,317.0167,4576,-0.5881448,-0.5994554,3.158587 -411.5729,374.2481,4577,-0.6412261,-0.6758001,3.284992 -314.5284,123.4254,4578,0.1848617,-0.4871708,2.935246 -244.8554,160.2525,4579,-0.1452388,-0.7791649,3.217319 -254.8087,264.762,4580,-0.2978025,-0.7043862,3.337616 -354.3415,207.5306,4581,-0.2337093,-0.5711151,3.098586 -259.7853,212.5072,4582,-0.2106548,-0.7122461,3.263551 -456.3627,234.9021,4583,-0.4964032,-0.6294426,3.053364 -371.2621,347.3742,4584,-0.5346891,-0.6250721,3.291048 -377.2341,368.2761,4585,-0.6220776,-0.7194521,3.317855 -277.2036,197.5773,4586,-0.1865151,-0.6899711,3.215553 -192.103,215.9909,4587,-0.1279649,-0.7467122,3.362162 -398.136,347.3742,4588,-0.5887168,-0.6610758,3.268052 -398.136,386.192,4589,-0.6273034,-0.6512288,3.307356 -384.2014,232.4138,4590,-0.3201972,-0.5486561,3.098456 -304.5751,80.62626,4591,0.3013386,-0.5341138,2.86075 -254.8087,115.4627,4592,0.3321917,-0.5341936,3.032107 -239.8788,201.061,4593,-0.08537187,-0.6648574,3.265942 -234.9021,205.0423,4594,-0.1787558,-0.7403367,3.290004 -257.7947,213.0049,4595,-0.1707422,-0.6812692,3.261081 -422.0239,263.7667,4596,-0.4272044,-0.5339254,3.100151 -527.7277,327.0695,4597,-0.6367318,-0.4833649,3.063914 -230.9208,314.5284,4598,-0.3654348,-0.7219828,3.421552 -247.3437,329.4583,4599,-0.2501201,-0.533182,3.433284 -416.0519,368.2761,4600,-0.5911843,-0.5762605,3.26213 -332.4443,93.56553,4601,0.1351061,-0.5603738,2.871028 -236.8928,162.2432,4602,-0.02021707,-0.6987115,3.212222 -341.4023,207.033,4603,-0.1692239,-0.5321259,3.101546 -359.3182,316.32,4604,-0.5623296,-0.7453439,3.291456 -215.9909,165.2292,4605,0.02537818,-0.6979788,3.245564 -259.7853,227.4372,4606,-0.2669255,-0.7338848,3.287681 -257.7947,239.8788,4607,-0.2563107,-0.7053784,3.302706 -276.905,255.4059,4608,-0.2925496,-0.6797646,3.295013 -254.8087,257.7947,4609,-0.2353762,-0.6568646,3.32614 -304.5751,284.6685,4610,-0.4131857,-0.7083697,3.300707 -377.2341,341.4023,4611,-0.5950717,-0.7249767,3.291059 -260.7807,132.3833,4612,0.1998271,-0.5660442,3.07784 -386.192,233.9068,4613,-0.3485446,-0.5781834,3.106456 -398.136,290.6405,4614,-0.4573699,-0.5725845,3.17678 -392.164,227.9348,4615,-0.3054496,-0.5277442,3.071897 -281.6826,266.7527,4616,-0.3440562,-0.7050268,3.30501 -272.7246,117.4534,4617,0.262427,-0.5380451,3.008479 -207.033,162.2432,4618,0.07496919,-0.6843554,3.253515 -219.5741,287.6545,4619,-0.463203,-0.8743383,3.404232 -379.2247,389.178,4620,-0.646076,-0.7182368,3.336879 -266.1555,140.7441,4621,0.152605,-0.5691171,3.09081 -337.8191,162.2432,4622,-0.1622164,-0.6317194,3.05592 -344.9855,176.5759,4623,-0.1656052,-0.5929062,3.058294 -330.6527,183.7423,4624,-0.09449493,-0.5338428,3.073086 -233.9068,183.7423,4625,-0.02044906,-0.6617885,3.244654 -258.9891,205.2414,4626,-0.1650326,-0.6903715,3.24834 -377.2341,237.49,4627,-0.2945789,-0.5232393,3.104896 -255.4059,327.0695,4629,-0.4154551,-0.7139462,3.407336 -330.6527,144.3273,4630,-0.1582391,-0.6752929,3.055454 -233.9068,194.4918,4631,-0.1764594,-0.7579621,3.277837 -402.3164,291.2377,4632,-0.4918803,-0.612712,3.185562 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0032.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0032.csv deleted file mode 100644 index ac74bbec379b1f6a56c8a0da55b99181bae16be8..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0032.csv +++ /dev/null @@ -1,259 +0,0 @@ -407.08,132.04,4302,0.2829573,-0.5784484,2.902597 -411.4,133.48,4303,0.2831606,-0.5682296,2.895362 -429.544,106.408,4319,0.2263615,-0.637342,2.844321 -344.2,166.6,4417,0.2638302,-0.6244963,3.11573 -441.4,425.8,4433,-0.5304143,-0.7039241,3.370735 -369.4,367,4445,-0.3909985,-0.7318661,3.400627 -361,328.6,4450,-0.3397292,-0.7555175,3.377701 -337.96,343.144,4480,-0.3169906,-0.7403137,3.417244 -381.16,265.384,4484,-0.2097753,-0.7122437,3.263404 -415.72,180.712,4499,0.16605,-0.512063,2.984529 -318.952,206.632,4508,0.1407595,-0.6586686,3.250704 -329.32,140.68,4515,0.4916838,-0.5816292,3.058527 -344.872,170.344,4517,0.1936276,-0.6555554,3.135796 -393.256,322.408,4541,-0.3143724,-0.6877767,3.318667 -558.28,431.56,4648,-0.6060467,-0.6418779,3.252934 -215.272,89.12801,4654,1.397925,-0.5926761,3.162001 -209.8,100.36,4655,1.281412,-0.6110831,3.218591 -536.68,278.92,4658,-0.3389809,-0.5623575,3.047236 -310.6,412.6,4669,-0.4396693,-0.798838,3.50632 -578,447,4670,-0.6559205,-0.695197,3.260777 -455.8,435.4,4671,-0.5705823,-0.7455568,3.369843 -435.4,184.6,4674,0.09505533,-0.5214811,2.968962 -319,207.4,4675,0.08889168,-0.6903681,3.258108 -263.8,301,4676,-0.1888974,-0.8017021,3.475941 -529,346.6,4683,-0.4542409,-0.5932512,3.169327 -515,442,4686,-0.6031976,-0.693558,3.315755 -248.2,203.8,4688,0.08999358,-0.8133987,3.385024 -173.8,94.31201,4689,1.147055,-0.7576795,3.332757 -242.92,96.04001,4690,0.8436954,-0.7154592,3.158729 -344.872,246.376,4693,-0.1302564,-0.7364228,3.291471 -191.08,152.2,4696,0.5891513,-0.7712641,3.414628 -399.88,323.56,4698,-0.3061344,-0.6650779,3.310273 -223.912,156.52,4700,0.4344173,-0.7719895,3.351669 -457.192,206.632,4702,-0.1442516,-0.6473179,3.049007 -248.104,253.288,4703,-0.07054987,-0.819639,3.448774 -201.16,208.36,4704,0.2547564,-0.7792967,3.480161 -331.048,343.144,4708,-0.3136285,-0.7459849,3.425363 -267.112,286.12,4710,-0.2082222,-0.8383642,3.453577 -385.48,313.48,4711,-0.2896471,-0.6922602,3.318601 -208.36,106.408,4713,0.9836176,-0.7042994,3.265483 -229.096,116.776,4714,0.7546752,-0.7205735,3.245201 -431.56,209.8,4715,-0.05606454,-0.6018257,3.067476 -250.12,201.16,4719,0.2127652,-0.7416958,3.375247 -201.448,210.088,4720,0.2648294,-0.7725731,3.482569 -433,351.784,4721,-0.4127071,-0.6903582,3.305723 -391.24,306.28,4725,-0.2785255,-0.684499,3.301687 -263.08,312.04,4729,-0.1471003,-0.7432755,3.495826 -242.92,199.72,4735,0.2008271,-0.760286,3.387302 -274.024,147.88,4740,0.5832678,-0.6308413,3.195803 -258.472,308.584,4743,-0.1759267,-0.7841876,3.490765 -274.7152,131.6368,4745,0.6871958,-0.6176437,3.154852 -533.8,422.92,4751,-0.6045859,-0.7062957,3.280266 -256.744,184.168,4755,0.1948977,-0.7784617,3.339525 -517.96,424.36,4765,-0.6093213,-0.7417059,3.302507 -290.44,240.04,4769,-0.09812611,-0.8038204,3.369887 -513,380,4783,-0.4939995,-0.6212935,3.234995 -395.8,170.2,4259,0.1971901,-0.5644987,3.013904 -400,325,4277,-0.3229221,-0.686666,3.314269 -424.6,353.8,4279,-0.415783,-0.7099911,3.321041 -424,181,4288,0.1111517,-0.5469363,2.988823 -419.8,182.2,4293,0.09473329,-0.5643962,3.006451 -400.6,325,4295,-0.329693,-0.6943304,3.315149 -430.12,106.12,4298,0.2169426,-0.6449128,2.848817 -423.4,181,4304,0.1182078,-0.5431286,2.989385 -515.944,424.36,4332,-0.579346,-0.6857719,3.293904 -409.4993,131.6368,4334,0.302027,-0.5600054,2.891425 -420.9041,180.712,4358,0.1166568,-0.5480807,2.994687 -471.2926,212.5072,4373,-0.1602588,-0.6281067,3.034527 -509.8118,316.32,4391,-0.3669765,-0.5638773,3.1397 -344,170,4401,0.2406086,-0.6308488,3.125702 -399,179,4402,0.1472365,-0.5718651,3.033967 -321,278,4403,-0.2213689,-0.7911384,3.372123 -438,388,4409,-0.4756893,-0.7050256,3.342202 -550.6,427,4410,-0.6040896,-0.6661119,3.260077 -271,145,4416,0.5337635,-0.6687016,3.211585 -283,286,4418,-0.1713181,-0.7904377,3.434173 -309,412,4426,-0.4230278,-0.7825556,3.510609 -421,183,4428,0.0899142,-0.5616763,3.007731 -306,247,4436,-0.08780633,-0.7619849,3.351991 -315.4,248.2,4438,-0.11931,-0.7601469,3.33927 -319,267.4,4439,-0.131467,-0.7406309,3.355402 -337,343,4444,-0.3134874,-0.737654,3.41788 -422.2,391,4446,-0.4681258,-0.7133642,3.362314 -367,187,4448,0.134119,-0.6251706,3.125003 -434.44,183.88,4455,0.08659904,-0.5327829,2.97564 -290.2,171.4,4456,0.3562506,-0.6575202,3.232546 -351,243,4457,-0.1326317,-0.7346683,3.278116 -326.2,266.2,4458,-0.187784,-0.7750586,3.348749 -364.6,326.2,4459,-0.3058673,-0.7188389,3.363632 -439,353.8,4460,-0.4124281,-0.6770126,3.299348 -297.64,391.24,4461,-0.403009,-0.809798,3.505489 -319.24,206.92,4473,0.1277965,-0.6665592,3.252717 -309.16,386.92,4474,-0.3954235,-0.7938903,3.489135 -343.72,169.48,4477,0.248466,-0.6277365,3.124713 -305.8,247,4478,-0.1107439,-0.7813894,3.357209 -438.76,352.36,4479,-0.4066432,-0.6716644,3.297521 -365.9536,357.6592,4481,-0.3886876,-0.7511898,3.403146 -309.16,412.84,4483,-0.4072857,-0.7634663,3.511868 -440.2,424.36,4487,-0.5226614,-0.7073551,3.373632 -345.16,166.6,4490,0.2581051,-0.6278195,3.115607 -369.64,182.44,4492,0.064783,-0.6765,3.134555 -400.168,324.136,4506,-0.3188567,-0.6804581,3.312455 -367.336,185.896,4511,0.1420442,-0.6245665,3.130337 -308.584,386.344,4522,-0.3686131,-0.7665702,3.495496 -310.312,412.264,4524,-0.4150925,-0.7713435,3.510658 -355.5857,355.5857,4534,-0.3487571,-0.7251645,3.407437 -309.9664,386.6897,4535,-0.409988,-0.8086631,3.486515 -361,217,4540,0.01970104,-0.6485717,3.199725 -318.2608,206.2864,4552,0.110125,-0.6800398,3.253465 -324.4817,210.4336,4556,0.1065281,-0.6633263,3.24869 -380.4688,266.4208,4557,-0.1857493,-0.690699,3.260897 -317.0167,205.0423,4565,0.1265079,-0.6747341,3.25447 -326.97,264.762,4566,-0.1803844,-0.7716355,3.346709 -329.4583,127.9044,4575,0.5505674,-0.5862934,3.021609 -356.8298,257.297,4594,-0.1787558,-0.7403367,3.290004 -356.3322,365.2902,4598,-0.3654348,-0.7219828,3.421552 -529.5193,359.3182,4614,-0.4573699,-0.5725845,3.17678 -516.9782,287.6545,4615,-0.3054496,-0.5277442,3.071897 -405.8995,323.4864,4616,-0.3440562,-0.7050268,3.30501 -380.2201,192.103,4621,0.152605,-0.5691171,3.09081 -463.2305,215.9909,4622,-0.1622164,-0.6317194,3.05592 -448.8977,241.0732,4624,-0.09449493,-0.5338428,3.073086 -456.0641,201.6582,4630,-0.1582391,-0.6752929,3.055454 -199,135,4633,0.7242935,-0.7438018,3.36213 -446,143,4634,0.1583409,-0.5465552,2.859771 -238,153,4635,0.4442673,-0.7513958,3.313496 -333,167,4636,0.3128937,-0.6134745,3.128256 -384,233,4637,-0.09180465,-0.6664755,3.199821 -337,343,4638,-0.3063522,-0.7271037,3.417459 -606,398,4639,-0.5838701,-0.5699497,3.148117 -469,414,4640,-0.5278839,-0.686832,3.331135 -145,375,4641,0.5318533,-0.2656655,3.984256 -383,153,4642,0.3969736,-0.4921036,2.955025 -436,185,4643,0.06491324,-0.5451699,2.980897 -264,301,4644,-0.1778201,-0.7908687,3.477018 -476,404,4645,-0.5245196,-0.6882049,3.315096 -333,309,4646,-0.2500029,-0.7402217,3.388711 -407,351,4647,-0.4057328,-0.7252716,3.340021 -213,95,4649,1.169796,-0.6620489,3.208344 -230,117,4650,0.7442049,-0.7235445,3.246594 -192,153,4651,0.587737,-0.7686205,3.41344 -341,274,4652,-0.1791603,-0.7306175,3.333455 -576,447,4653,-0.6445594,-0.6693802,3.256137 -408,132,4656,0.2703779,-0.5824943,2.907999 -350,184,4657,0.1465022,-0.6423143,3.151298 -512,444,4659,-0.5930926,-0.6741176,3.315904 -211,99.4,4660,1.119601,-0.6662707,3.229275 -427.24,169.48,4661,0.1763631,-0.511148,2.938023 -344.2,170.2,4662,0.2478436,-0.6245876,3.124346 -247.24,251.56,4663,-0.06327995,-0.8185353,3.448788 -329.32,265.96,4664,-0.1355601,-0.778037,3.36057 -381.4,334.6,4665,-0.3622228,-0.7409765,3.354699 -249,89,4666,0.7940178,-0.7440139,3.138526 -529,411.4,4667,-0.5774862,-0.6833001,3.266902 -455.8,404.2,4668,-0.5142213,-0.70381,3.33761 -215.8,127,4672,0.6471992,-0.767191,3.306385 -178,134,4673,0.6982877,-0.7953303,3.413922 -404.2,375.4,4677,-0.4124663,-0.690067,3.365814 -458.2,207.4,4678,-0.1699929,-0.6692662,3.059901 -422.92,391.24,4679,-0.4539438,-0.6875079,3.360084 -418.6,406.6,4680,-0.4946295,-0.7281317,3.382342 -207.4,106.6,4681,0.985108,-0.7083022,3.268547 -204,213,4682,0.2148028,-0.7900982,3.478751 -533.8,423.4,4684,-0.5827473,-0.6558514,3.271116 -328.6,347.8,4685,-0.2952113,-0.7204928,3.434088 -267.4,286.12,4687,-0.2122082,-0.8403671,3.453949 -248.68,147.88,4691,0.5106163,-0.7094917,3.275697 -202.6,212.68,4692,0.326425,-0.7311102,3.488197 -303.4,247,4694,-0.07880256,-0.7565267,3.355675 -178.6,134.2,4695,0.7475456,-0.776891,3.411932 -232.84,234.28,4697,0.002085975,-0.8288089,3.450803 -417.16,405.64,4699,-0.4935941,-0.7307414,3.383078 -291.88,166.6,4701,0.3399434,-0.6754954,3.223434 -238.6,257.32,4705,0.008263527,-0.7745482,3.467817 -454.6,434.44,4706,-0.5516073,-0.7139134,3.368847 -381.16,265.96,4707,-0.2117298,-0.7109655,3.265231 -183.88,103.24,4709,1.069544,-0.7366578,3.324647 -244.36,209.8,4712,0.2077412,-0.7361248,3.398035 -266.4208,285.0833,4716,-0.1966194,-0.8294422,3.455213 -417.448,137.512,4717,0.2699327,-0.5491679,2.886488 -291.304,166.888,4718,0.3297642,-0.6819263,3.225271 -439.912,353.512,4722,-0.4043144,-0.6628901,3.296517 -274.024,130.6,4723,0.6805372,-0.6245906,3.158939 -280.936,223.912,4724,-0.09153755,-0.8412572,3.367332 -483.1121,386.344,4726,-0.494169,-0.659053,3.284204 -391.528,165.16,4727,0.2856375,-0.5169467,2.984512 -249.832,251.9056,4728,-0.09628925,-0.8363041,3.445371 -528.04,346.6,4730,-0.448655,-0.5857611,3.167724 -332.7761,341.0704,4731,-0.3218403,-0.7547175,3.423074 -251.56,123.688,4732,0.7111493,-0.6758087,3.203687 -415.72,128.872,4733,0.2807381,-0.5708637,2.878008 -277.48,144.424,4734,0.429262,-0.7084124,3.209824 -535.9889,278.8624,4736,-0.3739145,-0.610507,3.070123 -244.648,210.088,4737,0.1960308,-0.7425196,3.397103 -246.376,203.176,4738,0.2304493,-0.7296516,3.384476 -197.992,129.5632,4739,0.7528427,-0.7496259,3.352779 -291.304,164.8144,4741,0.3280195,-0.6878456,3.223423 -357.6592,258.1264,4742,-0.1706395,-0.7281384,3.289116 -253.9792,123.3424,4744,0.7697421,-0.6442865,3.189224 -469.6337,146.152,4746,-0.1644604,-0.7720474,2.990995 -293.3777,312.04,4747,-0.1394387,-0.6939889,3.445322 -229.096,117.1216,4748,0.7241185,-0.733969,3.250649 -390.8369,164.8144,4749,0.06197082,-0.6831698,3.066994 -243.6112,200.0656,4750,0.2665832,-0.7244496,3.383315 -245.6848,206.2864,4752,0.1911424,-0.7480329,3.394598 -511.1057,291.304,4753,-0.3626342,-0.6080043,3.120251 -189.6976,150.2992,4754,0.6206182,-0.7623296,3.415605 -338.9969,212.5072,4756,0.0581053,-0.6666291,3.231761 -274.7153,130.3927,4757,0.6528954,-0.6373031,3.159244 -309.5518,137.8576,4758,0.8644251,-0.4235425,3.022491 -210.0189,197.5773,4759,0.2656585,-0.7872591,3.445259 -202.554,210.0189,4760,0.2655283,-0.7741149,3.477935 -272.7246,215.9909,4761,0.1882635,-0.6875257,3.349447 -468.8043,232.4138,4762,-0.155267,-0.5749171,3.051914 -299.5985,297.1101,4763,-0.0984247,-0.6781478,3.418934 -558.3838,329.4583,4764,-0.4500209,-0.5676245,3.10503 -319.505,132.881,4766,0.5961575,-0.5611526,3.051459 -272.227,212.5072,4767,0.08054424,-0.7638618,3.354899 -528.524,346.8766,4768,-0.461463,-0.587195,3.171556 -307.0634,394.1547,4770,-0.4312799,-0.8235173,3.494467 -374.2481,156.2712,4771,0.2850936,-0.5650693,3.017916 -252.3204,182.6474,4772,0.3499643,-0.702323,3.335699 -267.2503,284.6685,4773,-0.190966,-0.8269363,3.452543 -249.8321,252.3204,4774,-0.08467437,-0.828473,3.44505 -404.1079,324.4817,4775,-0.339278,-0.6976058,3.309961 -339.4116,341.8999,4776,-0.2991692,-0.7187213,3.41436 -379.2247,379.2247,4777,-0.4198851,-0.7300467,3.404176 -308.5564,198.075,4778,0.2079484,-0.6503943,3.249588 -242.8648,207.033,4779,0.1747168,-0.7635008,3.398251 -337.8191,226.7405,4780,-0.1253921,-0.7805793,3.283529 -251.8227,254.8087,4781,-0.0796237,-0.8167264,3.444911 -434.565,355.735,4782,-0.436374,-0.7140951,3.312856 -251.8227,183.1451,4784,0.3494437,-0.7023498,3.337547 -287.6545,239.8788,4785,-0.09867921,-0.8088027,3.373743 -475.7716,248.8367,4786,-0.1979586,-0.5701816,3.070627 -293.6265,257.7947,4787,-0.1463979,-0.8030137,3.38693 -320.5004,293.6265,4788,-0.1685573,-0.708913,3.383111 -359.3182,305.5704,4789,-0.3276849,-0.785841,3.356915 -352.1518,169.4095,4790,0.07988916,-0.7247424,3.150429 -350.3602,215.9909,4791,0.2782634,-0.466652,3.163668 -353.3462,233.9068,4792,-0.05693039,-0.6871687,3.249627 -484.7296,241.0732,4793,-0.2280771,-0.6043257,3.062963 -526.5333,347.3742,4794,-0.4528891,-0.5953286,3.172404 -266.7527,284.6685,4795,-0.1695632,-0.8111768,3.453415 -294.8209,194.4918,4796,0.02480355,-0.7965509,3.303285 -323.4864,226.7405,4797,-0.05519124,-0.7494854,3.294996 -299.5985,236.8928,4798,-0.07030445,-0.7773982,3.348088 -301.9873,266.1555,4799,-0.1809265,-0.8047149,3.383975 -245.8508,272.7246,4800,0.009596852,-0.7332574,3.481278 -330.6527,291.2377,4801,-0.2003362,-0.7311997,3.369863 -355.735,305.5705,4802,-0.2189876,-0.6835437,3.354212 -334.2359,352.1518,4803,-0.2970942,-0.7068916,3.431855 -377.2341,180.1591,4804,0.2071461,-0.5633441,3.066748 -241.0732,205.2414,4805,0.2031945,-0.7504944,3.399599 -308.5564,210.0189,4806,0.1283273,-0.6764247,3.277299 -352.1518,287.6545,4807,-0.3039867,-0.8037324,3.347796 -301.9873,162.2432,4808,0.2791912,-0.6999579,3.211729 -244.6564,244.6564,4809,-0.03366854,-0.8168249,3.443075 -459.6473,262.5723,4810,-0.1501881,-0.5141932,3.093535 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0033.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0033.csv deleted file mode 100644 index 2c98c6103b4c1672cba08bec9b78d3278906204e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0033.csv +++ /dev/null @@ -1,257 +0,0 @@ -579.88,276.04,4169,-0.3145724,-0.5461565,3.045151 -566.92,384.04,4284,-0.4977661,-0.6716568,3.285431 -431.272,142.696,4320,0.2839538,-0.5687745,2.895056 -443.368,142.696,4344,0.2359362,-0.5818391,2.884486 -525.4,371.8,4407,-0.4462894,-0.6918548,3.313645 -457.48,376.84,4445,-0.3909985,-0.7318661,3.400627 -374.2,287.8,4469,-0.1777301,-0.7894582,3.381365 -417.448,356.968,4480,-0.3169906,-0.7403137,3.417244 -443,277,4484,-0.2097753,-0.7122437,3.263404 -372.52,181,4490,0.2581051,-0.6278195,3.115607 -399.88,199.72,4511,0.1420442,-0.6245665,3.130337 -377.704,189.352,4517,0.1936276,-0.6555554,3.135796 -336.232,151.336,4538,0.581062,-0.5668123,3.046499 -348.04,146.44,4562,0.5971127,-0.5407954,3.002136 -448.84,327.88,4580,-0.2978025,-0.7043862,3.337616 -416,356,4638,-0.3063522,-0.7271037,3.417459 -386,199,4657,0.1465022,-0.6423143,3.151298 -373,185.8,4662,0.2478436,-0.6245876,3.124346 -387.4,281.8,4664,-0.1355601,-0.778037,3.36057 -336.52,322.12,4676,-0.1888974,-0.8017021,3.475941 -242.92,236.008,4704,0.2547564,-0.7792967,3.480161 -295,278,4705,0.008263527,-0.7745482,3.467817 -411.4,356.68,4708,-0.3136285,-0.7459849,3.425363 -413.8,175,4727,0.2856375,-0.5169467,2.984512 -284.68,224.2,4735,0.2008271,-0.760286,3.387302 -215.272,154.792,4739,0.7528427,-0.7496259,3.352779 -280.936,220.8016,4750,0.2665832,-0.7244496,3.383315 -251.56,66.66401,4814,0.9261939,-0.8228111,3.050777 -258,179,4819,0.5524402,-0.6940326,3.3162 -478,250,4824,-0.1871101,-0.6614889,3.15914 -590,276,4826,-0.3446313,-0.5616573,3.047795 -542,362,4830,-0.4536856,-0.6843693,3.283716 -557,435,4837,-0.54724,-0.6961203,3.363596 -428.68,136.36,4840,0.299576,-0.5751382,2.885737 -264,220,4841,0.2413077,-0.7784902,3.416127 -361,225,4843,0.09221014,-0.6838425,3.258 -70.12001,350.056,4848,1.155016,-0.328106,4.271416 -527,418,4853,-0.5008661,-0.6999081,3.372236 -291.4,259,4856,0.01147522,-0.817046,3.446816 -91.72,398.44,4861,0.6942559,-0.4116158,4.186677 -64.36,172.36,4869,0.9946079,-0.9301537,3.751679 -515.08,240.04,4871,-0.09970217,-0.4772942,3.009599 -260.2,221.8,4875,0.2531759,-0.7740062,3.422803 -411.4,177.4,4879,0.2064204,-0.5855411,3.036832 -51.4,70.12,4885,4.058594,-0.6639691,3.605723 -68.2,187,4887,0.871599,-0.9301733,3.758389 -584,382,4888,-0.5058177,-0.6481484,3.260321 -71.56001,173.8,4891,1.001132,-0.9085164,3.741668 -470.44,152.2,4892,0.154327,-0.5561849,2.871436 -436.6,362.2,4895,-0.3512148,-0.7335418,3.401479 -363,149,4897,0.6873913,-0.424731,2.928239 -365,182,4901,0.3057748,-0.5994491,3.120222 -541,425.8,4906,-0.5265399,-0.7042872,3.369395 -128.872,227.368,4907,0.5131389,-0.8679576,3.681004 -410,231,4908,-0.03369344,-0.6792766,3.208675 -120.232,241.192,4913,0.4754431,-0.8752388,3.716445 -464.68,323.56,4917,-0.3151848,-0.7049301,3.311612 -243.6112,235.3168,4926,0.2463467,-0.781064,3.478896 -117.64,312.04,4935,1.08598,-0.3635873,4.010123 -196.264,161.704,4945,0.7543535,-0.7731653,3.415713 -452,189,4288,0.1111517,-0.5469363,2.988823 -449.8,191.8,4293,0.09473329,-0.5643962,3.006451 -450.28,117.64,4298,0.2169426,-0.6449128,2.848817 -427.24,142.12,4302,0.2829573,-0.5784484,2.902597 -431.56,143.56,4303,0.2831606,-0.5682296,2.895362 -450.28,118.504,4319,0.2263615,-0.637342,2.844321 -448.552,191.08,4358,0.1166568,-0.5480807,2.994687 -428.2,189.4,4402,0.1472365,-0.5718651,3.033967 -526,392,4409,-0.4756893,-0.7050256,3.342202 -350,307,4418,-0.1713181,-0.7904377,3.434173 -450,192,4428,0.0899142,-0.5616763,3.007731 -375,266,4438,-0.11931,-0.7601469,3.33927 -416.2,356.2,4444,-0.3134874,-0.737654,3.41788 -399,200,4448,0.134119,-0.6251706,3.125003 -407.8,257.8,4457,-0.1326317,-0.7346683,3.278116 -392.2,283,4458,-0.187784,-0.7750586,3.348749 -517,358,4460,-0.4124281,-0.6770126,3.299348 -372.52,185.32,4477,0.248466,-0.6277365,3.124713 -365,266,4478,-0.1107439,-0.7813894,3.357209 -397.0576,403.2784,4522,-0.3686131,-0.7665702,3.495496 -465.832,331.048,4541,-0.3143724,-0.6877767,3.318667 -359.7328,222.8752,4552,0.110125,-0.6800398,3.253465 -506.2286,223.1573,4622,-0.1622164,-0.6317194,3.05592 -499.6595,213.0049,4630,-0.1582391,-0.6752929,3.055454 -468,151,4634,0.1583409,-0.5465552,2.859771 -432,245,4637,-0.09180465,-0.6664755,3.199821 -562,412,4640,-0.5278839,-0.686832,3.331135 -466,193,4643,0.06491324,-0.5451699,2.980897 -335.8,322.6,4644,-0.1778201,-0.7908687,3.477018 -403,289,4652,-0.1791603,-0.7306175,3.333455 -587.08,274.6,4658,-0.3389809,-0.5623575,3.047236 -218.2,124.6,4660,1.119601,-0.6662707,3.229275 -260,111,4666,0.7940178,-0.7440139,3.138526 -549.4,405.4,4668,-0.5142213,-0.70381,3.33761 -361,224.2,4675,0.08889168,-0.6903681,3.258108 -216,131,4681,0.985108,-0.7083022,3.268547 -196.6,161.8,4695,0.7475456,-0.776891,3.411932 -320.68,185.32,4701,0.3399434,-0.6754954,3.223434 -555.4,434.44,4706,-0.5516073,-0.7139134,3.368847 -442.6,278.2,4707,-0.2117298,-0.7109655,3.265231 -454.6,322.12,4711,-0.2896471,-0.6922602,3.318601 -245.6848,139.9312,4714,0.7546752,-0.7205735,3.245201 -341.0704,307.8929,4716,-0.1966194,-0.8294422,3.455213 -320.68,185.896,4718,0.3297642,-0.6819263,3.225271 -512.488,356.968,4721,-0.4127071,-0.6903582,3.305723 -289.576,151.336,4723,0.6805372,-0.6245906,3.158939 -434.3824,137.8576,4733,0.2807381,-0.5708637,2.878008 -286.12,230.824,4737,0.1960308,-0.7425196,3.397103 -286.12,227.368,4738,0.2304493,-0.7296516,3.384476 -330.7025,330.7025,4743,-0.1759267,-0.7841876,3.490765 -242.3671,234.9021,4760,0.2655283,-0.7741149,3.477935 -334.435,152.7876,4766,0.5961575,-0.5611526,3.051459 -401.1219,171.2011,4771,0.2850936,-0.5650693,3.017916 -314.5284,278.6966,4781,-0.0796237,-0.8167264,3.444911 -590,374,4783,-0.4939995,-0.6212935,3.234995 -386.192,311.5424,4788,-0.1685573,-0.708913,3.383111 -297.1101,292.1335,4800,0.009596852,-0.7332574,3.481278 -416.0519,320.5004,4802,-0.2189876,-0.6835437,3.354212 -410.0799,365.2902,4803,-0.2970942,-0.7068916,3.431855 -284.0714,230.3236,4805,0.2031945,-0.7504944,3.399599 -330.6527,183.7423,4808,0.2791912,-0.6999579,3.211729 -258,58,4811,0.7588401,-0.8994119,3.058679 -44,71,4812,4.22702,-0.6553621,3.645296 -88,70,4813,4.647976,-0.3719473,3.355 -48,82,4815,4.332116,-0.5526719,3.686937 -241,95,4816,1.187678,-0.6672486,3.07417 -196,161,4817,0.795886,-0.754201,3.411175 -377,155,4818,0.5646916,-0.4602507,2.946248 -319,191,4820,0.3462161,-0.6537866,3.238588 -89,210,4821,0.7090989,-0.8933013,3.744195 -479,206,4822,0.03299254,-0.5074627,2.982867 -80,256,4823,0.4776366,-0.9124761,3.811449 -77,316,4825,0.5024519,-0.7805261,3.940587 -598,298,4827,-0.3741444,-0.5406553,3.067056 -438,338,4828,-0.3082418,-0.7210569,3.365026 -531,356,4829,-0.4349257,-0.6880783,3.286683 -457,377.8,4831,-0.396795,-0.7365714,3.399958 -481,376,4832,-0.4212883,-0.7310167,3.370565 -527,372,4833,-0.4513893,-0.6937991,3.314399 -595,390,4834,-0.5298603,-0.6590914,3.264586 -543,427,4835,-0.5288909,-0.702112,3.3686 -563,426,4836,-0.5434614,-0.6908968,3.346683 -566,444,4838,-0.5598871,-0.6831411,3.363178 -574,446,4839,-0.5722975,-0.6914809,3.360211 -102,247,4842,0.4398789,-0.9120245,3.754595 -79,279,4844,0.466123,-0.8701407,3.854441 -358,274,4845,-0.1380433,-0.7989729,3.382808 -367,303,4846,-0.2232115,-0.8168871,3.415582 -354,321,4847,-0.2251388,-0.811173,3.451164 -495,354,4849,-0.3931127,-0.7019346,3.327842 -506,362,4850,-0.4107852,-0.6868632,3.319153 -490.6,382.6,4851,-0.4394041,-0.7290103,3.366982 -600,395,4852,-0.5449212,-0.6731866,3.270942 -457,149,4854,0.1998716,-0.552783,2.873308 -271,189,4855,0.499716,-0.6725551,3.314998 -391,283,4857,-0.184062,-0.7685167,3.348866 -386,285,4858,-0.1869618,-0.7763193,3.359772 -589,275.8,4859,-0.349651,-0.5748059,3.054626 -75,331,4860,0.4910711,-0.7565934,3.972422 -74,73,4862,4.550988,-0.4428555,3.468568 -382,179,4863,0.2908369,-0.5823556,3.075216 -384,200,4864,0.1548611,-0.6353696,3.153101 -505,343,4865,-0.3770829,-0.6713794,3.289043 -437,363,4866,-0.3466291,-0.7264832,3.399867 -583,384,4867,-0.5148066,-0.6659749,3.26991 -368,151,4868,0.5030114,-0.5329939,2.986605 -88,261,4870,0.438539,-0.905857,3.800792 -431.8,143.8,4872,0.2977513,-0.5421298,2.877527 -73,190.6,4873,0.8077317,-0.9331234,3.749672 -295,175,4874,0.4400782,-0.6891475,3.244936 -471,219,4876,-0.05603084,-0.596019,3.069348 -179.8,406.6,4877,0.4825802,-0.3069268,3.973066 -214.6,178.6,4878,0.6252089,-0.7539704,3.414068 -321.4,185.8,4880,0.3377035,-0.6745314,3.225133 -443,173,4881,0.1795211,-0.5393859,2.958738 -597.4,297.4,4882,-0.3800293,-0.5510435,3.073993 -550,384,4883,-0.4877695,-0.6876854,3.306565 -541,427,4884,-0.5248529,-0.6972615,3.369397 -71,75,4886,4.498038,-0.4523591,3.501958 -74.2,73,4889,4.521029,-0.448622,3.470577 -35,87,4890,4.180211,-0.6126702,3.782295 -463,203,4893,0.02455615,-0.5666406,3.026037 -134.2,377.8,4894,0.7139711,-0.3427529,4.062846 -239.8,141.4,4896,0.7640058,-0.7241588,3.262698 -71.56001,178.12,4898,0.8942116,-0.9329274,3.739075 -377.8,328.6,4899,-0.2028363,-0.7251423,3.422448 -417.16,356.68,4900,-0.3129854,-0.7324113,3.415761 -124.6,268.6,4902,0.5040327,-0.7927315,3.768576 -291.88,277.48,4903,0.0002089102,-0.7862582,3.473448 -133.48,378.28,4904,0.7222353,-0.3375726,4.064267 -119.08,363.88,4905,0.7061087,-0.4352371,4.046162 -89.12801,375.976,4909,0.7155113,-0.4689649,4.139151 -134.056,377.704,4910,0.6997104,-0.3537343,4.054322 -166.888,382.888,4911,0.7086747,-0.2287335,4.010905 -386.6897,386.6897,4912,-0.3639182,-0.8061679,3.491929 -448.552,324.136,4914,-0.2873185,-0.6942771,3.331567 -118.504,363.88,4915,0.7124349,-0.4299458,4.048417 -178.984,407.08,4916,0.496625,-0.2957662,3.981496 -510.76,410.536,4918,-0.4861378,-0.7187464,3.382674 -581.608,280.936,4919,-0.3056305,-0.492357,3.021368 -222.184,121.96,4920,1.133711,-0.6602396,3.21035 -559.144,379.432,4921,-0.4874862,-0.6759531,3.288211 -178.984,417.448,4922,0.5042284,-0.2556216,4.011329 -135.784,376.3217,4923,0.7107955,-0.3466885,4.049767 -129.5632,144.0784,4924,1.046831,-0.8536142,3.533406 -562.9457,374.248,4925,-0.4908257,-0.6863095,3.280954 -417.7937,355.5857,4927,-0.3179108,-0.7393728,3.413373 -177.256,405.3521,4928,0.5242042,-0.2817912,3.989336 -180.1591,122.9277,4929,0.9981292,-0.8061733,3.349256 -111.4814,230.9208,4930,0.6289898,-0.8402472,3.734197 -127.9044,227.4372,4931,0.5402109,-0.8521278,3.690967 -120.4394,242.3671,4932,0.4893085,-0.8618724,3.722234 -320.5004,236.8928,4933,0.1169132,-0.7225928,3.348613 -518.5707,249.8321,4934,-0.138534,-0.4975477,3.035111 -439.9398,293.6265,4936,-0.2139651,-0.6857107,3.28444 -384.2014,312.0401,4937,-0.2307076,-0.7776493,3.400944 -167.7175,361.8065,4938,0.9112502,-0.1423288,3.999954 -130.3927,132.881,4939,1.087568,-0.8627535,3.505329 -284.6685,229.9255,4940,0.2172903,-0.7326037,3.394167 -364.2948,227.4372,4941,0.1019666,-0.6635257,3.250648 -117.9511,135.3693,4942,1.153358,-0.8666679,3.543961 -145.3226,379.2247,4943,0.719523,-0.3022548,4.045399 -262.2737,110.4861,4944,0.795121,-0.7411426,3.133996 -185.1357,115.4627,4946,1.117651,-0.7691721,3.309142 -213.0049,117.4534,4947,1.121577,-0.6983336,3.230807 -194.4918,126.4114,4948,1.1545,-0.7065874,3.309981 -287.6545,133.5777,4949,0.804405,-0.6110452,3.100445 -126.4114,244.6564,4950,0.5253493,-0.8289118,3.720401 -140.7441,287.6545,4951,0.3161624,-0.8230115,3.743203 -426.5028,269.7386,4952,-0.1977469,-0.7431259,3.279278 -456.0641,269.7386,4953,-0.1837819,-0.6617967,3.219777 -520.5613,266.7527,4954,-0.1993042,-0.5333596,3.085311 -141.3413,290.6405,4955,0.5018092,-0.6948671,3.793112 -439.9398,305.5704,4956,-0.1983256,-0.6276405,3.296718 -224.9489,123.4254,4957,1.115836,-0.6607313,3.209645 -129.3973,227.9348,4958,0.5283335,-0.8538423,3.687824 -341.4023,314.5284,4959,-0.1945172,-0.8122757,3.461651 -419.0379,356.3322,4960,-0.3070511,-0.7183605,3.412078 -171.2011,383.2061,4961,0.6698986,-0.2466485,3.98845 -301.9873,137.1609,4962,0.6840642,-0.6215858,3.090809 -294.8209,147.9105,4963,0.5670655,-0.6868267,3.163754 -384.2014,389.178,4964,-0.362355,-0.805121,3.49645 -244.6564,233.9068,4965,0.3285022,-0.7406579,3.459157 -436.9538,278.6966,4966,-0.175764,-0.6751531,3.261055 -213.0049,123.4254,4967,1.132831,-0.6758255,3.24291 -341.4023,189.117,4968,0.4294207,-0.5351174,3.138831 -284.0714,205.2414,4969,0.339739,-0.7093039,3.335726 -438.1482,230.3236,4970,-0.08242367,-0.6728984,3.168868 -155.0768,255.4059,4971,0.3273467,-0.851092,3.67116 -508.6174,245.8508,4972,-0.1629861,-0.5656128,3.069133 -452.4809,258.9891,4973,-0.1830239,-0.6960185,3.217798 -387.9836,208.8246,4974,0.1554801,-0.6056272,3.152934 -405.8995,223.1573,4975,0.02752,-0.6443669,3.188165 -513.395,233.9068,4976,-0.1906963,-0.62177,3.070988 -373.6509,172.9927,4977,0.3859836,-0.546165,3.052544 -477.5632,255.4059,4978,-0.15494,-0.60864,3.143887 -436.9538,269.7386,4979,-0.1686326,-0.6849278,3.249917 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0034.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0034.csv deleted file mode 100644 index 3311bfc41e516540ffb8e1c47cd90376cb9fc0f5..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0034.csv +++ /dev/null @@ -1,279 +0,0 @@ -405.3521,144.424,4302,0.2829573,-0.5784484,2.902597 -433,186.76,4304,0.1182078,-0.5431286,2.989385 -594.28,342.28,4323,-0.4792495,-0.6100071,3.23814 -430.12,183.88,4325,0.1300081,-0.5494577,2.986167 -437.8,189.4,4336,0.08064351,-0.5713779,3.003379 -419.176,142.696,4344,0.2359362,-0.5818391,2.884486 -578.44,348.04,4360,-0.485016,-0.6796292,3.288782 -361,190,4401,0.2406086,-0.6308488,3.125702 -448.6,345.4,4444,-0.3134874,-0.737654,3.41788 -307,201.4,4456,0.3562506,-0.6575202,3.232546 -419,255,4457,-0.1326317,-0.7346683,3.278116 -388.36,199.72,4511,0.1420442,-0.6245665,3.130337 -598.6,319,4614,-0.4573699,-0.5725845,3.17678 -345.16,186.76,4636,0.3128937,-0.6134745,3.128256 -375,167,4642,0.3969736,-0.4921036,2.955025 -404.2,145,4656,0.2703779,-0.5824943,2.907999 -257.8,185.8,4691,0.5106163,-0.7094917,3.275697 -197.992,197.992,4754,0.6206182,-0.7623296,3.415605 -347,160,4818,0.5646916,-0.4602507,2.946248 -245,194,4819,0.5524402,-0.6940326,3.3162 -77.03201,241.192,4821,0.7090989,-0.8933013,3.744195 -407.8,146.2,4872,0.2977513,-0.5421298,2.877527 -395.8,182.2,4879,0.2064204,-0.5855411,3.036832 -471,350,4895,-0.3512148,-0.7335418,3.401479 -215.8,159.4,4896,0.7640058,-0.7241588,3.262698 -118.504,267.112,4913,0.4754431,-0.8752388,3.716445 -187.624,139.24,4920,1.133711,-0.6602396,3.21035 -139.9312,405.3521,4943,0.719523,-0.3022548,4.045399 -165.16,130.6,4985,1.213215,-0.7120245,3.23863 -282,189,4990,0.4277954,-0.6931105,3.248584 -317,238,4993,0.1291026,-0.7409151,3.350485 -375.4,310.6,4996,-0.2147149,-0.8387905,3.455765 -411.4,48.52,5001,0.2377484,-0.8274085,2.780481 -412.6,44.2,5009,0.2940392,-0.7913965,2.723205 -90.85601,305.128,5013,0.4435725,-0.8827918,3.819431 -472,154,5018,0.0744492,-0.5537226,2.857072 -281.8,184.6,5019,0.4365691,-0.6989495,3.241178 -202,416,5021,0.4915052,-0.2653009,3.918604 -267,165,5033,0.6366181,-0.6445205,3.173156 -397,242.92,5038,-0.06056805,-0.7231087,3.265809 -101.8,283,5039,0.4317029,-0.907486,3.763522 -334.6,284.2,5041,-0.08504073,-0.8250428,3.448504 -448,189,5045,0.07162809,-0.5360363,2.978292 -266.2,233.8,5046,0.236208,-0.7803649,3.416249 -450,187,5049,0.07340448,-0.526852,2.958452 -65.8,353.8,5055,0.5647961,-0.7606118,3.982877 -255.88,340.84,5056,-0.002158437,-0.8063681,3.633963 -600,314,5057,-0.4636512,-0.6156809,3.181456 -219.88,156.52,5058,0.7742977,-0.7100076,3.24447 -291,151,5059,0.575615,-0.6536309,3.100577 -538.6,333.4,5063,-0.4200763,-0.6882129,3.300286 -418.6,255.4,5068,-0.1311401,-0.7263433,3.273809 -314.92,147.88,5073,0.4548259,-0.6830898,3.077355 -595,311.8,5076,-0.4457659,-0.5864263,3.170466 -470.2,350.2,5077,-0.3526246,-0.7317773,3.400893 -467.56,71.56001,5085,0.08143942,-0.7651535,2.770124 -532.36,326.44,5087,-0.399446,-0.6783713,3.289696 -399,327,5088,-0.2336795,-0.7733009,3.444459 -91,433,5089,0.6367388,-0.4478772,4.167738 -74.44,312.04,5090,0.4585713,-0.8867136,3.863582 -539.56,332.2,5091,-0.4209233,-0.6878587,3.29849 -588.52,350.92,5092,-0.4984985,-0.6641794,3.283175 -575.56,391.24,5093,-0.530532,-0.7111176,3.370278 -249,330,5096,0.005272776,-0.8365831,3.62523 -56.29601,222.184,5098,0.7633338,-0.9498266,3.737988 -420.04,170.92,5099,0.1906145,-0.5420298,2.952578 -480.52,312.04,5104,-0.3054731,-0.6899021,3.317105 -121.96,267.112,5110,0.4458114,-0.8840967,3.709189 -67.35521,266.4208,5114,0.6724548,-0.8792382,3.806499 -83.94402,409.4993,5117,0.7121062,-0.4720071,4.139626 -144.424,282.664,5122,0.5638849,-0.7356896,3.701121 -113.8,393.4,5124,0.7607297,-0.3915688,4.060744 -587.8,351.4,4284,-0.4977661,-0.6716568,3.285431 -435,188,4288,0.1111517,-0.5469363,2.988823 -434.2,188.2,4293,0.09473329,-0.5643962,3.006451 -407.08,145,4303,0.2831606,-0.5682296,2.895362 -431.272,187.624,4358,0.1166568,-0.5480807,2.994687 -392,267,4438,-0.11931,-0.7601469,3.33927 -390,201,4448,0.134119,-0.6251706,3.125003 -411.4,280.6,4458,-0.187784,-0.7750586,3.348749 -359.56,189.64,4477,0.248466,-0.6277365,3.124713 -382,268,4478,-0.1107439,-0.7813894,3.357209 -313.768,159.976,4538,0.581062,-0.5668123,3.046499 -499.6595,215.9909,4622,-0.1622164,-0.6317194,3.05592 -444,149,4634,0.1583409,-0.5465552,2.859771 -365.8,325,4644,-0.1778201,-0.7908687,3.477018 -577,253,4658,-0.3389809,-0.5623575,3.047236 -183.4,143.8,4660,1.119601,-0.6662707,3.229275 -359.8,190.6,4662,0.2478436,-0.6245876,3.124346 -368.2,323.56,4676,-0.1888974,-0.8017021,3.475941 -309.16,195.4,4701,0.3399434,-0.6754954,3.223434 -246.376,251.56,4704,0.2547564,-0.7792967,3.480161 -590.2,398.2,4706,-0.5516073,-0.7139134,3.368847 -455,271,4707,-0.2117298,-0.7109655,3.265231 -444.52,346.6,4708,-0.3136285,-0.7459849,3.425363 -220.8016,156.52,4714,0.7546752,-0.7205735,3.245201 -372.1744,309.9664,4716,-0.1966194,-0.8294422,3.455213 -267.112,163.432,4723,0.6805372,-0.6245906,3.158939 -309.5518,160.2525,4766,0.5961575,-0.5611526,3.051459 -380.8173,172.9927,4771,0.2850936,-0.5650693,3.017916 -317.5144,299.5985,4800,0.009596852,-0.7332574,3.481278 -284.0714,241.0732,4805,0.2031945,-0.7504944,3.399599 -307,201,4820,0.3462161,-0.6537866,3.238588 -464,325,4828,-0.3082418,-0.7210569,3.365026 -563,337,4830,-0.4536856,-0.6843693,3.283716 -552,345,4833,-0.4513893,-0.6937991,3.314399 -591,398,4837,-0.54724,-0.6961203,3.363596 -404.2,139.24,4840,0.299576,-0.5751382,2.885737 -266,234,4841,0.2413077,-0.7784902,3.416127 -102,278,4842,0.4398789,-0.9120245,3.754595 -82.60001,313,4844,0.466123,-0.8701407,3.854441 -379,276,4845,-0.1380433,-0.7989729,3.382808 -560,386,4853,-0.5008661,-0.6999081,3.372236 -308,268,4856,0.01147522,-0.817046,3.446816 -412,281,4857,-0.184062,-0.7685167,3.348866 -408,284,4858,-0.1869618,-0.7763193,3.359772 -90.28001,433,4861,0.6942559,-0.4116158,4.186677 -367,183,4863,0.2908369,-0.5823556,3.075216 -374,201,4864,0.1548611,-0.6353696,3.153101 -470,348,4866,-0.3466291,-0.7264832,3.399867 -602.2,350.2,4867,-0.5148066,-0.6659749,3.26991 -281.8,188.2,4874,0.4400782,-0.6891475,3.244936 -262.6,236.2,4875,0.2531759,-0.7740062,3.422803 -184.6,427,4877,0.4825802,-0.3069268,3.973066 -309.4,195.4,4880,0.3377035,-0.6745314,3.225133 -591,273,4882,-0.3800293,-0.5510435,3.073993 -128.2,406.6,4894,0.7139711,-0.3427529,4.062846 -448.84,345.16,4900,-0.3129854,-0.7324113,3.415761 -122,298,4902,0.5040327,-0.7927315,3.768576 -129.16,405.64,4904,0.7222353,-0.3375726,4.064267 -113.32,392.68,4905,0.7061087,-0.4352371,4.046162 -85.672,410.536,4909,0.7155113,-0.4689649,4.139151 -130.6,405.3521,4910,0.6997104,-0.3537343,4.054322 -161.704,407.08,4911,0.7086747,-0.2287335,4.010905 -113.32,393.256,4915,0.7124349,-0.4299458,4.048417 -131.6368,403.2784,4923,0.7107955,-0.3466885,4.049767 -98.45921,171.0352,4924,1.046831,-0.8536142,3.533406 -450.9713,343.144,4927,-0.3179108,-0.7393728,3.413373 -152.7876,145.3226,4929,0.9981292,-0.8061733,3.349256 -102.5235,260.7807,4930,0.6289898,-0.8402472,3.734197 -83.11458,162.7408,4942,1.153358,-0.8666679,3.543961 -233.9068,126.4114,4944,0.795121,-0.7411426,3.133996 -153.2852,138.3553,4946,1.117651,-0.7691721,3.309142 -158.66,147.9105,4948,1.1545,-0.7065874,3.309981 -258.9891,144.3273,4949,0.804405,-0.6110452,3.100445 -514.5894,251.8227,4954,-0.1993042,-0.5333596,3.085311 -189.117,138.3553,4957,1.115836,-0.6607313,3.209645 -371.2621,317.5144,4959,-0.1945172,-0.8122757,3.461651 -280.4882,144.3273,4962,0.6840642,-0.6215858,3.090809 -275.7106,153.2852,4963,0.5670655,-0.6868267,3.163754 -331.9466,197.5773,4968,0.4294207,-0.5351174,3.138831 -280.4882,215.9909,4969,0.339739,-0.7093039,3.335726 -502.6454,233.9068,4972,-0.1629861,-0.5656128,3.069133 -457.8557,251.8227,4973,-0.1830239,-0.6960185,3.217798 -380.2201,210.0189,4974,0.1554801,-0.6056272,3.152934 -398.7332,226.7405,4975,0.02752,-0.6443669,3.188165 -477.5632,244.6564,4978,-0.15494,-0.60864,3.143887 -102,49,4980,4.376557,-0.222978,2.53467 -131,48,4981,4.364295,-0.06259643,2.310379 -413,44,4982,0.2623485,-0.8163349,2.747443 -142,66,4983,4.142102,0.03774399,2.408512 -472,55,4984,0.09971462,-0.7743169,2.722149 -426,119,4986,0.2309883,-0.6238577,2.832003 -216,159,4987,0.7811477,-0.7122418,3.258082 -468,153,4988,0.08262504,-0.5579432,2.859399 -242,175,4989,0.567256,-0.7340668,3.278976 -413,189,4991,0.1285032,-0.5854868,3.038665 -258,236,4992,0.2557144,-0.78054,3.430955 -398,242,4994,-0.05860984,-0.7199476,3.26429 -332,273,4995,-0.05949848,-0.819872,3.430583 -492,331,4997,-0.35196,-0.7045906,3.343593 -559,384,4998,-0.5014021,-0.7046502,3.371889 -589,396,4999,-0.5474482,-0.69864,3.36294 -606,403,5000,-0.574704,-0.7068406,3.361951 -413,49,5002,0.2674001,-0.7998863,2.752378 -204,175,5003,0.6492232,-0.7814067,3.349996 -255,169,5004,0.6476439,-0.658543,3.212937 -283,185,5005,0.4542976,-0.6779827,3.231017 -47,220,5006,0.8471528,-0.9387939,3.753479 -494.2,208.6,5007,-0.1391324,-0.6140152,3.041008 -319,292.6,5008,-0.01436709,-0.7702441,3.468527 -251.8,133,5010,0.6391722,-0.7668933,3.148655 -424,173,5011,0.2221268,-0.4850551,2.926606 -450,209,5012,-0.04830343,-0.631205,3.086808 -417,281,5014,-0.1933912,-0.7635141,3.341 -64,339,5015,0.4586386,-0.8603521,3.926474 -171,353,5016,0.8715109,-0.2256552,3.859541 -562,348,5017,-0.4591821,-0.665322,3.300546 -233.8,159.4,5020,0.7941223,-0.6499156,3.209499 -264,236,5022,0.2460544,-0.7727909,3.422294 -219.4,157,5023,0.7634206,-0.7181663,3.248425 -442.6,206.2,5024,0.0005557975,-0.6378082,3.101502 -314.92,286.12,5025,-0.02955339,-0.8054447,3.469758 -460,330,5026,-0.3140435,-0.7299535,3.378357 -509,329,5027,-0.3688387,-0.7149656,3.329323 -601,316,5028,-0.4580389,-0.582711,3.171984 -155.8,374.2,5029,0.7772461,-0.2879225,3.935346 -557,334,5030,-0.441522,-0.6707039,3.278488 -521,350,5031,-0.4181089,-0.7026575,3.349533 -464,410,5032,-0.4283808,-0.7779124,3.507227 -259,185,5034,0.5365708,-0.6803371,3.269721 -244.6,194.2,5035,0.5086188,-0.7206425,3.325882 -358.12,185.32,5036,0.2821942,-0.6034533,3.105537 -316.6,237.4,5037,0.1356474,-0.7365249,3.348657 -422,260,5040,-0.1548076,-0.7396816,3.286658 -102,378,5042,0.8166215,-0.4247258,4.055627 -543.88,368.2,5043,-0.4676836,-0.7025937,3.358447 -443.8,413.8,5044,-0.4059549,-0.7783022,3.532049 -590,368,5047,-0.5210491,-0.6801314,3.31283 -412.6,49,5048,0.2575105,-0.8081132,2.760445 -373,310.6,5050,-0.2023217,-0.826451,3.455294 -443.08,90.28001,5051,0.168948,-0.7018319,2.79008 -431.56,124.84,5052,0.2077627,-0.614481,2.839852 -267.4,163.72,5053,0.6979886,-0.6086794,3.148357 -192.52,173.8,5054,0.8035929,-0.7239689,3.34645 -415.72,217,5060,0.008621918,-0.6449521,3.151061 -297.64,293.32,5061,0.03575061,-0.7647542,3.494478 -156.52,373.96,5062,0.7572913,-0.3010305,3.93396 -201.16,418.6,5064,0.4986508,-0.2563279,3.925888 -183.88,143.56,5065,1.148159,-0.6494659,3.225749 -175,183.4,5066,0.7887723,-0.7533453,3.412604 -261.64,196.84,5067,0.4466957,-0.7139633,3.306874 -381.4,267.4,5069,-0.11171,-0.7720513,3.354953 -454.6,271,5070,-0.2077179,-0.7005283,3.262527 -65.8,333.64,5071,0.4752935,-0.854612,3.916789 -489.16,78.76,5072,0.02936734,-0.7411623,2.75844 -316.36,237.16,5074,0.1449569,-0.7291375,3.34553 -571.2401,257.32,5075,-0.3066723,-0.5072821,3.030953 -352.36,185.32,5078,0.2971276,-0.6077096,3.111073 -168.04,350.92,5079,0.925514,-0.1972405,3.86841 -465.4865,197.992,5080,0.04887699,-0.4797332,2.951222 -331.048,251.56,5081,0.1340459,-0.6744155,3.336056 -445.096,348.328,5082,-0.3136414,-0.7339769,3.423643 -201.448,419.176,5083,0.4854678,-0.2684368,3.92339 -450.28,391.528,5084,-0.4113127,-0.8179115,3.504966 -445.096,87.40001,5086,0.1722144,-0.7044176,2.776674 -443.368,90.85601,5094,0.1572333,-0.7147031,2.795645 -71.50241,353.5121,5095,0.623992,-0.7095008,3.986748 -156.52,374.248,5097,0.8377845,-0.2378338,3.948699 -117.1216,322.4081,5100,0.5371915,-0.728792,3.834417 -554.6513,274.7152,5101,-0.2914957,-0.488596,3.074177 -347.2913,247.7584,5102,-0.0504299,-0.8252227,3.370129 -397.0576,312.04,5103,-0.2117288,-0.776814,3.422395 -401.2049,237.3904,5105,-0.04113156,-0.7002615,3.241345 -459.2657,253.9792,5106,-0.1673809,-0.6571859,3.200557 -112.9744,390.8369,5107,0.7458092,-0.4092108,4.054451 -94.31201,168.9616,5108,1.080766,-0.8547596,3.535408 -77.72321,224.9488,5109,0.9371585,-0.8156289,3.71686 -168.9616,351.4384,5111,0.853119,-0.2541164,3.857119 -110.4861,162.7408,5112,1.130963,-0.8065402,3.480378 -356.8298,227.4372,5113,0.09512473,-0.693134,3.261502 -329.4583,252.3204,5115,0.06962842,-0.7394401,3.36436 -103.0211,324.4817,5116,0.4690698,-0.7963734,3.851064 -207.033,111.4814,5118,1.057909,-0.7179334,3.096806 -314.5284,152.7876,5119,0.5124748,-0.6285239,3.060748 -302.5845,207.033,5120,0.3873481,-0.6217209,3.244955 -451.386,200.0656,5121,0.09622515,-0.4684429,2.959139 -361.8065,264.762,5123,-0.07996336,-0.7927784,3.374336 -125.416,274.7153,5125,0.501216,-0.8332137,3.716584 -155.2759,374.2481,5126,0.7619492,-0.3011332,3.936318 -214.9956,130.3927,5127,1.142565,-0.59722,3.098408 -451.386,344.3882,5128,-0.3212704,-0.7363222,3.413005 -230.9208,135.3693,5129,0.864387,-0.6868492,3.136678 -111.4814,323.4864,5130,0.510796,-0.7530566,3.84205 -356.3322,314.5284,5131,-0.1557616,-0.7929822,3.47588 -112.9744,391.6663,5132,0.7836709,-0.377638,4.066269 -159.2572,386.192,5133,0.8146107,-0.2085313,3.975183 -141.3413,144.3273,5134,1.11182,-0.7814687,3.358099 -108.4955,165.2292,5135,1.146112,-0.8010558,3.487902 -117.4534,272.7246,5136,0.4941368,-0.8568277,3.72286 -245.8508,251.8227,5137,0.2299821,-0.7899722,3.484169 -192.6007,175.1824,5138,0.8439129,-0.6856743,3.342206 -194.4918,129.9946,5139,1.150223,-0.6566107,3.157197 -194.4918,137.1609,5140,1.049485,-0.6813337,3.205729 -334.2359,223.1573,5141,0.2443336,-0.6187521,3.246039 -409.4827,212.4077,5142,-0.02210598,-0.7068018,3.182032 -309.1536,241.0732,5143,0.295125,-0.6145183,3.308658 -133.5777,258.9891,5144,0.5856843,-0.789946,3.680786 -115.6618,273.3218,5145,0.5278692,-0.8392447,3.732993 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0035.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0035.csv deleted file mode 100644 index c5288dd2b5354b6a25889f6aa6826c49c7d0e03f..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0035.csv +++ /dev/null @@ -1,238 +0,0 @@ -601,320,4265,-0.5291582,-0.7172261,3.339554 -573,259,4294,-0.4205424,-0.5632323,3.15725 -593.8,335.8,4314,-0.5288631,-0.7136335,3.3729 -591.4,297.64,4329,-0.5003036,-0.6868687,3.291711 -606,256,4330,-0.4796349,-0.5632128,3.125543 -362,187,4511,0.1420442,-0.6245665,3.130337 -480,191,4623,-0.1656052,-0.5929062,3.058294 -354,187,4657,0.1465022,-0.6423143,3.151298 -85.672,153.064,4689,1.147055,-0.7576795,3.332757 -319,275.8,4705,0.008263527,-0.7745482,3.467817 -139,113.8,4816,1.187678,-0.6672486,3.07417 -133,191.8,4817,0.795886,-0.754201,3.411175 -412,293,4847,-0.2251388,-0.811173,3.451164 -421,257,4857,-0.184062,-0.7685167,3.348866 -418,261,4858,-0.1869618,-0.7763193,3.359772 -302,147,4868,0.5030114,-0.5329939,2.986605 -405.64,129.16,4892,0.154327,-0.5561849,2.871436 -98.2,418.6,4905,0.7061087,-0.4352371,4.046162 -127,143.8,4920,1.133711,-0.6602396,3.21035 -428,129,4988,0.08262504,-0.5579432,2.859399 -142.696,367.336,5016,0.8715109,-0.2256552,3.859541 -431,130,5018,0.0744492,-0.5537226,2.857072 -393.4,223,5038,-0.06056805,-0.7231087,3.265809 -91,305.8,5039,0.4317029,-0.907486,3.763522 -398,291,5050,-0.2023217,-0.826451,3.455294 -133.48,192.52,5066,0.7887723,-0.7533453,3.412604 -58.02401,365.608,5071,0.4752935,-0.854612,3.916789 -445.96,54.28,5072,0.02936734,-0.7411623,2.75844 -490.6,311.8,5077,-0.3526246,-0.7317773,3.400893 -65.28161,343.144,5090,0.4585713,-0.8867136,3.863582 -401.32,68.68,5094,0.1572333,-0.7147031,2.795645 -461.8,132.04,5146,-0.005838731,-0.5307766,2.834963 -329.8,177.4,5148,0.2768445,-0.5968741,3.111098 -469,313,5153,-0.3120799,-0.7284234,3.416408 -412,266,5161,-0.1835237,-0.7831917,3.380992 -500.2,350.2,5168,-0.4036485,-0.7532153,3.475665 -328,174,5172,0.2990747,-0.5792409,3.092056 -416,167,5173,0.07186609,-0.5320663,2.969457 -345,215,5175,0.1057574,-0.6748818,3.254959 -79,261.4,5176,0.58514,-0.9002947,3.687422 -331,281,5183,-0.04991862,-0.8173078,3.476061 -492.04,353.8,5186,-0.3820008,-0.7253429,3.471353 -497,283,5190,-0.3269885,-0.6898653,3.32095 -379,129,5191,0.2481914,-0.5533565,2.875865 -361,163,5193,0.2561119,-0.5255898,3.003142 -77.32,261.64,5194,0.6192766,-0.8810939,3.688104 -417,235,5195,-0.1136945,-0.694505,3.264793 -488,273,5197,-0.2979654,-0.6812894,3.301864 -240.04,254.44,5201,0.2521577,-0.7698415,3.483182 -96.04001,350.056,5202,0.397756,-0.8529444,3.842897 -453.4,244.6,5204,-0.2070753,-0.6994666,3.265959 -389.8,106.6,5205,0.2075307,-0.6120231,2.840742 -45.4,189.4,5206,0.9556681,-0.890101,3.545795 -507,287,5209,-0.3572645,-0.7160437,3.328322 -389.8,314.92,5211,-0.1990673,-0.8006885,3.499834 -578.2,347.8,5213,-0.5154318,-0.7228695,3.40708 -422.2,52.6,5214,0.1196529,-0.7232323,2.733308 -499,280.6,5215,-0.3267453,-0.6740609,3.304752 -91.72,157.96,5217,1.195183,-0.705286,3.322061 -323.56,247.24,5218,0.0820551,-0.7196604,3.372796 -173.8,159.976,5219,0.7947949,-0.6989187,3.240182 -528,293,5220,-0.3984315,-0.7231556,3.333697 -54.568,178.984,5221,1.054363,-0.8407426,3.483737 -435.4,133,5222,0.04203937,-0.5760431,2.890084 -467.56,343.72,5223,-0.3465804,-0.7651402,3.484689 -217,309.4,5227,0.1150904,-0.8861444,3.643895 -56.29601,184.168,5231,1.06797,-0.8165392,3.49353 -344,356,5233,-0.1767589,-0.8471829,3.615548 -592.84,335.08,5235,-0.525583,-0.698239,3.365542 -251.9056,322.4081,5240,0.03316445,-0.8651223,3.636398 -302,340,5260,-0.08471149,-0.8528645,3.624199 -360,362,5261,-0.2074467,-0.8364699,3.614109 -320.68,353.8,5272,-0.1129756,-0.8195688,3.62317 -591.4,298.6,4284,-0.4977661,-0.6716568,3.285431 -365.32,127.72,4303,0.2831606,-0.5682296,2.895362 -399.88,166.6,4304,0.1182078,-0.5431286,2.989385 -397,163.72,4325,0.1300081,-0.5494577,2.986167 -400.168,166.888,4358,0.1166568,-0.5480807,2.994687 -584.2,296.2,4360,-0.485016,-0.6796292,3.288782 -397,247,4438,-0.11931,-0.7601469,3.33927 -418,233,4457,-0.1326317,-0.7346683,3.278116 -423.4,256.6,4458,-0.187784,-0.7750586,3.348749 -332.2,176.68,4477,0.248466,-0.6277365,3.124713 -393,249,4478,-0.1107439,-0.7813894,3.357209 -589,269,4614,-0.4573699,-0.5725845,3.17678 -476.2692,185.1357,4622,-0.1622164,-0.6317194,3.05592 -405,129,4634,0.1583409,-0.5465552,2.859771 -336,153,4642,0.3969736,-0.4921036,2.955025 -223.912,159.976,4723,0.6805372,-0.6245906,3.158939 -606,338,4837,-0.54724,-0.6961203,3.363596 -256,232,4841,0.2413077,-0.7784902,3.416127 -391,257.8,4845,-0.1380433,-0.7989729,3.382808 -577,332,4853,-0.5008661,-0.6999081,3.372236 -334,169,4863,0.2908369,-0.5823556,3.075216 -352.6,187,4864,0.1548611,-0.6353696,3.153101 -490,312,4866,-0.3466291,-0.7264832,3.399867 -365.8,128.2,4872,0.2977513,-0.5421298,2.877527 -253,235,4875,0.2531759,-0.7740062,3.422803 -181,440.2,4877,0.4825802,-0.3069268,3.973066 -362,163,4879,0.2064204,-0.5855411,3.036832 -568,228,4882,-0.3800293,-0.5510435,3.073993 -113.8,430.6,4894,0.7139711,-0.3427529,4.062846 -469,312.04,4900,-0.3129854,-0.7324113,3.415761 -146.152,426.088,4911,0.7086747,-0.2287335,4.010905 -97.76801,417.448,4915,0.7124349,-0.4299458,4.048417 -129.9946,144.3273,4957,1.115836,-0.6607313,3.209645 -396.643,297.1101,4959,-0.1945172,-0.8122757,3.461651 -255.4059,212.4077,4969,0.339739,-0.7093039,3.335726 -387.9836,201.6582,4975,0.02752,-0.6443669,3.188165 -425,37,4984,0.09971462,-0.7743169,2.722149 -100.36,136.36,4985,1.213215,-0.7120245,3.23863 -171,162,4987,0.7811477,-0.7122418,3.258082 -208,175,4989,0.567256,-0.7340668,3.278976 -309.4,229,4993,0.1291026,-0.7409151,3.350485 -393,223,4994,-0.05860984,-0.7199476,3.26429 -345,261,4995,-0.05949848,-0.819872,3.430583 -366,35,5002,0.2674001,-0.7998863,2.752378 -252,181,5005,0.4542976,-0.6779827,3.231017 -471.4,181,5007,-0.1391324,-0.6140152,3.041008 -328,283,5008,-0.01436709,-0.7702441,3.468527 -251.8,181,5019,0.4365691,-0.6989495,3.241178 -254,235,5022,0.2460544,-0.7727909,3.422294 -517,289,5027,-0.3688387,-0.7149656,3.329323 -135.4,392.2,5029,0.7772461,-0.2879225,3.935346 -328.6,173.8,5036,0.2821942,-0.6034533,3.105537 -560.2,320.2,5043,-0.4676836,-0.7025937,3.358447 -487,375.4,5044,-0.4059549,-0.7783022,3.532049 -256.6,231.4,5046,0.236208,-0.7803649,3.416249 -599,313,5047,-0.5210491,-0.6801314,3.31283 -417,165,5049,0.07340448,-0.526852,2.958452 -399.88,71.56001,5051,0.168948,-0.7018319,2.79008 -389.8,106.12,5052,0.2077627,-0.614481,2.839852 -224.2,160.84,5053,0.6979886,-0.6086794,3.148357 -51.4,388.36,5055,0.5647961,-0.7606118,3.982877 -175.24,159.4,5058,0.7742977,-0.7100076,3.24447 -134.92,392.68,5062,0.7572913,-0.3010305,3.93396 -388.6,249.4,5069,-0.11171,-0.7720513,3.354953 -454,244,5070,-0.2077179,-0.7005283,3.262527 -323.8,173.8,5078,0.2971276,-0.6077096,3.111073 -424.6,51.4,5085,0.08143942,-0.7651535,2.770124 -400.168,68.39201,5086,0.1722144,-0.7044176,2.776674 -487,278.2,5104,-0.3054731,-0.6899021,3.317105 -453.0449,224.9488,5106,-0.1673809,-0.6571859,3.200557 -147.3133,111.4814,5118,1.057909,-0.7179334,3.096806 -135.3693,394.1547,5126,0.7619492,-0.3011332,3.936318 -153.2852,132.3833,5127,1.142565,-0.59722,3.098408 -102.5235,287.6545,5136,0.4941368,-0.8568277,3.72286 -242.8648,254.8087,5137,0.2299821,-0.7899722,3.484169 -150.2992,180.1591,5138,0.8439129,-0.6856743,3.342206 -133,192,5147,0.7947051,-0.753369,3.411698 -506,197,5149,-0.2347464,-0.6097522,3.06118 -574.6,230.2,5150,-0.3915071,-0.5519526,3.074654 -43,352,5151,0.469084,-0.9131094,3.903476 -496,294,5152,-0.3348037,-0.7017731,3.347901 -529,312,5154,-0.4108329,-0.7076128,3.365767 -539,314,5155,-0.4283017,-0.7046956,3.364294 -551,318,5156,-0.4472332,-0.7003139,3.35884 -567,314,5157,-0.4714086,-0.6863009,3.334774 -561,320,5158,-0.4665995,-0.6985015,3.356252 -590,318,5159,-0.5090259,-0.6786544,3.328091 -277,234,5160,0.2166999,-0.7321655,3.386779 -54,347,5162,0.4679038,-0.8977796,3.883724 -135,392,5163,0.7295965,-0.3341403,3.931403 -182,440,5164,0.4569173,-0.3323271,3.96511 -196,189,5165,0.59786,-0.715728,3.327302 -389.8,319,5166,-0.1795627,-0.7565881,3.493371 -50,371,5167,0.4692563,-0.8653904,3.936673 -153,445,5169,0.553738,-0.3221402,4.027737 -488,376,5170,-0.4076213,-0.7815731,3.527271 -376.6,163,5171,0.1860205,-0.5560042,3.00689 -367,185,5174,0.1257385,-0.6367572,3.135875 -500,280,5177,-0.3272741,-0.6823569,3.308217 -558,297,5178,-0.44245,-0.6746241,3.303252 -124.6,86.2,5179,1.183748,-0.7833585,3.042095 -377,127,5180,0.2582383,-0.5457779,2.867795 -413.8,166.6,5181,0.08639603,-0.5250347,2.973863 -567.4,227.8,5182,-0.3743652,-0.5497432,3.069844 -297.64,345.16,5184,-0.05498664,-0.8137965,3.628951 -538.6,314.2,5185,-0.4293841,-0.6969878,3.360537 -416.2,257.8,5187,-0.1747667,-0.7649871,3.35122 -417.4,261.4,5188,-0.1830074,-0.7686057,3.359694 -607,330,5189,-0.5444101,-0.699285,3.347803 -196.84,425.8,5192,0.4438044,-0.3224023,3.908861 -88.84,309.16,5196,0.4167369,-0.9190828,3.773097 -397,291.4,5198,-0.1997208,-0.8236327,3.455237 -412.84,166.6,5199,0.09077273,-0.5213014,2.971521 -375.4,215.56,5200,0.04561933,-0.6420507,3.216077 -253,234.28,5203,0.2388099,-0.7824492,3.425469 -368.0273,222.8752,5207,-0.02922587,-0.7640042,3.308498 -347.2913,287.1568,5208,-0.08906864,-0.810334,3.478431 -538.4081,291.304,5210,-0.3993299,-0.6548493,3.294839 -280.936,339.688,5212,-0.01500664,-0.815336,3.633423 -75.64961,370.1009,5216,0.432954,-0.8369293,3.905852 -496.5905,372.1744,5224,-0.4151936,-0.7684392,3.51666 -224.9488,158.5936,5225,0.7324852,-0.5861179,3.126258 -276.7888,235.3168,5226,0.2175772,-0.7292121,3.39064 -121.2688,293.3777,5228,0.6473873,-0.6777267,3.700104 -351.4384,268.4944,5229,-0.0824546,-0.8191222,3.441259 -502.8113,363.8801,5230,-0.4153683,-0.7600435,3.49218 -260.2,212.5072,5232,0.3173761,-0.7219282,3.34008 -135.784,392.9105,5234,0.7726841,-0.2889868,3.93393 -144.3273,93.56553,5236,1.090675,-0.7580728,3.040836 -466.3159,177.6708,5237,-0.1157084,-0.6024652,3.025905 -80.62626,284.6685,5238,0.6145075,-0.8355431,3.732522 -535.989,222.4605,5239,-0.3054738,-0.5407603,3.072019 -259.7853,212.5072,5241,0.3557239,-0.685652,3.327003 -93.06786,282.1802,5242,0.5757864,-0.8360572,3.712869 -451.386,237.3905,5243,-0.1910121,-0.6890925,3.245799 -351.8532,269.7386,5244,-0.08458637,-0.8199089,3.442688 -224.9489,157.7642,5245,0.7307674,-0.5821121,3.127775 -294.6218,304.5751,5246,-0.04267493,-0.8704392,3.57355 -151.4936,180.1591,5247,0.7380912,-0.7623729,3.361018 -326.4724,210.0189,5248,0.1838384,-0.6506485,3.245192 -416.6491,201.6582,5249,-0.05351081,-0.659193,3.162171 -272.7246,236.8928,5250,0.2395044,-0.7173895,3.39014 -448.8977,239.8788,5251,-0.1967433,-0.7080602,3.262756 -410.0799,305.5704,5252,-0.2073389,-0.7561834,3.452603 -129.3973,135.3693,5253,1.206369,-0.6372426,3.154316 -151.4936,133.5777,5254,1.050434,-0.6556397,3.140801 -212.5072,142.8343,5255,0.8118807,-0.6162198,3.103598 -257.7947,213.0049,5256,0.3485685,-0.6977239,3.331772 -438.9444,239.8788,5257,-0.1982557,-0.7581333,3.292521 -133.5777,294.8209,5258,0.4279449,-0.8210696,3.698051 -119.245,301.9873,5259,0.4695058,-0.8128362,3.727045 -471.2926,312.0401,5262,-0.3127309,-0.7190712,3.40758 -350.3602,269.7386,5263,-0.06451637,-0.7919264,3.435618 -219.5741,162.2432,5264,0.5682706,-0.7404255,3.205753 -108.4955,272.7246,5265,0.4068362,-0.9385084,3.685498 -366.4846,248.2395,5266,-0.06401447,-0.7749615,3.365684 -362.9014,301.9873,5267,-0.1124996,-0.766932,3.481868 -473.98,305.5705,5268,-0.3135094,-0.718635,3.394347 -499.0623,327.0695,5269,-0.3550215,-0.6813694,3.406219 -370.0677,190.9086,5270,0.1874036,-0.4856986,3.090496 -463.2305,284.0714,5271,-0.2552029,-0.6733289,3.335373 -477.5632,208.8246,5273,-0.1407208,-0.5090531,3.051075 -477.5632,223.1573,5274,-0.1802067,-0.5471191,3.11647 -165.8264,119.245,5275,1.014778,-0.66822,3.083673 -355.735,269.7386,5276,-0.08331529,-0.8071957,3.434841 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0036.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0036.csv deleted file mode 100644 index 80192c79125a41870a022b3b2c8ea23bbee24a44..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0036.csv +++ /dev/null @@ -1,284 +0,0 @@ -593,251,4173,-0.547159,-0.6540971,3.256642 -579,273,4265,-0.5291582,-0.7172261,3.339554 -576,286,4281,-0.531538,-0.6935096,3.36617 -324.4817,102.6064,4344,0.2359362,-0.5818391,2.884486 -325,161,4448,0.134119,-0.6251706,3.125003 -395.56,240.04,4469,-0.1777301,-0.7894582,3.381365 -369,223,4478,-0.1107439,-0.7813894,3.357209 -493,269,4532,-0.3791181,-0.7657968,3.399368 -264,197,4564,0.2773635,-0.6062888,3.244136 -353,107,4634,0.1583409,-0.5465552,2.859771 -267.4,156.52,4636,0.3128937,-0.6134745,3.128256 -311,108,4656,0.2703779,-0.5824943,2.907999 -244.36,222.76,4712,0.2077412,-0.7361248,3.398035 -236,180,4820,0.3462161,-0.6537866,3.238588 -306.28,101.8,4840,0.299576,-0.5751382,2.885737 -339,107,4854,0.1998716,-0.552783,2.873308 -276,157,4901,0.3057748,-0.5994491,3.120222 -303.4,260.2,4903,0.0002089102,-0.7862582,3.473448 -329,79,4986,0.2309883,-0.6238577,2.832003 -202,167,5005,0.4542976,-0.6779827,3.231017 -331,135,5011,0.2221268,-0.4850551,2.926606 -373,161,5024,0.0005557975,-0.6378082,3.101502 -83.94401,408.808,5062,0.7572913,-0.3010305,3.93396 -369.4,223,5069,-0.11171,-0.7720513,3.354953 -393,33,5072,0.02936734,-0.7411623,2.75844 -499,183,5075,-0.3066723,-0.5072821,3.030953 -274.6,154.6,5078,0.2971276,-0.6077096,3.111073 -54.28,356.68,5100,0.5371915,-0.728792,3.834417 -405,259,5103,-0.2117288,-0.776814,3.422395 -107.56,120.52,5129,0.864387,-0.6868492,3.136678 -477,259,5152,-0.3348037,-0.7017731,3.347901 -395.8,241,5161,-0.1835237,-0.7831917,3.380992 -139.24,180.712,5165,0.59786,-0.715728,3.327302 -364.6,143.8,5181,0.08639603,-0.5250347,2.973863 -318.952,256.744,5183,-0.04991862,-0.8173078,3.476061 -58.02401,362.152,5202,0.397756,-0.8529444,3.842897 -220.456,220.456,5203,0.2388099,-0.7824492,3.425469 -478.6,244.6,5215,-0.3267453,-0.6740609,3.304752 -106.408,149.608,5219,0.7947949,-0.6989187,3.240182 -334.8496,86.01761,5280,0.2034084,-0.6162301,2.844116 -95.8,160.6,5285,0.7323896,-0.7552724,3.317637 -455,151,5286,-0.2031433,-0.6191362,3.03161 -310.6,257.32,5297,-0.03652705,-0.8207939,3.477379 -519,251,5299,-0.4119102,-0.6392857,3.282156 -566.2,299.8,5302,-0.5203689,-0.7209584,3.406214 -353.8,139.24,5308,0.09019255,-0.5791243,3.010335 -152.2,185.32,5309,0.5021382,-0.7548283,3.357312 -264.3472,197.992,5311,0.1950942,-0.7108281,3.311975 -399.4,193,5312,-0.1332455,-0.7141908,3.229829 -490.6,185.8,5313,-0.2935216,-0.5217598,3.048658 -536.68,296.2,5319,-0.4688036,-0.739732,3.419499 -584,302,5321,-0.5494633,-0.7381224,3.409572 -446,355,5324,-0.3509239,-0.829281,3.600808 -371.8,220.6,5331,-0.1310992,-0.8071653,3.366038 -88.84,378.28,5333,0.8497399,-0.2303631,3.855953 -68.2,188.2,5339,0.797461,-0.7345784,3.407297 -348.04,145,5343,0.1163615,-0.5527852,3.008174 -291.88,228.52,5345,0.08650614,-0.7181376,3.377845 -550.6,225.4,5350,-0.4613767,-0.5258857,3.144809 -458.2,278.2,5352,-0.3158148,-0.7429911,3.418156 -388.36,83.08,5357,0.03488979,-0.6232635,2.832469 -455.8,280.6,5374,-0.3126625,-0.7263088,3.421268 -97,157,5376,0.8449234,-0.6689042,3.257655 -262.6,313,5377,-0.006688707,-0.8598189,3.627749 -305.128,108.136,5378,0.3058355,-0.5516789,2.886624 -102.952,153.064,5379,0.7808809,-0.7114655,3.260849 -337.96,246.376,5385,-0.09179652,-0.8343365,3.449058 -503.8,308.2,5386,-0.4243167,-0.8191753,3.485984 -109.864,113.32,5388,0.841889,-0.7137887,3.122818 -59.8,296.2,5394,0.4720648,-0.8650469,3.718904 -261.928,312.04,5396,-0.000897522,-0.8530546,3.624709 -49.96,152.2,5397,1.054133,-0.6676996,3.260205 -513.64,245.8,5398,-0.4011985,-0.6823672,3.295325 -270.568,313.768,5400,-0.01205612,-0.8381441,3.619881 -308.584,106.408,5401,0.2795338,-0.5783884,2.905541 -434.44,175.24,5402,-0.1545624,-0.5521736,3.065145 -327.88,222.76,5403,-0.02655766,-0.7880843,3.374578 -542,221,5408,-0.4530106,-0.5425138,3.150946 -556.6,251.8,5409,-0.4858893,-0.6783079,3.287132 -398.44,48.52,5410,0.008794669,-0.7024385,2.779502 -236.008,172.072,5411,0.3537973,-0.6585251,3.213713 -376.84,147.88,5415,0.001040989,-0.6121061,3.050295 -329.32,336.232,5421,-0.15325,-0.86952,3.635312 -83.94402,175.1824,5424,0.7500621,-0.7527472,3.363605 -65.8,299.08,5425,0.4581697,-0.8570967,3.721938 -73.576,123.688,5430,1.086797,-0.6255012,3.11846 -71.50241,353.5121,5431,0.4202722,-0.8072395,3.816209 -83.94401,377.704,5440,0.8189198,-0.2870114,3.860063 -568.36,217,5456,-0.4927736,-0.565232,3.133337 -352.36,143.56,4304,0.1182078,-0.5431286,2.989385 -575.8,286.6,4314,-0.5288631,-0.7136335,3.3729 -351.784,144.424,4358,0.1166568,-0.5480807,2.994687 -377,221,4438,-0.11931,-0.7601469,3.33927 -320,166,4511,0.1420442,-0.6245665,3.130337 -312,167,4657,0.1465022,-0.6423143,3.151298 -303.4,255.88,4705,0.008263527,-0.7745482,3.467817 -159.976,146.152,4723,0.6805372,-0.6245906,3.158939 -51.4,101.8,4816,1.187678,-0.6672486,3.07417 -587,287,4837,-0.54724,-0.6961203,3.363596 -223,218,4841,0.2413077,-0.7784902,3.416127 -561,285,4853,-0.5008661,-0.6999081,3.372236 -405,231,4858,-0.1869618,-0.7763193,3.359772 -310.6,166.6,4864,0.1548611,-0.6353696,3.153101 -477,275,4866,-0.3466291,-0.7264832,3.399867 -309.16,107.56,4872,0.2977513,-0.5421298,2.877527 -352.36,106.12,4892,0.154327,-0.5561849,2.871436 -458.92,277.48,4900,-0.3129854,-0.7324113,3.415761 -215.9909,198.075,4969,0.339739,-0.7093039,3.335726 -375,105,4988,0.08262504,-0.5579432,2.859399 -327,239,4995,-0.05949848,-0.819872,3.430583 -378,106,5018,0.0744492,-0.5537226,2.857072 -201.4,166.6,5019,0.4365691,-0.6989495,3.241178 -280.6,154.6,5036,0.2821942,-0.6034533,3.105537 -49,313,5039,0.4317029,-0.907486,3.763522 -543.4,274.6,5043,-0.4676836,-0.7025937,3.358447 -367,141,5049,0.07340448,-0.526852,2.958452 -343.72,48.52,5051,0.168948,-0.7018319,2.79008 -333.64,83.08,5052,0.2077627,-0.614481,2.839852 -107.56,149.32,5058,0.7742977,-0.7100076,3.24447 -64,186,5147,0.7947051,-0.753369,3.411698 -280.6,157,5148,0.2768445,-0.5968741,3.111098 -531,193,5150,-0.3915071,-0.5519526,3.074654 -459,278,5153,-0.3120799,-0.7284234,3.416408 -548,269,5157,-0.4714086,-0.6863009,3.334774 -243.4,219.4,5160,0.2166999,-0.7321655,3.386779 -83.8,407.8,5163,0.7295965,-0.3341403,3.931403 -381.16,291.88,5166,-0.1795627,-0.7565881,3.493371 -327.4,141.4,5171,0.1860205,-0.5560042,3.00689 -281,155,5172,0.2990747,-0.5792409,3.092056 -366,143,5173,0.07186609,-0.5320663,2.969457 -324,164,5174,0.1257385,-0.6367572,3.135875 -523,273,5185,-0.4293841,-0.6969878,3.360537 -399.4,229,5187,-0.1747667,-0.7649871,3.35122 -401.8,232.6,5188,-0.1830074,-0.7686057,3.359694 -587,280,5189,-0.5444101,-0.699285,3.347803 -389.8,208.6,5195,-0.1136945,-0.694505,3.264793 -465.4,238.6,5197,-0.2979654,-0.6812894,3.301864 -363.88,143.56,5199,0.09077273,-0.5213014,2.971521 -274.024,324.136,5212,-0.01500664,-0.815336,3.633423 -567,300,5213,-0.5154318,-0.7228695,3.40708 -338.9969,245.6848,5229,-0.0824546,-0.8191222,3.441259 -83.94402,407.4257,5234,0.7726841,-0.2889868,3.93393 -493.6875,187.624,5239,-0.3054738,-0.5407603,3.072019 -213.0049,198.075,5241,0.3557239,-0.685652,3.327003 -339.4116,244.8554,5244,-0.08458637,-0.8199089,3.442688 -144.3273,129.3973,5255,0.8118807,-0.6162198,3.103598 -162.2432,140.7441,5264,0.5682706,-0.7404255,3.205753 -348.5686,223.1573,5266,-0.06401447,-0.7749615,3.365684 -463.2305,273.3218,5268,-0.3135094,-0.718635,3.394347 -477.5632,284.0714,5269,-0.3550215,-0.6813694,3.406219 -319.9032,172.9927,5270,0.1874036,-0.4856986,3.090496 -433.9678,180.1591,5273,-0.1407208,-0.5090531,3.051075 -441.7314,194.4918,5274,-0.1802067,-0.5471191,3.11647 -341.4023,244.6564,5276,-0.08331529,-0.8071957,3.434841 -95,40,5277,0.8440192,-0.8893929,2.992898 -346,44,5278,0.1652232,-0.7095805,2.780131 -49,63.4,5279,1.162433,-0.7647685,2.992652 -389,83,5281,0.04656291,-0.5966585,2.809483 -413,107,5282,-0.02887579,-0.5481219,2.847986 -66,128,5283,1.044568,-0.6685247,3.169297 -353,145,5284,0.1056477,-0.5445043,3.000051 -132,175,5287,0.5858065,-0.7503781,3.328379 -76,190,5288,0.7433849,-0.7521362,3.416238 -268,184,5289,0.245458,-0.6509823,3.233304 -194,189,5290,0.4122365,-0.7095717,3.324088 -483.4,169,5291,-0.2806546,-0.5809437,3.050932 -389,191,5292,-0.09076192,-0.6694372,3.204527 -284,219,5293,0.1116698,-0.7268505,3.361612 -400,229,5294,-0.1809535,-0.7672332,3.351081 -551,225,5295,-0.4626499,-0.6047119,3.184437 -337,247,5296,-0.08821165,-0.8291554,3.448822 -361,255,5298,-0.1511983,-0.8555349,3.463541 -381.4,289,5300,-0.1818267,-0.7569175,3.486456 -92,349,5301,0.4408711,-0.7339883,3.789484 -428,351,5303,-0.322977,-0.8481161,3.607159 -397,51,5304,0.0234597,-0.6783332,2.764386 -45.4,67,5305,1.186441,-0.7546186,2.998293 -365,65,5306,0.1111667,-0.6554824,2.802931 -370.6,141.4,5307,0.06998398,-0.5176494,2.960126 -181,185,5310,0.4475406,-0.7213627,3.32163 -219,221,5314,0.2341689,-0.7879044,3.431179 -34,264,5315,0.5538574,-0.8996737,3.674199 -557,253,5316,-0.4877968,-0.6560817,3.28038 -45.4,317.8,5317,0.4237493,-0.914063,3.775878 -263,313,5318,-0.001392737,-0.8489488,3.624512 -559,298.6,5320,-0.507964,-0.7158812,3.405017 -39,388,5322,0.4172819,-0.8421103,3.904887 -407,346,5323,-0.2876452,-0.8552368,3.610404 -305.8,107.8,5325,0.3063202,-0.5495406,2.890427 -409,107,5326,-0.03986704,-0.6593679,2.923356 -134,159,5327,0.6269422,-0.7378977,3.279438 -172,159,5328,0.5155867,-0.7271898,3.249914 -269,157,5329,0.3018687,-0.6175373,3.130293 -236,171,5330,0.3653284,-0.6430856,3.206858 -386,228,5332,-0.1499319,-0.7649025,3.35283 -78,58,5334,1.022635,-0.7854718,2.963182 -422.2,202.6,5335,-0.1767916,-0.6499755,3.215065 -304,259,5336,0.005732772,-0.7557855,3.462934 -402,108,5337,0.008404124,-0.5326983,2.840202 -97,158,5338,0.8049899,-0.699946,3.275298 -214.6,220.6,5340,0.2614251,-0.7680597,3.421223 -331,132,5341,0.2110068,-0.507358,2.936923 -201.4,147.4,5342,0.5734137,-0.5814868,3.110955 -308.2,194.2,5344,0.1120937,-0.6640443,3.250485 -153,127,5346,0.7329652,-0.6403686,3.100254 -85.96001,169.48,5347,0.8081987,-0.7015507,3.319866 -286.6,158.2,5348,0.2525627,-0.6071678,3.119563 -454.6,151,5349,-0.2059233,-0.6282798,3.037614 -304.84,253,5351,0.0003919388,-0.7730688,3.456876 -49,359,5353,0.3992386,-0.8754129,3.845482 -56.2,361,5354,0.4058167,-0.848855,3.843728 -345.4,44.2,5355,0.1705361,-0.7037058,2.77531 -47.08,68.68,5356,1.120148,-0.787965,3.030474 -374.2,105.4,5358,0.08115096,-0.5617397,2.862126 -91,122,5359,1.169313,-0.5101352,3.02604 -352.6,145,5360,0.1085684,-0.5419725,2.998934 -195.4,165.4,5361,0.4619011,-0.6908897,3.238962 -337.96,247.24,5362,-0.09384045,-0.8376892,3.452183 -504,271,5363,-0.4004453,-0.7330433,3.380108 -569,271,5364,-0.5155728,-0.7046721,3.338407 -164.2,434.2,5365,0.4236576,-0.3278731,3.914516 -343,49,5366,0.1899592,-0.6734204,2.764141 -235,169,5367,0.3499191,-0.6717004,3.216847 -154.6,182.2,5368,0.5346402,-0.7246608,3.329209 -376.6,220.6,5369,-0.1213794,-0.7569287,3.335936 -461.8,241.48,5370,-0.2945712,-0.6707941,3.306151 -326.2,137.8,5371,0.2023373,-0.5379674,2.979896 -556,227,5372,-0.4731142,-0.6244864,3.19683 -522.28,247.24,5373,-0.4207598,-0.6898209,3.300379 -103,152.2,5375,0.789346,-0.7055714,3.255169 -266.2,169,5380,0.3057251,-0.58504,3.144629 -556.6,227.8,5381,-0.4750895,-0.6002837,3.186906 -83.08,409.96,5382,0.6515557,-0.4137713,3.940453 -47.08,147.88,5383,1.066077,-0.6709082,3.255634 -374.2,151,5384,0.04310291,-0.5284722,2.99974 -369.64,67.24001,5387,0.09537113,-0.6497959,2.803735 -346.6,191.8,5389,0.02192902,-0.6507132,3.213969 -296.2,228.52,5390,0.05855132,-0.7586905,3.391918 -453.16,244.36,5391,-0.27302,-0.6425758,3.301759 -456.04,280.36,5392,-0.319061,-0.751547,3.429529 -325,139.24,5393,0.2033781,-0.5388521,2.986738 -276.04,153.64,5395,0.2797612,-0.6242952,3.121079 -455.4641,280.936,5399,-0.3151806,-0.7328933,3.423373 -287.1568,270.568,5404,0.02687104,-0.7710978,3.501186 -421.9409,200.0656,5405,-0.172144,-0.6422817,3.204183 -242.92,218.728,5406,0.1988235,-0.754419,3.396187 -543.592,199.72,5407,-0.4331229,-0.5997983,3.114415 -216.6544,200.0656,5412,0.3244693,-0.7151053,3.341486 -295.4512,229.096,5413,0.04706058,-0.7751903,3.401227 -71.50241,123.3424,5414,1.195015,-0.5535111,3.074975 -363.8801,183.4768,5416,-0.01571412,-0.6496737,3.185078 -494.5169,187.624,5417,-0.3106231,-0.5290586,3.064097 -206.2864,237.3904,5418,0.2511714,-0.7800719,3.474024 -276.7888,295.4512,5419,0.04027307,-0.7514887,3.549796 -386.6897,280.936,5420,-0.1634459,-0.6764348,3.43807 -450.9713,185.5504,5422,-0.2041944,-0.5387193,3.085879 -210.4336,241.5376,5423,0.2488009,-0.7620649,3.474833 -504.8849,309.9664,5426,-0.4248583,-0.8227285,3.491645 -106.7536,148.2256,5427,0.7876136,-0.7026429,3.238397 -71.50241,303.7456,5428,0.4791881,-0.8201016,3.718097 -459.2657,276.7888,5429,-0.3179912,-0.7188156,3.407231 -493.6875,192.6007,5432,-0.3139482,-0.5360298,3.08619 -389.178,262.2737,5433,-0.2000182,-0.8206951,3.452091 -350.3602,224.9489,5434,-0.09630359,-0.8267365,3.391979 -115.6618,284.0714,5435,0.4026623,-0.8010967,3.649233 -276.905,330.6527,5436,-0.02982059,-0.8224307,3.642827 -208.8246,137.1609,5437,0.5351627,-0.6149475,3.090844 -341.4023,269.7386,5438,-0.08270569,-0.7501792,3.464176 -257.7947,323.4864,5439,0.00436822,-0.8485549,3.64071 -496.6735,329.4583,5441,-0.4174523,-0.7822277,3.518593 -162.2432,144.3273,5442,0.7348046,-0.5679139,3.115465 -299.5985,272.7246,5443,0.007223072,-0.7513779,3.491749 -244.6564,323.4864,5444,0.04088977,-0.8235517,3.649286 -350.3602,278.6966,5445,-0.1515364,-0.8519174,3.506238 -105.5095,150.2992,5446,0.7992545,-0.6943565,3.239544 -208.8246,223.1573,5447,0.2488037,-0.8034627,3.455928 -423.8155,255.4059,5448,-0.240532,-0.7407351,3.387896 -402.3164,262.5723,5449,-0.2069445,-0.7361644,3.412177 -395.15,269.7386,5450,-0.2170511,-0.8335158,3.466617 -330.6527,212.4077,5451,-0.007481581,-0.7511259,3.333019 -212.4077,241.0732,5452,0.2039264,-0.8188612,3.491614 -402.3164,255.4059,5453,-0.1568445,-0.6106242,3.335017 -387.9836,258.9891,5454,-0.1836566,-0.785327,3.4319 -150.76,127.72,5455,0.7869917,-0.597492,3.075589 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0037.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0037.csv deleted file mode 100644 index 7dce50ab8ad03963023b8eb3ae1475a512b87217..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0037.csv +++ /dev/null @@ -1,202 +0,0 @@ -343.144,156.52,4402,0.1472365,-0.5718651,3.033967 -603,284,4407,-0.4462894,-0.6918548,3.313645 -333.64,176.68,4448,0.134119,-0.6251706,3.125003 -543,267,4616,-0.3440562,-0.7050268,3.30501 -421,259,4664,-0.1355601,-0.778037,3.36057 -416.2,319,4747,-0.1394387,-0.6939889,3.445322 -304.84,103.24,4840,0.299576,-0.5751382,2.885737 -573,283,4849,-0.3931127,-0.7019346,3.327842 -308.584,109.864,4872,0.2977513,-0.5421298,2.877527 -274.024,172.072,4901,0.3057748,-0.5994491,3.120222 -532.6,189.4,4919,-0.3056305,-0.492357,3.021368 -364.6,279.4,4995,-0.05949848,-0.819872,3.430583 -609,284,5017,-0.4591821,-0.665322,3.300546 -391,169,5024,0.0005557975,-0.6378082,3.101502 -558,281,5027,-0.3688387,-0.7149656,3.329323 -600,270,5030,-0.441522,-0.6707039,3.278488 -585,298,5031,-0.4181089,-0.7026575,3.349533 -139.24,163.432,5053,0.6979886,-0.6086794,3.148357 -407.08,255.88,5069,-0.11171,-0.7720513,3.354953 -583,370,5084,-0.4113127,-0.8179115,3.504966 -284.68,170.92,5148,0.2768445,-0.5968741,3.111098 -573.4,201.4,5150,-0.3915071,-0.5519526,3.074654 -592,307,5155,-0.4283017,-0.7046956,3.364294 -604,307,5156,-0.4472332,-0.7003139,3.35884 -381.16,146.44,5173,0.07186609,-0.5320663,2.969457 -601,282,5178,-0.44245,-0.6746241,3.303252 -323.56,106.12,5180,0.2582383,-0.5457779,2.867795 -564.04,199.72,5182,-0.3743652,-0.5497432,3.069844 -137.512,159.976,5225,0.7324852,-0.5861179,3.126258 -519.4,307.72,5268,-0.3135094,-0.718635,3.394347 -330.76,301.96,5336,0.005732772,-0.7557855,3.462934 -487.72,157.96,5349,-0.2059233,-0.6282798,3.037614 -516.52,316.36,5352,-0.3158148,-0.7429911,3.418156 -400.168,80.48801,5357,0.03488979,-0.6232635,2.832469 -510.76,270.28,5370,-0.2945712,-0.6707941,3.306151 -269.8,183.4,5380,0.3057251,-0.58504,3.144629 -597.4,237.4,5408,-0.4530106,-0.5425138,3.150946 -330.76,139.24,5458,0.2274226,-0.4970801,2.940759 -73,175,5460,0.7570379,-0.7338493,3.271802 -116.2,175,5462,0.7356997,-0.6278091,3.202408 -284.2,169,5463,0.2759186,-0.5943617,3.102666 -461.8,166.6,5464,-0.1392982,-0.5045361,2.986375 -375.4,212.2,5469,-0.02045229,-0.7178348,3.248756 -83.8,232.6,5471,0.6344099,-0.7417283,3.416461 -365.32,257.32,5472,-0.04350613,-0.7793431,3.373018 -310.6,260.2,5473,0.08429303,-0.7161194,3.374586 -332.2,298.6,5475,-0.000161156,-0.7670041,3.458766 -294.76,170.92,5481,0.2507943,-0.5878735,3.101979 -143.8,187,5483,0.5367889,-0.7354118,3.276097 -218.44,182.44,5484,0.4229741,-0.6264517,3.18258 -185.32,182.44,5492,0.4660464,-0.6907905,3.227696 -77.32,170.92,5498,0.7865259,-0.7017516,3.24315 -70.60001,177.4,5502,0.7521871,-0.7412022,3.282733 -365.608,223.912,5505,-0.01294656,-0.736115,3.286293 -199.72,146.44,5510,0.3861837,-0.795262,3.188087 -572.9681,201.448,5515,-0.3961456,-0.5533803,3.07456 -427.24,106.12,5518,-0.02569241,-0.5421566,2.841528 -253,255.88,5519,0.2036439,-0.7310013,3.393157 -299.08,146.44,5525,0.2561019,-0.5996292,3.037127 -320.68,215.272,5526,0.1016012,-0.686777,3.257503 -578.152,277.48,5528,-0.4120699,-0.6818177,3.300775 -394.984,222.184,5530,-0.06901765,-0.732998,3.271794 -533.2241,270.568,5531,-0.3341514,-0.6424819,3.287921 -460.648,170.344,5533,-0.1393609,-0.5102048,3.000867 -533.2241,182.44,5534,-0.3088049,-0.4992394,3.005777 -462.376,166.888,5535,-0.1389565,-0.4912836,2.978675 -47.08,58.6,5540,1.015975,-0.7654449,2.940839 -473.32,245.8,5542,-0.2194835,-0.6838125,3.273985 -54.568,197.992,5555,0.9123309,-0.6167418,3.293124 -413.992,218.728,5574,-0.1002601,-0.7163616,3.250456 -415,251.8,4438,-0.11931,-0.7601469,3.33927 -406.6,255.4,4478,-0.1107439,-0.7813894,3.357209 -327,179,4511,0.1420442,-0.6245665,3.130337 -358.6,107.8,4634,0.1583409,-0.5465552,2.859771 -310.6,110.2,4656,0.2703779,-0.5824943,2.907999 -322.6,182.2,4657,0.1465022,-0.6423143,3.151298 -139.9312,164.8144,4723,0.6805372,-0.6245906,3.158939 -235,200.2,4820,0.3462161,-0.6537866,3.238588 -532,190,5075,-0.3066723,-0.5072821,3.030953 -517,317.8,5153,-0.3120799,-0.7284234,3.416408 -444,273,5161,-0.1835237,-0.7831917,3.380992 -281.8,167.8,5172,0.2990747,-0.5792409,3.092056 -334.6,177.4,5174,0.1257385,-0.6367572,3.135875 -591.4,307,5185,-0.4293841,-0.6969878,3.360537 -307.8929,390.8369,5212,-0.01500664,-0.815336,3.633423 -532.36,271.72,5215,-0.3267453,-0.6740609,3.304752 -212.4077,226.7405,5241,0.3557239,-0.685652,3.327003 -112.0786,144.3273,5255,0.8118807,-0.6162198,3.103598 -144.3273,158.66,5264,0.5682706,-0.7404255,3.205753 -330.6527,190.9086,5270,0.1874036,-0.4856986,3.090496 -428.2,106.6,5282,-0.02887579,-0.5481219,2.847986 -114,200,5287,0.5858065,-0.7503781,3.328379 -185.8,217,5290,0.4122365,-0.7095717,3.324088 -417,209,5292,-0.09076192,-0.6694372,3.204527 -443.8,261.4,5294,-0.1809535,-0.7672332,3.351081 -608,241,5295,-0.4626499,-0.6047119,3.184437 -223,259,5314,0.2341689,-0.7879044,3.431179 -303.4,110.44,5325,0.3063202,-0.5495406,2.890427 -424,106,5326,-0.03986704,-0.6593679,2.923356 -36,59,5334,1.022635,-0.7854718,2.963182 -187,161.8,5342,0.5734137,-0.5814868,3.110955 -57.4,195.4,5347,0.8081987,-0.7015507,3.319866 -362.44,152.2,5360,0.1085684,-0.5419725,2.998934 -137.8,208.6,5368,0.5346402,-0.7246608,3.329209 -330.76,143.56,5371,0.2023373,-0.5379674,2.979896 -513.64,320.68,5374,-0.3126625,-0.7263088,3.421268 -65.8,179.56,5376,0.8449234,-0.6689042,3.257655 -303.7456,108.8272,5378,0.3058355,-0.5516789,2.886624 -314.92,261.64,5390,0.05855132,-0.7586905,3.391918 -307.8929,108.8272,5401,0.2795338,-0.5783884,2.905541 -233.2432,189.6976,5411,0.3537973,-0.6585251,3.213713 -441.4327,307.0634,5433,-0.2000182,-0.8206951,3.452091 -402.3164,327.0695,5445,-0.1515364,-0.8519174,3.506238 -208.8246,266.1555,5447,0.2488037,-0.8034627,3.455928 -452.4809,301.9873,5449,-0.2069445,-0.7361644,3.412177 -40,63,5457,1.005892,-0.7834147,2.972724 -309,146,5459,0.2694907,-0.5248677,2.985737 -116,174,5461,0.7052105,-0.6604137,3.215843 -183.4,187,5465,0.4860339,-0.6660374,3.227885 -212.2,200.2,5466,0.3586758,-0.7127652,3.273843 -129.4,208.6,5467,0.5466709,-0.736486,3.336942 -147,209,5468,0.4968939,-0.7383278,3.332305 -566,201,5470,-0.3798014,-0.5516877,3.071316 -443,277,5474,-0.1880307,-0.7853707,3.387501 -584.2,298.6,5476,-0.423323,-0.6925942,3.344466 -541,313,5477,-0.356434,-0.7090207,3.391262 -554,314,5478,-0.3757094,-0.7199119,3.393077 -47.8,58.6,5479,1.008936,-0.7684581,2.943316 -79,170.2,5480,0.7735419,-0.7096391,3.244354 -113.8,185.8,5482,0.6491669,-0.706155,3.271546 -394.6,220.6,5485,-0.06783652,-0.7344915,3.269245 -346.6,247,5486,0.007904726,-0.7471876,3.345992 -587,235,5487,-0.4282403,-0.570865,3.1598 -297.4,255.4,5488,0.1148996,-0.7185128,3.370578 -412,255,5489,-0.1255664,-0.775279,3.351697 -561,296,5490,-0.3850083,-0.6926913,3.348273 -300,171,5491,0.2354972,-0.5905307,3.101952 -71.8,200.2,5493,0.7300318,-0.7267634,3.336018 -51.4,202.6,5494,0.7551531,-0.7545195,3.362131 -592,236,5495,-0.436152,-0.5837217,3.167069 -596.2,298.6,5496,-0.4410871,-0.6928267,3.341774 -477.4,157,5497,-0.1867389,-0.6391978,3.043005 -231.4,188.2,5499,0.3498861,-0.6739538,3.217532 -205,213,5500,0.3658533,-0.7145603,3.308813 -39,448,5501,0.4167112,-0.834767,3.847085 -576,232,5503,-0.4109376,-0.528589,3.134661 -222,139,5504,0.4132768,-0.6943669,3.098938 -584.2,368.2,5506,-0.4207441,-0.7976968,3.494492 -81,449,5507,0.8531355,-0.1568204,3.911382 -358.12,107.56,5508,0.1803453,-0.4991579,2.829525 -221.32,134.92,5509,0.4226786,-0.6904576,3.085015 -129.16,208.36,5511,0.5581714,-0.7249401,3.331697 -84.52,231.4,5512,0.6143456,-0.7611632,3.419722 -533.8,266.2,5513,-0.3332696,-0.6832678,3.295965 -53,134,5514,1.097272,-0.5713621,3.064839 -273.4,171.4,5516,0.2962004,-0.6084332,3.122309 -35,220,5517,0.7379215,-0.7871771,3.423834 -51.4,202.6,5520,0.7442537,-0.7639173,3.365812 -349.48,248.68,5521,-0.009039442,-0.7782959,3.360995 -428.2,260.2,5522,-0.1538634,-0.7784045,3.359822 -535,182.2,5523,-0.313081,-0.4274921,2.960694 -70.12,176.68,5524,0.7947161,-0.7062289,3.264425 -424.36,106.12,5527,-0.02660075,-0.5761797,2.868447 -67.24001,132.04,5529,1.063061,-0.5577845,3.044029 -415.72,107.56,5532,-0.006681549,-0.5786083,2.876503 -330.7025,77.72321,5536,0.2036805,-0.661867,2.868021 -324.136,106.408,5537,0.2392966,-0.5725725,2.888546 -517.3265,268.4944,5538,-0.3055993,-0.6836617,3.305995 -268.4944,384.6161,5539,0.03475316,-0.8487902,3.642953 -389.8,115.048,5541,0.06496117,-0.5437558,2.878836 -519.4001,316.1873,5543,-0.3214412,-0.734746,3.413554 -197.992,150.2992,5544,0.5216898,-0.6170955,3.091024 -365.9536,146.152,5545,0.1033403,-0.5441559,2.980524 -432.3089,328.6288,5546,-0.1877318,-0.7766115,3.478452 -521.4737,191.7712,5547,-0.286073,-0.4647211,3.014126 -332.7761,394.9841,5548,-0.06394321,-0.8179569,3.628988 -160.6672,144.0784,5549,0.6286824,-0.6414893,3.100296 -410.0799,102.5235,5550,0.01281476,-0.5722056,2.857236 -141.3413,162.2432,5551,0.671407,-0.631977,3.156621 -299.5985,254.8087,5552,0.1192131,-0.697156,3.359989 -368.2761,314.5284,5553,-0.09247865,-0.8415045,3.494382 -399.1313,80.62626,5554,0.03440895,-0.6351351,2.840445 -302.5845,215.9909,5556,0.1344595,-0.7111655,3.278233 -242.8648,248.8367,5557,0.2194955,-0.763853,3.396119 -293.6265,147.3133,5558,0.3229118,-0.5012209,2.978833 -230.9208,192.103,5559,0.3789915,-0.6258326,3.200561 -529.5193,180.1591,5560,-0.2998036,-0.4883974,2.994029 -210.0189,227.9348,5561,0.3672654,-0.6699211,3.324094 -218.9769,132.3833,5562,0.4060383,-0.7250293,3.101083 -317.5144,215.9909,5563,0.1200406,-0.6683974,3.252935 -266.7527,224.9489,5564,0.1898493,-0.7504379,3.33087 -305.5704,380.2201,5565,-0.02687325,-0.8589278,3.622643 -78.13794,127.9044,5566,0.7931635,-0.7545094,3.148165 -194.4918,151.4936,5567,0.5770199,-0.5662364,3.066422 -527.7277,180.1591,5568,-0.2946855,-0.5774102,3.054919 -248.2395,255.4059,5569,0.2052461,-0.7477332,3.399859 -215.9909,133.5777,5570,0.4008453,-0.7406143,3.115377 -416.6491,219.5741,5571,-0.1145151,-0.7573771,3.271572 -380.8173,287.6545,5572,-0.09874356,-0.830805,3.441843 -230.3236,190.9086,5573,0.3291682,-0.7054874,3.240648 -309.1536,341.4023,5575,-5.596962e-05,-0.8198099,3.554956 -115.4627,142.8343,5576,0.7786928,-0.6379882,3.110178 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0038.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0038.csv deleted file mode 100644 index 59a543ad2e07f019e516dde0ea8847fab614bc91..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0038.csv +++ /dev/null @@ -1,316 +0,0 @@ -518,315,4419,-0.3879202,-0.7085233,3.340746 -609,340,4433,-0.5304143,-0.7039241,3.370735 -523,346.6,4445,-0.3909985,-0.7318661,3.400627 -523.72,345.16,4481,-0.3886876,-0.7511898,3.403146 -106.6,190.6,4510,0.5198935,-0.6283914,3.086534 -544.6,254.2,4768,-0.461463,-0.587195,3.171556 -497.8,215.56,4827,-0.3741444,-0.5406553,3.067056 -248.2,220.6,4864,0.1548611,-0.6353696,3.153101 -192.808,211.816,4901,0.3057748,-0.5994491,3.120222 -242.92,103.24,4986,0.2309883,-0.6238577,2.832003 -273.16,186.76,4991,0.1285032,-0.5854868,3.038665 -496,316,4997,-0.35196,-0.7045906,3.343593 -591,340,4998,-0.5014021,-0.7046502,3.371889 -343.72,198.28,5012,-0.04830343,-0.631205,3.086808 -305.8192,171.0352,5049,0.07340448,-0.526852,2.958452 -261.928,66.66401,5051,0.168948,-0.7018319,2.79008 -370.792,265.384,5068,-0.1311401,-0.7263433,3.273809 -579.4,296.2,5092,-0.4984985,-0.6641794,3.283175 -569,320,5157,-0.4714086,-0.6863009,3.334774 -544.6,428.2,5170,-0.4076213,-0.7815731,3.527271 -501.4,305.8,5209,-0.3572645,-0.7160437,3.328322 -253,109,5280,0.2034084,-0.6162301,2.844116 -417.448,180.712,5286,-0.2031433,-0.6191362,3.03161 -457,211,5313,-0.2935216,-0.5217598,3.048658 -336.52,129.16,5337,0.008404124,-0.5326983,2.840202 -320.68,103.24,5357,0.03488979,-0.6232635,2.832469 -304.84,129.16,5358,0.08115096,-0.5617397,2.862126 -557.8,395.8,5386,-0.4243167,-0.8191753,3.485984 -295.4512,86.01761,5387,0.09537113,-0.6497959,2.803735 -534.952,253.288,5408,-0.4530106,-0.5425138,3.150946 -329.32,61.48001,5410,0.008794669,-0.7024385,2.779502 -536.2,322.6,5476,-0.423323,-0.6925942,3.344466 -496.36,343.72,5477,-0.356434,-0.7090207,3.391262 -274.6,133,5508,0.1803453,-0.4991579,2.829525 -200.2,206.2,5579,0.2873296,-0.5948863,3.101402 -116.2,231.4,5582,0.4503821,-0.63884,3.195451 -370.6,267.4,5584,-0.1405287,-0.745935,3.284238 -371.8,299.8,5586,-0.1528048,-0.784749,3.355933 -496.6,344.2,5596,-0.360055,-0.7024875,3.390373 -218.44,178.12,5598,0.31371,-0.4828856,2.960617 -372.52,182.44,5599,-0.08399501,-0.4299179,2.928719 -195.4,208.36,5600,0.3007325,-0.5894202,3.1048 -274.6,358.6,5608,4.045158e-05,-0.7678462,3.464352 -170.92,214.12,5612,0.3918267,-0.5320547,3.094703 -194.536,277.48,5616,0.2007837,-0.7158434,3.315951 -289.2304,268.4944,5617,0.008697507,-0.7398201,3.294067 -359.8,293.8,5620,-0.1306233,-0.7753826,3.344069 -147.4,325,5621,0.2405574,-0.7733089,3.429131 -218.2,140.2,5629,0.3107356,-0.5471901,2.885431 -303.4,264.52,5631,-0.01112055,-0.7186605,3.276435 -254.2,256.6,5639,0.1036548,-0.6752794,3.24959 -163.432,217,5643,0.382144,-0.5779469,3.125377 -327.88,261.64,5644,-0.05305578,-0.7010253,3.260693 -388.6,387.4,5646,-0.19071,-0.7698143,3.490969 -253,169.48,5647,0.2444256,-0.4331012,2.901649 -416.2,262.6,5650,-0.21789,-0.7049458,3.253367 -395.56,306.28,5653,-0.1917988,-0.7758275,3.361033 -307.72,260.2,5659,-0.02032796,-0.7274166,3.270737 -398.44,297.64,5662,-0.195731,-0.7820117,3.347925 -331.048,325.864,5665,-0.09123081,-0.7881861,3.406333 -499,404.2,5667,-0.3582526,-0.7520282,3.495072 -471.88,356.68,5672,-0.3187748,-0.7245802,3.420321 -526.3121,301.672,5677,-0.4131278,-0.6750546,3.302613 -392.2,191.8,5678,-0.1453865,-0.5241259,3.006917 -466.12,228.52,5679,-0.3127387,-0.5647995,3.112244 -310.312,139.24,5683,0.07966903,-0.4940367,2.84391 -92.58401,239.464,5684,0.4586535,-0.6966043,3.242036 -101.224,244.648,5685,0.4185268,-0.7186786,3.261415 -271.72,355.24,5688,-0.0004366789,-0.7893022,3.4635 -553,405.4,5689,-0.4300243,-0.778495,3.492255 -372.5201,180.712,5691,-0.09301931,-0.4989021,2.964078 -67.24001,234.28,5692,0.5339674,-0.6831048,3.227854 -332.776,260.2,5693,-0.06671928,-0.7240981,3.266353 -247.24,307.72,5694,0.07374365,-0.7411555,3.374381 -147.88,324.136,5695,0.2213857,-0.803874,3.43523 -393.256,192.808,5697,-0.1507315,-0.5534911,3.02589 -463.24,199.72,5698,-0.3031302,-0.544349,3.033782 -317.224,237.736,5699,-0.01530052,-0.6579541,3.193411 -524.584,223.912,5700,-0.436853,-0.5301682,3.078027 -325,345.16,5702,-0.09339035,-0.8291345,3.447818 -389.8,379.432,5703,-0.1930985,-0.7891014,3.481888 -201.448,206.632,5704,0.2934429,-0.5772063,3.093173 -134.056,286.12,5706,0.3106506,-0.7333956,3.3483 -253.288,258.472,5708,0.104825,-0.6752067,3.253685 -332.776,305.128,5709,-0.09237877,-0.8024946,3.375629 -151.336,324.136,5711,0.2127118,-0.8080572,3.435649 -246.376,173.8,5712,0.2113111,-0.5500903,2.985311 -159.976,336.232,5713,0.1699883,-0.8482683,3.462977 -194.536,206.632,5716,0.3141263,-0.5703022,3.090745 -246.376,313.768,5724,0.08749086,-0.7022,3.374942 -346.6,127.144,5727,-0.006559833,-0.4755375,2.791442 -253.288,170.344,5728,0.2128807,-0.5020542,2.945323 -218.728,134.056,5731,0.3083759,-0.549876,2.870474 -104.68,246.376,5737,0.4091388,-0.7192104,3.264938 -232.552,308.584,5739,0.09896386,-0.7462381,3.379653 -427.24,297.64,5740,-0.2410699,-0.6651163,3.305338 -237.3904,171.0352,5750,0.2400702,-0.540105,2.972147 -255.88,433,5751,-0.00505519,-0.8191773,3.585482 -306.856,177.256,5752,0.06208251,-0.5341794,2.980594 -312.04,137.8576,5753,0.06781534,-0.5255679,2.861418 -467.5601,204.2128,5767,-0.3186809,-0.490621,3.014068 -330.76,372.52,5789,-0.1031814,-0.8045636,3.483613 -261.928,401.896,5801,-0.0051038,-0.8153809,3.540133 -94.31201,210.088,5807,0.5176472,-0.6447922,3.148157 -359.56,293.32,4438,-0.11931,-0.7601469,3.33927 -256.6,214.6,4511,0.1420442,-0.6245665,3.130337 -277,133,4634,0.1583409,-0.5465552,2.859771 -227,140,4656,0.2703779,-0.5824943,2.907999 -250.6,219.4,4657,0.1465022,-0.6423143,3.151298 -367,302.2,4664,-0.1355601,-0.778037,3.36057 -522,309,4849,-0.3931127,-0.7019346,3.327842 -224.9488,137.8576,4872,0.2977513,-0.5421298,2.877527 -464.2,206.2,4919,-0.3056305,-0.492357,3.021368 -320,202,5024,0.0005557975,-0.6378082,3.101502 -507,307,5027,-0.3688387,-0.7149656,3.329323 -507.4,217,5150,-0.3915071,-0.5519526,3.074654 -395,316,5161,-0.1835237,-0.7831917,3.380992 -201.16,205.48,5172,0.2990747,-0.5792409,3.092056 -262,214,5174,0.1257385,-0.6367572,3.135875 -544.6,331,5185,-0.4293841,-0.6969878,3.360537 -350.2,128.2,5282,-0.02887579,-0.5481219,2.847986 -147.88,323.56,5314,0.2341689,-0.7879044,3.431179 -345.4,127,5326,-0.03986704,-0.6593679,2.923356 -418.6,181,5349,-0.2059233,-0.6282798,3.037614 -473.32,352.36,5352,-0.3158148,-0.7429911,3.418156 -458.92,299.08,5370,-0.2945712,-0.6707941,3.306151 -191.08,224.2,5380,0.3057251,-0.58504,3.144629 -250.12,169.48,5458,0.2274226,-0.4970801,2.940759 -227.8,178.6,5459,0.2694907,-0.5248677,2.985737 -205.48,206.92,5463,0.2759186,-0.5943617,3.102666 -91.72,238.6,5465,0.4860339,-0.6660374,3.227885 -128.2,253,5466,0.3586758,-0.7127652,3.273843 -51.4,271,5468,0.4968939,-0.7383278,3.332305 -499,215.8,5470,-0.3798014,-0.5516877,3.071316 -393.4,320.2,5474,-0.1880307,-0.7853707,3.387501 -44.2,244.6,5483,0.5367889,-0.7354118,3.276097 -231.4,307.72,5488,0.1148996,-0.7185128,3.370578 -119.8,268.6,5500,0.3658533,-0.7145603,3.308813 -507.304,217,5515,-0.3961456,-0.5533803,3.07456 -349.48,127.72,5518,-0.02569241,-0.5421566,2.841528 -374.2,303.4,5522,-0.1538634,-0.7784045,3.359822 -253.9792,258.1264,5526,0.1016012,-0.686777,3.257503 -527.6945,299.5984,5528,-0.4120699,-0.6818177,3.300775 -479.656,296.488,5531,-0.3341514,-0.6424819,3.287921 -475.8545,351.4384,5543,-0.3214412,-0.734746,3.413554 -106.7536,193.8448,5544,0.5216898,-0.6170955,3.091024 -388.7632,378.3953,5546,-0.1877318,-0.7766115,3.478452 -233.9068,305.5705,5552,0.1192131,-0.697156,3.359989 -319.505,103.0211,5554,0.03440895,-0.6351351,2.840445 -165.8264,309.1536,5557,0.2194955,-0.763853,3.396119 -147.9105,237.49,5559,0.3789915,-0.6258326,3.200561 -248.2395,258.9891,5563,0.1200406,-0.6683974,3.252935 -192.103,278.6966,5564,0.1898493,-0.7504379,3.33087 -459.6473,201.6582,5568,-0.2946855,-0.5774102,3.054919 -353.512,255.016,5574,-0.1002601,-0.7163616,3.250456 -260.2,166.6,5577,0.1575413,-0.6206628,3.007751 -421,181,5578,-0.2136254,-0.6535354,3.052356 -73,231.4,5580,0.5509967,-0.6479853,3.20524 -257.8,217,5581,0.1369519,-0.6055658,3.128471 -35,245,5583,0.6402905,-0.6424564,3.241546 -381,271,5585,-0.1581806,-0.7335401,3.285004 -153.4,322.6,5587,0.2248593,-0.7808957,3.4263 -247,313,5588,0.08753256,-0.6974202,3.372306 -397,299.8,5589,-0.1913227,-0.7458036,3.340046 -511,292,5590,-0.387538,-0.6738775,3.286187 -358.6,315.4,5591,-0.1338963,-0.7918083,3.386139 -468,302,5592,-0.3134815,-0.6752106,3.311242 -307,333.4,5593,-0.06081316,-0.8210047,3.430274 -496,308,5594,-0.3581768,-0.6992742,3.326696 -500,333,5595,-0.3638535,-0.7150147,3.374151 -273,167,5597,0.1645424,-0.5006264,2.933752 -91,239.8,5601,0.4631338,-0.6952577,3.242457 -103,239.8,5602,0.439771,-0.6889127,3.238227 -466.6,229,5603,-0.3140636,-0.5597972,3.110904 -310.6,250.6,5604,-0.01975195,-0.7107148,3.24448 -502,245,5605,-0.383254,-0.5850788,3.155267 -311.8,334.6,5606,-0.07049431,-0.8288965,3.433376 -413,338,5607,-0.2244355,-0.8088129,3.419421 -522,333,5609,-0.3996471,-0.7095298,3.36946 -497,345,5610,-0.3573771,-0.7270918,3.398078 -389,387,5611,-0.1914684,-0.7686773,3.490076 -62,244,5613,0.5120316,-0.7149529,3.263827 -36,251,5614,0.5318222,-0.7547368,3.298042 -98,276,5615,0.3903813,-0.7375431,3.334853 -536,253,5618,-0.4551066,-0.5497764,3.153361 -247,298.6,5619,0.07953333,-0.7355976,3.355865 -369,302,5622,-0.1481695,-0.7813621,3.358984 -260,423,5623,-0.01460104,-0.8388361,3.572192 -349,132,5624,-0.01790929,-0.487682,2.815622 -285.4,178.6,5625,0.1275497,-0.4921833,2.961873 -131,237,5626,0.3972706,-0.6596962,3.21504 -395.8,305.8,5627,-0.1905274,-0.7517992,3.352684 -359.8,313,5628,-0.137133,-0.797778,3.383703 -39.4,271,5630,0.5113044,-0.7510513,3.33802 -391,357,5632,-0.1945633,-0.8255208,3.455243 -472,361,5633,-0.3177043,-0.7429622,3.431406 -253,173.8,5634,0.2082174,-0.515083,2.963876 -205,207.4,5635,0.2720966,-0.5960247,3.106008 -465,200,5636,-0.3129911,-0.483817,2.999561 -531,299,5637,-0.4177777,-0.6932346,3.303326 -324,347,5638,-0.09057332,-0.8218473,3.44916 -76.60001,274.6,5640,0.4538524,-0.7165719,3.328417 -286.12,178.12,5641,0.1145614,-0.5311607,2.982914 -287.56,181,5642,0.1130022,-0.5208185,2.984823 -272.2,355,5645,-0.00176268,-0.7913111,3.463429 -188.2,225.64,5648,0.3373554,-0.5343513,3.124455 -371.08,265.96,5649,-0.136913,-0.7115148,3.268018 -371.08,299.08,5651,-0.1485564,-0.7592039,3.346574 -152.2,323.56,5652,0.2188452,-0.7948048,3.431435 -526.6,303.4,5654,-0.4146754,-0.6686457,3.303608 -389.8,391,5655,-0.1938433,-0.7786634,3.497524 -553,395.8,5656,-0.4242678,-0.8074158,3.483633 -253,173.8,5657,0.2050862,-0.5227124,2.968415 -101.8,240.04,5658,0.4439032,-0.6868718,3.238094 -373.96,263.08,5660,-0.1450629,-0.740639,3.273585 -309.4,305.8,5661,-0.05306165,-0.7992533,3.378935 -247,317.8,5663,0.07344609,-0.7332525,3.390695 -521.8,298.6,5664,-0.4062378,-0.6723551,3.296473 -274.6,358.12,5666,0.001963467,-0.7616658,3.462399 -146.2,177.4,5668,0.4093432,-0.6487635,3.060909 -373,193,5669,-0.1023331,-0.5355634,3.018203 -101.8,271,5670,0.3932233,-0.726741,3.320426 -194.2,274.6,5671,0.212421,-0.6954487,3.30339 -337,129.4,5673,0.01321349,-0.4985844,2.815848 -218.44,139.24,5674,0.3246306,-0.5130596,2.860965 -418.6,181,5675,-0.2104587,-0.6393893,3.043382 -70.60001,233.8,5676,0.5597424,-0.642177,3.208957 -553,410.2,5680,-0.4286442,-0.7839985,3.499839 -323.8,346.6,5681,-0.09049515,-0.8224397,3.448715 -91.72,244.36,5682,0.4501246,-0.7056617,3.256846 -415.72,261.64,5686,-0.2164758,-0.6925045,3.246493 -457.48,304.84,5687,-0.2952897,-0.6753232,3.318076 -51.4,187,5690,0.6104132,-0.6894098,3.116893 -49.96,192.52,5696,0.5538795,-0.7496302,3.16285 -520.84,297.64,5701,-0.4010247,-0.6933579,3.302211 -507.88,217,5705,-0.3954543,-0.5798406,3.088531 -548.2,395.56,5707,-0.4172264,-0.8106017,3.484559 -552.52,409.96,5710,-0.4274493,-0.786613,3.499972 -386.92,385.48,5714,-0.1880639,-0.7688572,3.488136 -258.76,166.6,5715,0.164754,-0.5954668,2.991881 -245.6848,173.1088,5717,0.2620252,-0.4355509,2.915054 -92.23841,210.4336,5718,0.4842633,-0.6937314,3.173007 -210.4336,208.36,5719,0.2871757,-0.5414763,3.078977 -200.0656,231.1696,5720,0.2877322,-0.5652984,3.151201 -294.76,223.912,5721,0.06145683,-0.5725975,3.124413 -519.4,298.216,5722,-0.3997743,-0.6862131,3.300983 -332.7761,253.9792,5723,-0.05940479,-0.6957549,3.242354 -531.8417,293.3777,5725,-0.4192671,-0.6936003,3.29309 -458.92,306.856,5726,-0.2983294,-0.6816028,3.323365 -496.936,215.272,5729,-0.3775763,-0.5414955,3.066175 -272.6416,353.5121,5730,0.005876819,-0.7642983,3.45564 -407.4257,179.3296,5732,-0.1823245,-0.588362,3.010411 -306.856,260.2,5733,-0.01941699,-0.7263278,3.27062 -529.7681,298.216,5734,-0.4248733,-0.6422442,3.284378 -474.472,353.512,5735,-0.3211805,-0.7437987,3.419221 -552.2321,412.264,5736,-0.4236051,-0.802487,3.505539 -415.72,261.928,5738,-0.2167014,-0.6979773,3.249284 -465.832,299.944,5741,-0.3089896,-0.6847385,3.310867 -496.5905,343.144,5742,-0.3602341,-0.7007635,3.388136 -460.648,301.672,5743,-0.2978818,-0.7259321,3.328398 -467.5601,356.968,5744,-0.3104382,-0.7448328,3.426094 -104.68,191.08,5745,0.4768551,-0.684092,3.119334 -139.9312,322.4081,5746,0.238144,-0.8016562,3.433028 -394.984,375.976,5747,-0.1992691,-0.7669476,3.471893 -394.9841,193.8448,5748,-0.1514911,-0.5151805,3.007092 -403.2784,266.4208,5749,-0.1959253,-0.7193108,3.268054 -457.1921,291.304,5754,-0.299369,-0.5597852,3.25205 -463.4129,200.0656,5755,-0.3082551,-0.5052945,3.011639 -401.2049,357.6592,5756,-0.2090752,-0.8214386,3.453935 -141.3413,171.2011,5757,0.5172564,-0.5167466,2.966564 -281.6826,189.117,5758,0.1177103,-0.5400454,3.018699 -394.1547,195.089,5759,-0.1548768,-0.5917243,3.053195 -317.5144,236.8928,5760,-0.007861695,-0.6255588,3.177001 -332.4443,293.6265,5761,-0.08404391,-0.7749153,3.347194 -419.0379,274.7153,5762,-0.2234617,-0.6679038,3.262473 -162.2432,332.4443,5763,0.1933936,-0.8002212,3.446177 -466.3159,312.0401,5764,-0.3105398,-0.6833665,3.3327 -466.3159,354.3415,5765,-0.3064495,-0.7718089,3.428349 -314.5284,195.089,5766,-0.004015125,-0.7321733,3.132965 -407.0939,254.8087,5768,-0.2030751,-0.6864181,3.23049 -129.3973,284.6685,5769,0.3318568,-0.7166876,3.340906 -296.6125,290.6405,5770,-0.01975868,-0.7642667,3.343471 -127.9044,175.1824,5771,0.4143952,-0.7085353,3.091303 -461.3393,200.0656,5772,-0.2995377,-0.5141025,3.018813 -251.8227,257.7947,5773,0.1067177,-0.6790608,3.253947 -329.4583,305.5704,5774,-0.08571286,-0.7958378,3.374802 -150.2992,314.5284,5775,0.2390745,-0.773188,3.410578 -368.2761,180.1591,5776,-0.07667579,-0.4591597,2.939548 -305.5705,183.7423,5777,0.05876251,-0.5477811,3.006364 -463.2305,215.9909,5778,-0.3059844,-0.5629768,3.081924 -386.192,233.9068,5779,-0.1537253,-0.6574835,3.17701 -156.2712,254.8087,5780,0.3477116,-0.6228821,3.238954 -409.4827,251.8227,5781,-0.203762,-0.6935079,3.22797 -466.8136,337.8191,5782,-0.3225396,-0.5064403,3.33343 -281.6826,215.9909,5783,0.08103929,-0.6226393,3.129987 -391.5668,244.6564,5784,-0.1664822,-0.6604807,3.200878 -255.4059,266.1555,5785,0.09262087,-0.6882032,3.274552 -330.6527,305.5705,5786,-0.0919254,-0.8177085,3.381254 -470.3968,312.7368,5787,-0.3143584,-0.7273676,3.347032 -327.0695,341.4023,5788,-0.09545873,-0.8271618,3.441304 -257.7947,227.9348,5790,0.147831,-0.5684835,3.137003 -284.6685,371.2621,5791,-0.02544552,-0.7868358,3.486242 -221.9629,138.3553,5792,0.2791777,-0.5845559,2.907287 -413.0659,262.5723,5793,-0.2122843,-0.7060156,3.254117 -475.7716,302.5845,5794,-0.3247907,-0.6920316,3.31719 -387.9836,169.4095,5795,-0.1297184,-0.5023811,2.933282 -326.4724,218.9769,5796,-0.005415088,-0.5545415,3.099697 -287.6545,223.1573,5797,0.08231459,-0.5594636,3.11713 -395.15,219.5741,5798,-0.1401856,-0.2274581,2.927251 -405.8995,230.3236,5799,-0.1862182,-0.5610453,3.121496 -438.1482,287.6545,5800,-0.26004,-0.647108,3.278057 -187.3255,219.5741,5802,0.3324154,-0.5550135,3.118208 -391.5668,251.8227,5803,-0.1692781,-0.6790451,3.223902 -298.4041,291.2377,5804,-0.04160962,-0.8406109,3.36895 -380.2201,371.2621,5805,-0.1770818,-0.7854123,3.470379 -398.7332,194.4918,5806,-0.1613441,-0.5276483,3.015384 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0039.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0039.csv deleted file mode 100644 index 8a889975e8ce3fac7074df34766977404f4ed632..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0039.csv +++ /dev/null @@ -1,242 +0,0 @@ -514.2161,320.68,4460,-0.4124281,-0.6770126,3.299348 -599.8,253,4514,-0.5838042,-0.5789391,3.144368 -533.8,364.6,4832,-0.4212883,-0.7310167,3.370565 -547,331,4833,-0.4513893,-0.6937991,3.314399 -547,363.4,4851,-0.4394041,-0.7290103,3.366982 -433,332.776,4914,-0.2873185,-0.6942771,3.331567 -477.4,213.4,5182,-0.3743652,-0.5497432,3.069844 -192.52,156.52,5808,0.2019788,-0.5267507,2.971392 -476.2,212.68,5812,-0.3891596,-0.4987921,3.049711 -486.5681,215.272,5813,-0.4009566,-0.5410506,3.072217 -191.08,265.96,5818,0.1059582,-0.6667075,3.248377 -385,277,5819,-0.2197262,-0.6898037,3.249352 -578.44,307.72,5821,-0.5320848,-0.6223882,3.255909 -219.4,344.2,5828,0.01152027,-0.741532,3.383045 -60.04,355.24,5831,0.2310686,-0.7721097,3.423787 -535,367,5834,-0.429898,-0.7411559,3.373616 -260.2,120.232,5839,0.02995267,-0.642715,2.950944 -49.96,237.16,5845,0.3841459,-0.6494644,3.210401 -553.96,293.32,5848,-0.4942839,-0.6220816,3.235864 -181,348.04,5851,0.08149786,-0.7051607,3.389554 -590.2,377.8,5852,-0.5050415,-0.7296079,3.379177 -208.36,401.32,5853,-0.002287997,-0.7953132,3.464367 -135.4,201.4,5858,0.2682141,-0.5971999,3.10909 -523.72,260.2,5861,-0.463178,-0.5575527,3.16166 -333.64,162.28,5865,-0.08756528,-0.4400164,2.923394 -40.6,170.2,5867,0.3952061,-0.7092345,3.106971 -333.64,172.36,5868,-0.1033499,-0.5467588,3.001639 -51.4,358.6,5875,0.2446276,-0.7706757,3.429057 -257.8,161.8,5881,0.03213928,-0.6112575,3.020866 -153.064,159.976,5882,0.314541,-0.4759299,2.957309 -435.4,195.4,5884,-0.3061258,-0.5521526,3.042227 -189.352,153.064,5890,0.1723838,-0.6061295,3.007573 -586.6,374.2,5895,-0.5081705,-0.7071962,3.37207 -68.39201,375.976,5902,0.2025744,-0.7874749,3.451017 -332.776,172.072,5904,-0.09913809,-0.5218236,2.988546 -121.96,201.448,5906,0.3009484,-0.5896714,3.107108 -294.76,54.568,5907,-0.005477119,-0.6074442,2.772093 -65.28161,241.5376,5910,0.355534,-0.6434308,3.215468 -358.696,184.168,5912,-0.1537724,-0.5530245,3.027819 -68.39201,251.56,5913,0.3408956,-0.6511527,3.234112 -250.12,264.52,5914,0.00777389,-0.6449841,3.232724 -154.792,317.224,5915,0.107765,-0.7501643,3.353249 -180.712,337.96,5916,0.08185907,-0.7146264,3.375581 -253,162.28,5918,0.08272614,-0.4895109,2.957862 -351.4384,239.464,5919,-0.1604079,-0.6621439,3.182791 -555.4,313.48,5920,-0.4713652,-0.7035822,3.28797 -578.152,379.432,5922,-0.4898226,-0.7264323,3.382889 -64.936,239.464,5924,0.3512222,-0.6630797,3.215229 -531.496,263.656,5925,-0.4665523,-0.5979237,3.179928 -423.4,308.2,5927,-0.2809994,-0.6956291,3.295115 -352.6,441.4,5928,-0.1926407,-0.7604298,3.493744 -227.368,168.616,5929,0.1117738,-0.5580976,3.010418 -116.776,218.728,5932,0.3091215,-0.5746225,3.13934 -567.7841,313.768,5935,-0.507883,-0.634559,3.272772 -90.28001,332.2,5939,0.2318905,-0.7077959,3.378816 -251.56,163.432,5946,0.08563676,-0.4921207,2.961746 -356.968,192.808,5947,-0.1485536,-0.4835404,3.014208 -128.872,197.992,5948,0.2558197,-0.6395434,3.122957 -178.984,73.576,5951,0.1904237,-0.6852944,2.884047 -430.2353,318.2608,5952,-0.2902904,-0.7064245,3.310653 -564.3281,306.856,5953,-0.4962871,-0.6624476,3.267478 -208.36,108.136,5955,0.2212228,-0.4581879,2.805556 -234.28,168.616,5957,0.09461316,-0.5699229,3.012918 -434.728,196.264,5985,-0.3034834,-0.5363204,3.035983 -502.6,343,4419,-0.3879202,-0.7085233,3.340746 -606,374,4433,-0.5304143,-0.7039241,3.370735 -529.48,261.64,4768,-0.461463,-0.587195,3.171556 -477.4,344.2,4997,-0.35196,-0.7045906,3.343593 -491,334,5027,-0.3688387,-0.7149656,3.329323 -571.2401,317.8,5092,-0.4984985,-0.6641794,3.283175 -358.6,351.4,5161,-0.1835237,-0.7831917,3.380992 -191.08,80.2,5280,0.2034084,-0.6162301,2.844116 -430.6,206.2,5313,-0.2935216,-0.5217598,3.048658 -301,105.4,5326,-0.03986704,-0.6593679,2.923356 -517.6721,258.472,5408,-0.4530106,-0.5425138,3.150946 -478,214,5470,-0.3798014,-0.5516877,3.071316 -196.6,153.4,5577,0.1575413,-0.6206628,3.007751 -389,175,5578,-0.2136254,-0.6535354,3.052356 -127.72,198.28,5579,0.2873296,-0.5948863,3.101402 -198.28,214.12,5581,0.1369519,-0.6055658,3.128471 -181,337.96,5588,0.08753256,-0.6974202,3.372306 -313.48,350.92,5591,-0.1338963,-0.7918083,3.386139 -476.2,334.6,5594,-0.3581768,-0.6992742,3.326696 -258.76,261.64,5604,-0.01975195,-0.7107148,3.24448 -478.6,382.6,5610,-0.3573771,-0.7270918,3.398078 -115.048,293.3777,5616,0.2007837,-0.7158434,3.315951 -51.4,358.12,5621,0.2405574,-0.7733089,3.429131 -307,109,5624,-0.01790929,-0.487682,2.815622 -232.84,163.72,5625,0.1275497,-0.4921833,2.961873 -39.4,237.4,5626,0.3972706,-0.6596962,3.21504 -151,116.2,5629,0.3107356,-0.5471901,2.885431 -134.92,201.16,5635,0.2720966,-0.5960247,3.106008 -271,395,5638,-0.09057332,-0.8218473,3.44916 -350.2,440.2,5646,-0.19071,-0.7698143,3.490969 -352,446,5655,-0.1938433,-0.7786634,3.497524 -506.44,320.68,5664,-0.4062378,-0.6723551,3.296473 -388.36,173.8,5675,-0.2104587,-0.6393893,3.043382 -271,394.6,5681,-0.09049515,-0.8224397,3.448715 -261.928,116.776,5683,0.07966903,-0.4940367,2.84391 -434.44,195.4,5698,-0.3031302,-0.544349,3.033782 -129.5632,197.992,5704,0.2934429,-0.5772063,3.093173 -184.168,158.248,5712,0.2113111,-0.5500903,2.985311 -179.3296,338.9969,5724,0.08749086,-0.7022,3.374942 -434.3824,330.7025,5726,-0.2983294,-0.6816028,3.323365 -303.7456,102.6064,5727,-0.006559833,-0.4755375,2.791442 -193.8448,152.3728,5728,0.2128807,-0.5020542,2.945323 -474.472,213.544,5729,-0.3775763,-0.5414955,3.066175 -253.9792,274.7152,5733,-0.01941699,-0.7263278,3.27062 -444.7505,399.1313,5744,-0.3104382,-0.7448328,3.426094 -365.9536,409.4993,5756,-0.2090752,-0.8214386,3.453935 -356.3322,189.117,5759,-0.1548768,-0.5917243,3.053195 -443.9211,399.1313,5765,-0.3064495,-0.7718089,3.428349 -251.8227,189.117,5766,-0.004015125,-0.7321733,3.132965 -377.2341,266.1555,5768,-0.2030751,-0.6864181,3.23049 -241.0732,316.32,5770,-0.01975868,-0.7642667,3.343471 -430.9818,195.089,5772,-0.2995377,-0.5141025,3.018813 -436.9538,356.3322,5782,-0.3225396,-0.5064403,3.33343 -223.1573,212.4077,5783,0.08103929,-0.6226393,3.129987 -452.4809,327.0695,5794,-0.3247907,-0.6920316,3.31719 -352.1518,155.0768,5795,-0.1297184,-0.5023811,2.933282 -362.9014,205.2414,5798,-0.1401856,-0.2274581,2.927251 -543,188,5809,-0.4846422,-0.6103168,3.043807 -128.2,199,5810,0.2869499,-0.5942355,3.104402 -159,201,5811,0.2136838,-0.6120082,3.111645 -352,243,5814,-0.1603941,-0.6600583,3.187089 -267.4,243.4,5815,-0.01359145,-0.644581,3.19203 -541,243,5816,-0.499799,-0.5401699,3.1195 -529,262.6,5817,-0.4693199,-0.5707478,3.169472 -302,287,5820,-0.09311211,-0.705444,3.279623 -537.4,311.8,5822,-0.4500895,-0.6852192,3.283999 -315.4,321.4,5823,-0.1285197,-0.7722234,3.343968 -88,331,5824,0.2264714,-0.7256423,3.379337 -465,335,5825,-0.3417886,-0.7011992,3.33149 -320,345,5826,-0.1414836,-0.7912257,3.37816 -567,338,5827,-0.4873129,-0.6955125,3.321847 -587.8,349,5829,-0.5118121,-0.7056825,3.33682 -524.2,353.8,5830,-0.4220635,-0.7183757,3.353351 -560.2,362.2,5832,-0.4735546,-0.7060305,3.358857 -215.8,373,5833,-0.01495358,-0.8210302,3.429955 -250.6,376.6,5835,-0.05818969,-0.8115849,3.428935 -257.8,106.6,5836,0.06396897,-0.5718747,2.874091 -208.6,109,5837,0.1833565,-0.5377358,2.861338 -218.2,109,5838,0.1539904,-0.5557893,2.872684 -260,159,5840,0.06330198,-0.4921973,2.950895 -254,161,5841,0.07858432,-0.4930159,2.957018 -39.4,166.6,5842,0.4124281,-0.6909026,3.091493 -195.4,167.8,5843,0.1806804,-0.5530533,3.009691 -188.2,219.4,5844,0.154911,-0.5997899,3.140178 -527.8,265,5846,-0.460207,-0.5970643,3.182836 -285.4,273.4,5847,-0.06494855,-0.7091505,3.260941 -263.8,328.6,5849,-0.05619323,-0.7706464,3.360294 -181,338.2,5850,0.08348351,-0.7075292,3.375114 -353,432,5854,-0.1951397,-0.8001323,3.482011 -201,111,5855,0.1846072,-0.5690076,2.887701 -235,167.8,5856,0.09977356,-0.5447813,3.001562 -124,179,5857,0.3193689,-0.5671959,3.049754 -197.8,211,5859,0.1387726,-0.6018599,3.121819 -189.4,217,5860,0.1388912,-0.6340184,3.14852 -338.2,347.8,5862,-0.1644529,-0.7796246,3.377989 -536.2,352.6,5863,-0.4403229,-0.709316,3.348951 -451,393.4,5864,-0.3203432,-0.7384229,3.418813 -232.6,164.2,5866,0.1116499,-0.5312967,2.986449 -152.2,207.4,5869,0.2169679,-0.6259826,3.131128 -155.8,320.2,5870,0.1074683,-0.7586473,3.35931 -578.2,328.6,5871,-0.5067161,-0.6855976,3.304735 -57.4,361,5872,0.2129109,-0.80374,3.434286 -215.8,178.6,5873,0.1322418,-0.5544864,3.032538 -502.6,311.8,5874,-0.404117,-0.6621964,3.28305 -181,345.4,5876,0.07818595,-0.7164578,3.38691 -335.8,328.6,5877,-0.1591418,-0.7907581,3.354588 -329.8,334.6,5878,-0.149662,-0.7625217,3.358525 -254.44,106.12,5879,0.07985747,-0.5494445,2.857831 -208.36,109,5880,0.1938567,-0.5156018,2.846705 -215.56,178.12,5883,0.1348211,-0.5510639,3.029588 -585.4,328.6,5885,-0.5111102,-0.7031257,3.307249 -433,332.2,5886,-0.2949686,-0.7137366,3.333558 -437.32,336.52,5887,-0.3027178,-0.6966057,3.336296 -352.6,431.8,5888,-0.1937619,-0.7899719,3.481889 -178.12,117.64,5889,0.2393243,-0.5551244,2.895544 -188.2,160.6,5891,0.2220448,-0.5008061,2.965816 -234.28,168.04,5892,0.10266,-0.5423039,3.000669 -258.76,191.08,5893,0.04560486,-0.5340347,3.045384 -397,316.6,5894,-0.2431273,-0.6509571,3.301885 -451.72,392.68,5896,-0.3232584,-0.7227777,3.416462 -284.68,333.64,5897,-0.08574026,-0.7619041,3.362689 -362.2,413.8,5898,-0.2055086,-0.8245609,3.460187 -155.08,317.8,5899,0.117226,-0.7389023,3.352912 -254.44,276.04,5900,-0.02216591,-0.7295827,3.27448 -434.44,325,5901,-0.2990857,-0.6824128,3.316709 -304.84,110.44,5903,-0.02438485,-0.5176982,2.844098 -229.96,169.48,5905,0.1155046,-0.5251722,2.996645 -301.96,104.68,5908,-0.03372735,-0.6013348,2.884682 -199.72,240.04,5909,0.1216991,-0.6107407,3.183407 -365.32,411.4,5911,-0.208928,-0.833651,3.45743 -355.24,434.44,5917,-0.1978507,-0.7886774,3.48457 -589.96,376.84,5921,-0.4998192,-0.7401394,3.380164 -549.64,188.2,5923,-0.4973366,-0.6058846,3.04124 -526.6,264.52,5926,-0.4876521,-0.4899636,3.14539 -134.056,196.264,5930,0.2220387,-0.6855487,3.137911 -502.8113,220.8016,5931,-0.4322418,-0.5311297,3.07776 -260.2,262.2737,5933,-0.0213101,-0.7048456,3.244637 -571.2401,312.04,5934,-0.4969438,-0.6855429,3.281523 -152.3728,115.048,5936,0.3172894,-0.5238504,2.873184 -434.3824,193.8448,5937,-0.3056577,-0.5181787,3.022606 -69.42881,249.832,5938,0.3611738,-0.6188976,3.222762 -181.4032,330.7025,5940,0.08345918,-0.7071521,3.365419 -179.3296,73.57601,5941,0.2109701,-0.6444175,2.853455 -191.7712,79.79681,5942,0.2145592,-0.5782855,2.819106 -291.304,104.68,5943,0.01415343,-0.4916822,2.813775 -233.2432,166.888,5944,0.1177754,-0.5070239,2.980249 -307.8929,102.6064,5945,-0.01788089,-0.4735008,2.796685 -533.9153,262.2737,5949,-0.4710128,-0.589858,3.175806 -450.9713,399.1313,5950,-0.3170106,-0.7530016,3.427951 -86.01761,328.6288,5954,0.2253688,-0.7341989,3.377313 -258.1264,162.7408,5956,0.07672082,-0.4722903,2.949393 -156.2712,114.4674,5958,0.2858759,-0.5614526,2.894075 -198.075,281.6826,5959,0.1123301,-0.6008347,3.245991 -365.2902,293.6265,5960,-0.19267,-0.732527,3.289291 -472.7856,213.0049,5961,-0.3717141,-0.5612848,3.07831 -439.9398,224.9489,5962,-0.3143817,-0.5563958,3.103238 -535.4913,242.8648,5963,-0.469743,-0.6090273,3.1469 -517.5754,230.9208,5964,-0.4349082,-0.6286061,3.135507 -126.4114,230.9208,5965,0.2639248,-0.6106026,3.175375 -311.5424,269.7386,5966,-0.110143,-0.7439981,3.262044 -425.0098,323.4864,5967,-0.2816048,-0.7363003,3.326291 -529.5193,186.1311,5968,-0.4774462,-0.5561219,3.013532 -272.227,391.6663,5969,-0.09106775,-0.8249184,3.445662 -380.8173,215.9909,5970,-0.2020769,-0.5405843,3.085861 -441.7314,223.1573,5971,-0.31892,-0.528721,3.088964 -513.395,226.7405,5972,-0.4289663,-0.6215726,3.126212 -384.4005,280.4882,5973,-0.2164512,-0.6830285,3.253764 -183.7423,172.9927,5974,0.1601512,-0.6542853,3.068264 -233.9068,201.6582,5975,0.09628297,-0.5167603,3.063487 -237.49,219.5741,5976,0.06553365,-0.5843249,3.128369 -370.0677,230.3236,5977,-0.1877687,-0.6275685,3.149873 -194.4918,276.905,5978,0.1102684,-0.6341293,3.257943 -226.7405,312.7368,5979,0.001241459,-0.768648,3.341372 -434.565,208.8246,5980,-0.3052069,-0.5219332,3.057054 -430.9818,194.4918,5981,-0.2977942,-0.5156429,3.024005 -359.3182,251.8227,5982,-0.1722508,-0.6247113,3.189373 -409.4827,194.4918,5983,-0.2549189,-0.5135952,3.025854 -592,250,5984,-0.5721065,-0.5798141,3.142482 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0040.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0040.csv deleted file mode 100644 index 63914cfe0004b3cf3444b4129420d3654f41d384..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0040.csv +++ /dev/null @@ -1,152 +0,0 @@ -374.2,207.4,5989,0.03835423,-0.5436141,3.039435 -201.448,189.352,5992,0.4153738,-0.4808002,3.079792 -137.8,212.2,5994,0.4145935,-0.6268731,3.204167 -429.4,345.4,5996,-0.1355474,-0.7190885,3.278012 -350.2,379,5998,-0.0600873,-0.7698362,3.359156 -248.2,203.8,6002,0.2280176,-0.6344751,3.132264 -143.56,192.52,6003,0.4853188,-0.5505208,3.142317 -353.8,299.08,6005,-0.02100006,-0.7216368,3.253693 -461.8,421.48,6011,-0.1948031,-0.7657472,3.359733 -228.52,365.32,6016,0.1129731,-0.7072705,3.393292 -572.68,278.92,6018,-0.2994292,-0.608126,3.091173 -127,347.8,6020,0.2421706,-0.7477934,3.42221 -139.24,211.24,6022,0.3603649,-0.7019615,3.22294 -114.76,349.48,6023,0.2353313,-0.7841024,3.429816 -409,389.8,6024,-0.1303653,-0.7774248,3.347138 -160.84,326.44,6025,0.2357241,-0.7001211,3.376475 -369.4,177.4,6026,0.07354337,-0.516402,2.967275 -413.992,384.616,6029,-0.1331768,-0.7765962,3.340266 -417.16,407.08,6030,-0.1457483,-0.7747604,3.360861 -529.48,228.52,6034,-0.2152655,-0.6877996,3.07016 -350.056,299.944,6035,-0.01711564,-0.7173629,3.254166 -381.16,283.24,6045,-0.03392749,-0.6235315,3.192041 -382.6,118.6,6047,0.06299686,-0.6207739,2.905177 -304.6,367,6049,-0.004666288,-0.7681535,3.363149 -389.8,343.144,6050,-0.08806859,-0.735122,3.295734 -156.52,218.728,6052,0.3487647,-0.6658384,3.217571 -144.424,358.696,6053,0.2263104,-0.7239036,3.430233 -308.584,158.248,6064,0.2191438,-0.4798329,2.946628 -555.4,429.4,6084,-0.3063696,-0.6970679,3.320228 -441.4,128.2,5326,-0.03986704,-0.6593679,2.923356 -312.04,153.64,5577,0.1575413,-0.6206628,3.007751 -273.16,107.56,5629,0.3107356,-0.5471901,2.885431 -312.04,154.4464,5728,0.2128807,-0.5020542,2.945323 -231.4,191.08,5810,0.2869499,-0.5942355,3.104402 -465.4,298.6,5814,-0.1603941,-0.6600583,3.187089 -408.52,386.92,5823,-0.1285197,-0.7722234,3.343968 -322.12,434.44,5835,-0.05818969,-0.8115849,3.428935 -381.4,175,5840,0.06330198,-0.4921973,2.950895 -154,139,5842,0.4124281,-0.6909026,3.091493 -348.04,378.28,5849,-0.05619323,-0.7706464,3.360294 -300.52,218.44,5859,0.1387726,-0.6018599,3.121819 -266.4208,152.3728,5882,0.314541,-0.4759299,2.957309 -575.8,262.6,5884,-0.3061258,-0.5521526,3.042227 -301.96,113.32,5889,0.2393243,-0.5551244,2.895544 -304.6,160.6,5891,0.2220448,-0.5008061,2.965816 -223.912,189.352,5906,0.3009484,-0.5896714,3.107108 -294.76,251.56,5909,0.1216991,-0.6107407,3.183407 -161.704,232.552,5913,0.3408956,-0.6511527,3.234112 -235.3168,330.7025,5915,0.107765,-0.7501643,3.353249 -467.5601,295.4512,5919,-0.1604079,-0.6621439,3.182791 -156.52,218.728,5924,0.3512222,-0.6630797,3.215229 -274.7152,106.7536,5936,0.3172894,-0.5238504,2.873184 -162.7408,231.1696,5938,0.3611738,-0.6188976,3.222762 -256.0529,351.4384,5940,0.08345918,-0.7071521,3.365419 -442.6768,125.416,5945,-0.01788089,-0.4735008,2.796685 -548.4305,413.6465,5952,-0.2902904,-0.7064245,3.310653 -349.3648,179.3296,5957,0.09461316,-0.5699229,3.012918 -287.6545,296.6125,5959,0.1123301,-0.6008347,3.245991 -473.98,366.4846,5960,-0.19267,-0.732527,3.289291 -502.6454,269.7386,5970,-0.2020769,-0.5405843,3.085861 -294.8209,172.9927,5974,0.1601512,-0.6542853,3.068264 -344.9855,215.9909,5975,0.09628297,-0.5167603,3.063487 -571.2401,262.2737,5985,-0.3034834,-0.5363204,3.035983 -334.6,159.4,5986,0.1824342,-0.430474,2.909055 -268,152,5987,0.3019782,-0.4906437,2.960018 -352.6,179.8,5988,0.09486122,-0.5471184,2.999874 -293,209,5990,0.1715905,-0.5625208,3.091525 -201.4,189.4,5991,0.3520015,-0.5823988,3.114202 -267,211,5993,0.1833292,-0.6394625,3.137735 -135,214,5995,0.3873612,-0.6680285,3.217646 -468,368,5997,-0.1879162,-0.7124336,3.289194 -398.2,424.6,5999,-0.1313147,-0.7989519,3.389117 -387.4,119.8,6000,0.09722278,-0.4570127,2.798955 -511,225,6001,-0.1919358,-0.6605496,3.056988 -382,284,6004,-0.03645909,-0.6265463,3.193151 -351.4,311.8,6006,-0.02298981,-0.7203406,3.270634 -448.6,355,6007,-0.1605444,-0.7361001,3.286454 -467,360,6008,-0.1835626,-0.7007076,3.278795 -431.8,406.6,6009,-0.1595425,-0.7925301,3.357832 -235,349,6010,0.1146996,-0.707517,3.370272 -413,435,6012,-0.1501054,-0.8157308,3.394022 -302,221,6013,0.1423657,-0.5820297,3.117384 -295,251.8,6014,0.1361248,-0.5665321,3.169162 -448,364,6015,-0.1627672,-0.748665,3.299731 -324,189,6017,0.1450665,-0.5223011,3.018738 -426,403,6019,-0.153065,-0.7805795,3.354413 -145,193,6021,0.3859833,-0.6750763,3.182387 -129.4,254.2,6027,0.362369,-0.6709716,3.287977 -358.12,335.08,6028,-0.04591914,-0.7292899,3.29828 -385,59.8,6031,0.1225958,-0.5501206,2.727479 -382.6,117.64,6032,0.09656005,-0.5021827,2.826768 -172.36,130.6,6033,0.4186367,-0.638199,3.048525 -121.96,278.92,6036,0.3353735,-0.6933307,3.331216 -127.72,346.6,6037,0.2449065,-0.7454608,3.420718 -309.16,157.96,6038,0.2031411,-0.5171772,2.963959 -373.96,206.92,6039,0.04112227,-0.5324957,3.033415 -302.2,115,6040,0.2601061,-0.5019811,2.863574 -464.68,297.64,6041,-0.1592534,-0.650139,3.182112 -407.08,391.24,6042,-0.1283198,-0.7578933,3.346812 -398.44,424.36,6043,-0.1317513,-0.7901718,3.387738 -157.96,218.44,6044,0.3544083,-0.6563276,3.211656 -268.84,428.68,6046,0.01231033,-0.7686942,3.446609 -148.6,214.6,6048,0.3931195,-0.629321,3.205053 -394.12,394.12,6051,-0.1160139,-0.770072,3.356358 -327.4,441.4,6054,-0.07217177,-0.8444917,3.4318 -394.12,129.16,6055,0.05017816,-0.5674835,2.889287 -168.04,146.44,6056,0.4235816,-0.6259865,3.068495 -384.04,60.04,6057,0.1276599,-0.539977,2.719112 -297.5248,249.832,6058,0.1391823,-0.5508541,3.160079 -384.6161,320.3344,6059,-0.06998079,-0.7213328,3.267489 -307.8929,368.0273,6060,-0.01151768,-0.7847621,3.365159 -349.3648,309.9664,6061,-0.01935147,-0.7190042,3.269758 -438.1841,134.056,6062,-0.01946793,-0.4934327,2.827366 -172.072,130.6,6063,0.5259517,-0.4989192,2.973675 -320.3344,183.4768,6065,0.1542512,-0.5350123,3.018332 -301.672,220.8016,6066,0.1469773,-0.570862,3.113619 -432.3089,343.144,6067,-0.1368972,-0.6967328,3.270004 -382.888,59.75201,6068,0.1219402,-0.5653347,2.739601 -527.6945,227.0224,6069,-0.2138284,-0.6700857,3.059639 -275.752,159.976,6070,0.2616002,-0.527243,2.989801 -428.1617,399.1313,6071,-0.1522425,-0.7612355,3.349116 -303.7456,104.68,6072,0.2356315,-0.5709709,2.882825 -276.7888,299.5984,6073,0.1130921,-0.6257516,3.270343 -498.6641,370.1009,6074,-0.2247963,-0.6974077,3.27634 -314.5284,362.3042,6075,-0.01345626,-0.769138,3.354343 -282.1802,105.5095,6076,0.2798778,-0.5622698,2.891947 -302.0868,214.9956,6077,0.1327049,-0.6082873,3.116916 -383.2061,311.5424,6078,-0.06624008,-0.7283804,3.257543 -282.1802,289.6452,6079,0.1074525,-0.6353153,3.254262 -257.297,351.8532,6080,0.08551947,-0.7029585,3.363269 -165.2292,341.4023,6081,0.1951593,-0.7444826,3.395936 -213.0049,204.047,6082,0.2988919,-0.6033793,3.14133 -383.2061,320.5004,6083,-0.07169256,-0.7444475,3.272971 -341.4023,241.0732,6085,0.05307565,-0.6165679,3.143855 -477.5632,359.3182,6086,-0.1933774,-0.7722489,3.286606 -491.8959,194.4918,6087,-0.1519092,-0.6630247,3.021905 -330.6527,226.7405,6088,0.09264129,-0.5768083,3.109532 -355.735,226.7405,6089,0.02531881,-0.6862603,3.143698 -491.8959,284.0714,6090,-0.1900692,-0.6520741,3.150503 -487.7155,281.6826,6091,-0.1868715,-0.4843888,3.092956 -241.0732,323.4864,6092,0.1279255,-0.6900844,3.332477 -275.7106,105.5095,6093,0.2844489,-0.5826599,2.906014 -337.8191,334.2359,6094,-0.02756747,-0.755774,3.312334 -221.9629,198.075,6095,0.30647,-0.5804204,3.111817 -502.6454,371.2621,6096,-0.236894,-0.6077762,3.260309 -241.0732,312.7368,6097,0.1140799,-0.7349344,3.328589 -491.8959,230.3236,6098,-0.1694124,-0.5172493,3.00839 -344.9855,291.2377,6099,-0.01653448,-0.788954,3.267378 -347.3742,377.2341,6100,-0.06312485,-0.7968109,3.358919 -237.49,348.5686,6101,0.1022222,-0.7204273,3.367797 -352.1518,276.905,6102,-0.008350542,-0.7289972,3.228172 -262.5723,330.6527,6103,0.09460259,-0.6853702,3.330739 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0041.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0041.csv deleted file mode 100644 index 9c9086dff584f2960b8dd98809b20c827f2b97f6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0041.csv +++ /dev/null @@ -1,219 +0,0 @@ -455.8,169,5987,0.3019782,-0.4906437,2.960018 -545.8,215.8,5988,0.09486122,-0.5471184,2.999874 -376.6,193,5992,0.4153738,-0.4808002,3.079792 -321.4,202.6,5994,0.4145935,-0.6268731,3.204167 -565.48,215.56,6026,0.07354337,-0.516402,2.967275 -540.136,384.616,6028,-0.04591914,-0.7292899,3.29828 -369.4,134.2,6033,0.4186367,-0.638199,3.048525 -298.6,263.8,6036,0.3353735,-0.6933307,3.331216 -340.6,212.2,6044,0.3544083,-0.6563276,3.211656 -317.8,157,6110,0.461123,-0.6546885,3.141823 -437.32,218.44,6113,0.1992366,-0.67588,3.149747 -253,110.2,6116,0.6628559,-0.6468146,3.112476 -421,205,6118,0.2624913,-0.609606,3.113812 -293.8,235,6119,0.3407458,-0.7450068,3.308089 -303.4,240.04,6120,0.349812,-0.6988613,3.296242 -479.08,114.76,6122,0.2716642,-0.6220477,2.915493 -377.704,192.808,6127,0.436222,-0.4323224,3.058391 -565.48,375.4,6134,-0.06494873,-0.7327492,3.274119 -261.4,112.6,6137,0.5690472,-0.7236058,3.144979 -301,184.6,6138,0.4363647,-0.6756175,3.211084 -281.8,231.4,6140,0.4108895,-0.6705046,3.296057 -286.12,244.648,6154,0.3832738,-0.6770787,3.31325 -529.7681,191.08,6155,0.1363991,-0.5580162,2.975924 -484.84,127.72,6157,0.2803995,-0.543571,2.883491 -569.512,374.248,6165,-0.06780085,-0.7282239,3.269159 -488.2961,118.504,6166,0.2732527,-0.5742052,2.88285 -531.496,211.816,6168,0.1295063,-0.4879969,2.973652 -278.92,204.04,6173,0.4179628,-0.7150593,3.272629 -473.8,124.6,6174,0.3317092,-0.4775227,2.842734 -420.9041,208.36,6176,0.2778888,-0.5643771,3.100237 -521.1281,365.608,6195,-0.01955719,-0.7381676,3.293464 -490.6,244.36,6204,0.1209811,-0.6292129,3.127607 -267.112,192.808,6216,0.484863,-0.6713453,3.252697 -483.1121,244.648,6217,0.1310873,-0.6262277,3.132539 -366.76,129.16,6219,0.4650584,-0.5802816,3.010551 -473.32,123.4,5629,0.3107356,-0.5471901,2.885431 -415.72,199.72,5810,0.2869499,-0.5942355,3.104402 -522.28,428.68,5849,-0.05619323,-0.7706464,3.360294 -484.84,244.36,5859,0.1387726,-0.6018599,3.121819 -453.0449,168.9616,5882,0.314541,-0.4759299,2.957309 -405.3521,345.2177,5915,0.107765,-0.7501643,3.353249 -341.0704,212.5072,5924,0.3512222,-0.6630797,3.215229 -473.7809,123.3424,5936,0.3172894,-0.5238504,2.873184 -419.8672,372.1744,5940,0.08345918,-0.7071521,3.365419 -544.2833,214.5808,5957,0.09461316,-0.5699229,3.012918 -456.3627,314.5284,5959,0.1123301,-0.6008347,3.245991 -565.48,250.12,5989,0.03835423,-0.5436141,3.039435 -322,203,5995,0.3873612,-0.6680285,3.217646 -431.56,215.56,6002,0.2280176,-0.6344751,3.132264 -533.8,356.68,6006,-0.02298981,-0.7203406,3.270634 -483.4,247,6013,0.1423657,-0.5820297,3.117384 -295,332.2,6020,0.2421706,-0.7477934,3.42221 -327.88,319.24,6025,0.2357241,-0.7001211,3.376475 -307,241,6027,0.362369,-0.6709716,3.287977 -294.76,330.76,6037,0.2449065,-0.7454608,3.420718 -329.8,207.4,6048,0.3931195,-0.629321,3.205053 -339.688,213.544,6052,0.3487647,-0.6658384,3.217571 -305.128,348.328,6053,0.2263104,-0.7239036,3.430233 -483.7342,125.416,6076,0.2798778,-0.5622698,2.891947 -488.7108,242.3671,6077,0.1327049,-0.6082873,3.116916 -513.395,258.9891,6088,0.09264129,-0.5768083,3.109532 -520.5613,380.2201,6094,-0.02756747,-0.755774,3.312334 -404.1079,202.554,6095,0.30647,-0.5804204,3.111817 -413.0659,330.6527,6097,0.1140799,-0.7349344,3.328589 -495,185,6104,0.1944641,-0.5543355,2.991013 -579,219,6105,0.05112371,-0.5042688,2.956042 -277,187,6106,0.4626426,-0.6896442,3.239917 -247,221,6107,0.4533353,-0.7061405,3.321435 -282,231,6108,0.3986574,-0.6887267,3.300204 -388,377,6109,0.113829,-0.6994838,3.39333 -233,157,6111,0.6369578,-0.62988,3.214085 -227.8,173.8,6112,0.6153361,-0.633929,3.250015 -494.2,238.6,6114,0.1356506,-0.5738438,3.092079 -283,245,6115,0.3642966,-0.713877,3.32373 -272,157,6117,0.531791,-0.6668284,3.18833 -565,375.4,6121,-0.0642114,-0.7176876,3.27032 -261,113,6123,0.598081,-0.6927013,3.132052 -499,183,6124,0.1946019,-0.5416466,2.97712 -301,185,6125,0.4450906,-0.6649053,3.204607 -500.2,183.4,6126,0.1760318,-0.5941881,3.005939 -455,303,6128,0.1051864,-0.6662045,3.248479 -280,232,6129,0.3897873,-0.7049157,3.306905 -418.6,379,6130,0.0764528,-0.711984,3.373596 -294,332,6131,0.2338289,-0.7640837,3.423743 -240,161,6132,0.5701627,-0.6821955,3.230404 -293,192,6133,0.4277543,-0.6913571,3.23624 -572,380,6135,-0.07346658,-0.7669885,3.284111 -293.8,326.2,6136,0.244421,-0.7535389,3.417095 -463,237,6139,0.1822438,-0.5687285,3.113252 -387.4,376.6,6141,0.1167075,-0.6924348,3.392709 -267.4,192.52,6142,0.477345,-0.6811491,3.254719 -291.4,237.4,6143,0.3596916,-0.7158802,3.306766 -474,125,6144,0.2797648,-0.5942819,2.920265 -419.8,207.4,6145,0.2729857,-0.5827048,3.107337 -574.6,397,6146,-0.0842566,-0.7624108,3.297842 -307,187,6147,0.4438339,-0.6464388,3.198711 -327.4,319,6148,0.2372485,-0.6940927,3.375952 -536.68,212.68,6149,0.1054885,-0.5594732,3.008547 -255.88,109,6150,0.6242079,-0.6825222,3.124699 -260.2,113.32,6151,0.5892708,-0.7031806,3.13802 -278.92,186.76,6152,0.477402,-0.6658424,3.230732 -290.44,191.08,6153,0.4617024,-0.6526489,3.222661 -241.48,143.56,6156,0.6337526,-0.6386088,3.186353 -297.64,146.44,6158,0.5278763,-0.6336026,3.132837 -319.24,137.8,6159,0.5036846,-0.6320145,3.094728 -300.52,185.32,6160,0.4300452,-0.6850926,3.214922 -349.48,132.04,6161,0.4039554,-0.7099155,3.098662 -420.04,204.04,6162,0.2664626,-0.6061488,3.111556 -255.4,166.6,6163,0.5224509,-0.6961766,3.229535 -506.44,211.24,6164,0.1457746,-0.5719181,3.036509 -545.32,215.56,6167,0.09171231,-0.5560103,3.004805 -479.656,115.048,6169,0.2853382,-0.5882336,2.89238 -488.2961,175.528,6170,0.2326309,-0.5025126,2.950391 -299.944,151.336,6171,0.5539781,-0.5822481,3.121032 -299.944,185.896,6172,0.448231,-0.6592769,3.207703 -318.952,137.512,6175,0.5220895,-0.6073811,3.084659 -567.0929,253.9792,6177,0.0239712,-0.5979541,3.070546 -306.856,222.184,6178,0.4043993,-0.6361845,3.25159 -351.784,137.512,6179,0.4117682,-0.6824623,3.092135 -298.216,146.152,6180,0.5582075,-0.5921745,3.11657 -294.76,331.048,6181,0.2421983,-0.7465839,3.421129 -566.056,217,6182,0.06431552,-0.5452631,2.985315 -507.304,211.816,6183,0.14417,-0.5712757,3.036461 -428.1617,195.9184,6184,0.2575694,-0.6199244,3.097544 -509.0321,260.2,6185,0.1004218,-0.5514105,3.104692 -413.992,379.432,6186,0.08953776,-0.6742833,3.37305 -486.2225,399.1313,6187,-0.009218214,-0.7548907,3.353146 -484.8401,127.144,6188,0.2775954,-0.5520793,2.887964 -277.48,185.896,6189,0.4750145,-0.6740495,3.232998 -571.2401,374.248,6190,-0.06930605,-0.7262989,3.267541 -398.44,362.152,6191,0.1087817,-0.7182863,3.371422 -295.4512,336.9232,6192,0.2188499,-0.7830134,3.428686 -536.6801,211.816,6193,0.09473556,-0.612932,3.035401 -496.5905,353.5121,6194,0.02360816,-0.6429432,3.273761 -412.264,384.616,6196,0.07596292,-0.7256184,3.385688 -415.72,199.72,6197,0.288905,-0.581039,3.097138 -275.752,192.808,6198,0.4595631,-0.6859826,3.248896 -422.632,204.904,6199,0.2717949,-0.5820144,3.100366 -303.7456,179.3296,6200,0.4696188,-0.6324643,3.184149 -544.2833,208.36,6201,0.0931113,-0.5884487,3.011023 -424.0145,208.36,6202,0.2530034,-0.6127991,3.118125 -309.9664,187.624,6203,0.4398915,-0.6436995,3.196071 -480.0017,115.048,6205,0.2889614,-0.5787326,2.885582 -299.5984,150.2992,6206,0.5327696,-0.6148823,3.130228 -432.3089,200.0656,6207,0.2622188,-0.5827252,3.084119 -293.3777,330.7025,6208,0.2423912,-0.7502802,3.422082 -287.1568,328.6288,6209,0.2430431,-0.767848,3.425794 -399.1313,359.7328,6210,0.1118784,-0.7108918,3.367321 -409.4993,386.6897,6211,0.08781286,-0.6793368,3.385132 -299.5984,146.152,6212,0.5502188,-0.6006238,3.116565 -440.6033,218.728,6213,0.2259081,-0.5914518,3.111988 -492.4433,237.3904,6214,0.1291914,-0.6125147,3.108521 -554.6513,322.4081,6215,-0.01842137,-0.6581812,3.197904 -478.7576,117.9511,6218,0.2973651,-0.5560677,2.876952 -379.2247,192.6007,6220,0.4926713,-0.3190534,3.009782 -302.0868,349.3649,6221,0.230948,-0.715369,3.433552 -411.5729,379.2247,6222,0.09102141,-0.6801441,3.375392 -421.5262,384.2014,6223,0.07082301,-0.7065815,3.376279 -262.2737,354.3415,6224,0.2575877,-0.7510401,3.472288 -513.5941,214.9956,6225,0.1281966,-0.5877715,3.045037 -428.9911,214.9956,6226,0.2506749,-0.5822429,3.111879 -410.0799,332.4443,6227,0.1181339,-0.7212519,3.330492 -424.0145,210.0189,6228,0.2519078,-0.6110626,3.120073 -299.5985,185.1357,6229,0.4413345,-0.6714212,3.210863 -264.762,232.4138,6230,0.4319308,-0.6764315,3.315431 -287.1569,319.505,6231,0.2508048,-0.7689118,3.416211 -257.297,354.3415,6232,0.276646,-0.7257143,3.47705 -490.7015,120.4394,6233,0.2668526,-0.5747068,2.885154 -532.5053,356.3322,6234,-0.02305711,-0.7197631,3.271428 -419.0379,200.0656,6235,0.2614262,-0.631484,3.116932 -505.6314,126.4114,6236,0.2424059,-0.5582293,2.874028 -466.3159,177.6708,6237,0.2736714,-0.4824098,2.963295 -463.8276,171.2011,6238,0.2922114,-0.4666128,2.944073 -478.7576,195.089,6239,0.2086799,-0.5520932,3.021334 -425.0098,210.0189,6240,0.2633301,-0.5796239,3.105908 -338.4163,213.0049,6241,0.3536318,-0.6575972,3.215332 -532.5053,323.4864,6242,0.005111258,-0.6506627,3.212405 -524.1445,359.3182,6243,-0.01884839,-0.7411675,3.285704 -326.4724,311.5424,6244,0.2104048,-0.7722687,3.377769 -371.2621,138.3553,6245,0.4100921,-0.6335912,3.052335 -352.1518,137.1609,6246,0.3823594,-0.7261572,3.113241 -529.5193,251.8227,6247,0.082728,-0.540185,3.069649 -341.4023,224.9489,6248,0.3403102,-0.6479686,3.227831 -524.1445,276.905,6249,0.06198356,-0.5721471,3.126489 -305.5705,309.1536,6250,0.2928429,-0.6580865,3.378825 -287.6545,320.5004,6251,0.2572069,-0.753357,3.415842 -290.6405,329.4583,6252,0.240298,-0.763581,3.423687 -475.7716,174.1871,6253,0.2404082,-0.5415378,2.980248 -442.9258,177.1731,6254,0.3030272,-0.5095217,2.997886 -544.4492,347.3742,6255,-0.02786713,-0.7051694,3.249518 -410.0799,380.2201,6256,0.09410185,-0.6706916,3.376598 -454.8697,314.5284,6257,0.09617656,-0.6654513,3.262968 -419.0379,368.2761,6258,0.08411267,-0.7105797,3.361626 -466.8136,177.1731,6259,0.2832429,-0.4564881,2.947999 -499.6595,135.3693,6260,0.2316132,-0.5845208,2.913748 -538.4773,213.0049,6261,0.1029972,-0.5581686,3.006995 -427.9958,201.061,6262,0.2605458,-0.5998412,3.09714 -299.5985,186.1311,6263,0.4549504,-0.6500188,3.205313 -454.8697,177.1731,6264,0.2740194,-0.5319303,2.998748 -463.2305,169.4095,6265,0.2998483,-0.4557645,2.935028 -327.0695,183.7423,6266,0.4291167,-0.6244773,3.167034 -344.9855,223.1573,6267,0.3471583,-0.6292541,3.216159 -337.8191,237.49,6268,0.3495171,-0.6134261,3.240241 -298.4041,262.5723,6269,0.3381928,-0.687339,3.328707 -287.6545,319.9032,6270,0.2683037,-0.732655,3.413791 -316.32,137.1609,6271,0.5176375,-0.6222067,3.091076 -502.6454,198.075,6272,0.1763831,-0.5300141,2.995182 -312.7368,190.9086,6273,0.4293437,-0.6460223,3.199676 -395.15,208.8246,6274,0.3164864,-0.5679251,3.125667 -329.4583,335.4303,6275,0.204979,-0.7285596,3.396735 -517.5754,215.9909,6276,0.1513001,-0.4665034,2.982485 -370.0677,126.4114,6277,0.3769006,-0.7129101,3.074877 -470.3968,176.5759,6278,0.2708626,-0.4750745,2.953437 -423.8155,201.6582,6279,0.2549033,-0.6264153,3.113357 -420.2323,366.4846,6280,0.08448895,-0.709168,3.358601 -298.4041,176.5759,6281,0.5085415,-0.5966386,3.171892 -506.2286,223.1573,6282,0.1275692,-0.5991445,3.069495 -499.0623,133.5777,6283,0.2486904,-0.5470787,2.886025 -423.8155,208.8246,6284,0.2882479,-0.5270525,3.082581 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0042.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0042.csv deleted file mode 100644 index 308d1083ae873f3f3eb1ea64142cd2c87f3440a1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0042.csv +++ /dev/null @@ -1,90 +0,0 @@ -513.4,169,6116,0.6628559,-0.6468146,3.112476 -561.4,265,6125,0.4450906,-0.6649053,3.204607 -551.08,277.48,6133,0.4277543,-0.6913571,3.23624 -588.52,215.56,6159,0.5036846,-0.6320145,3.094728 -534.952,287.848,6173,0.4179628,-0.7150593,3.272629 -584,213,6271,0.5176375,-0.6222067,3.091076 -437.8,229,6287,0.5664262,-0.7557829,3.318222 -449.8,188.2,6291,0.6960801,-0.6618699,3.220311 -457,257.8,6299,0.5261089,-0.7192015,3.321621 -556.6,291.4,6306,0.3940695,-0.7002987,3.250499 -381.16,191.08,6308,0.7212414,-0.7410342,3.334414 -367,185.8,6309,0.7509605,-0.7413778,3.345209 -338.2,196.6,6310,0.7348545,-0.7768022,3.404525 -409,165.4,6311,0.804458,-0.6664293,3.236105 -322.12,78.76,6314,1.086141,-0.7629446,3.246965 -394.12,90.28001,6315,1.148105,-0.5692435,3.075974 -333.4,194.2,6319,0.767167,-0.7685224,3.399947 -376.84,181,6322,0.7298214,-0.7552606,3.333376 -481,149.8,6325,0.731832,-0.6575062,3.118305 -342.28,114.76,6327,0.9966618,-0.7149673,3.276079 -567.7841,189.352,6328,0.5264223,-0.6896716,3.102947 -348.328,92.58401,6335,1.104832,-0.6753093,3.202964 -585.064,199.72,6337,0.497285,-0.6811554,3.09678 -578,292,5994,0.4145935,-0.6268731,3.204167 -527,177,6123,0.598081,-0.6927013,3.132052 -561.16,268.84,6138,0.4363647,-0.6756175,3.211084 -529,314,6140,0.4108895,-0.6705046,3.296057 -532.36,263.08,6152,0.477402,-0.6658424,3.230732 -491.8,205,6156,0.6337526,-0.6386088,3.186353 -554.6513,227.0224,6171,0.5539781,-0.5822481,3.121032 -554.6513,220.8016,6180,0.5582075,-0.5921745,3.11657 -446,183,6285,0.7332128,-0.6364357,3.207889 -507,232,6286,0.5642942,-0.6340519,3.203559 -451,254.2,6288,0.5385293,-0.7199417,3.322585 -393,174,6289,0.7477825,-0.7295399,3.292783 -541,306,6290,0.3931138,-0.6959521,3.279071 -367,185,6292,0.7730864,-0.7204233,3.340175 -531,265,6293,0.4778341,-0.6511968,3.226466 -394.6,91,6294,1.13657,-0.5734022,3.077849 -347,90,6295,1.195255,-0.6205951,3.176808 -341,202,6296,0.7345307,-0.7653552,3.403376 -413,166,6297,0.7514031,-0.7124417,3.24947 -401.8,169,6298,0.7617341,-0.7123492,3.268894 -544,446,6300,0.2316079,-0.7540628,3.417565 -400.6,74.2,6301,1.175532,-0.5796937,3.031803 -385.48,94.60001,6302,1.050384,-0.6552165,3.152781 -471.88,270.28,6303,0.4973596,-0.7119685,3.316258 -397,93.4,6304,1.124142,-0.5756464,3.080221 -440.2,242.2,6305,0.5777034,-0.7086518,3.3175 -317.8,70.60001,6307,1.157855,-0.7380039,3.23482 -334,194,6312,0.75534,-0.7683443,3.405632 -445.96,250.12,6313,0.5528573,-0.7155239,3.323558 -402.76,169.48,6316,0.7571581,-0.7144998,3.269059 -340.6,201.4,6317,0.7297439,-0.7768244,3.40232 -341.8,115,6318,1.069252,-0.6613855,3.250382 -366.76,185.32,6320,0.7578111,-0.7359462,3.343585 -412.84,165.16,6321,0.7664888,-0.6984152,3.244067 -394.984,90.85601,6323,1.132051,-0.5782805,3.081231 -498.6641,258.472,6324,0.4793258,-0.7238137,3.277425 -439.912,242.92,6326,0.5616837,-0.7294183,3.324732 -396.712,170.344,6329,0.7751388,-0.7033411,3.27522 -367.336,185.896,6330,0.7561705,-0.7362378,3.342108 -548.4305,361.8065,6331,0.3229093,-0.7001466,3.330859 -525.6208,175.1824,6332,0.6040787,-0.680157,3.121925 -546.3569,272.6416,6333,0.4401446,-0.6741037,3.22809 -459.2657,260.2,6334,0.514901,-0.7285888,3.322594 -573.3137,191.7712,6336,0.4953029,-0.7243218,3.120265 -403.2784,168.9616,6338,0.7472301,-0.7254593,3.270638 -477.9281,148.2256,6339,0.7538676,-0.6421342,3.110637 -397.0576,171.0352,6340,0.7663597,-0.710894,3.277198 -365.9536,185.5504,6341,0.7587832,-0.736237,3.344242 -380.4688,181.4032,6342,0.7657093,-0.7143396,3.315966 -523.5474,174.1871,6343,0.6187887,-0.6661279,3.115148 -493.6875,180.1591,6344,0.7052584,-0.5910431,3.122623 -476.2692,147.8109,6345,0.7668114,-0.6302364,3.107489 -527.7277,176.5759,6346,0.5521525,-0.7438163,3.156644 -416.0519,162.2432,6347,0.7576613,-0.7083362,3.239926 -506.1291,217.4839,6348,0.6627665,-0.5270717,3.136194 -527.7277,241.0732,6349,0.4951123,-0.6869906,3.213203 -517.5754,236.8928,6350,0.5086286,-0.6935542,3.219953 -472.7856,147.3133,6351,0.7612174,-0.6449327,3.116892 -558.3838,242.3671,6352,0.4903961,-0.6358083,3.159377 -508.6174,168.2151,6353,0.6672363,-0.6422258,3.110518 -535.4913,263.7667,6354,0.4706856,-0.6595018,3.222703 -398.7332,158.66,6355,0.7746353,-0.7265287,3.262263 -495.4791,187.3255,6356,0.6895528,-0.5879584,3.13296 -366.4846,187.3255,6357,0.766403,-0.7245768,3.342461 -495.4791,180.1591,6358,0.7122805,-0.5775831,3.115226 -506.2286,176.5759,6359,0.6283522,-0.6767733,3.144228 -416.6491,162.2432,6360,0.7496219,-0.7162721,3.241338 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0043.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0043.csv deleted file mode 100644 index 0a67462a61ee41730136957e03d98837435958b9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0043.csv +++ /dev/null @@ -1,89 +0,0 @@ -579.88,208.36,6308,0.7212414,-0.7410342,3.334414 -522.28,67.24001,6314,1.086141,-0.7629446,3.246965 -535.2401,113.32,6318,1.069252,-0.6613855,3.250382 -214.12,137.8,6361,0.6886773,-1.159516,3.695566 -583,95.8,6362,1.135404,-0.5786075,3.117617 -589,94.60001,6363,0.9802837,-0.7064751,3.171005 -529,212.2,6365,0.6878195,-0.8144588,3.410012 -283,178.6,6366,0.8896981,-0.9426621,3.711473 -539.56,85.96001,6368,1.197908,-0.6140656,3.17894 -275.8,213.4,6372,0.8736005,-0.9006572,3.755369 -239.8,172.6,6374,0.8419004,-1.020458,3.747628 -291.4,206.2,6376,0.8227874,-0.9370166,3.709812 -251.8,197.8,6378,0.8564317,-0.9625504,3.762511 -321.4,261.4,6379,0.7401102,-0.8748899,3.708333 -490.024,71.84801,6382,1.132321,-0.7560524,3.287662 -293.32,234.28,6383,0.8893861,-0.8338176,3.760649 -517.6721,61.48001,6384,1.027731,-0.8151524,3.262748 -545.3201,64.936,6385,1.188615,-0.6626238,3.159041 -548.7761,68.39201,6386,1.108406,-0.7082114,3.182966 -300.52,193.96,6389,0.9202811,-0.8780532,3.709276 -572.2,278.2,6391,0.5719733,-0.7952834,3.413417 -375.4,343.72,6405,0.5263625,-0.9146901,3.656111 -502.1201,56.29601,6409,1.115829,-0.784753,3.260161 -572.68,278.92,6415,0.5675036,-0.8003545,3.414033 -408.52,107.56,6419,1.176534,-0.7569928,3.458955 -554.2,79,6420,1.071497,-0.7075042,3.190822 -270.568,85.672,6421,1.228584,-0.9413328,3.693028 -530,213,6296,0.7345307,-0.7653552,3.403376 -594.28,94.60001,6302,1.050384,-0.6552165,3.152781 -528,212,6317,0.7297439,-0.7768244,3.40232 -520.84,204.04,6319,0.767167,-0.7685224,3.399947 -565.0193,197.992,6330,0.7561705,-0.7362378,3.342108 -550.5041,88.09121,6335,1.104832,-0.6753093,3.202964 -276,214,6364,0.8620855,-0.9074085,3.752541 -267,205,6367,0.8076293,-0.9683031,3.7375 -292,207,6369,0.8333421,-0.9241478,3.713797 -581,90,6370,1.010267,-0.6968898,3.173175 -240.04,172.36,6371,0.7357419,-1.079968,3.714307 -415.72,94.60001,6373,1.06564,-0.8438227,3.445857 -483.4,90.28001,6375,1.139658,-0.7201759,3.310392 -562.6,211.24,6377,0.6833356,-0.7899171,3.366867 -382.6,104.68,6380,0.9650806,-0.9216975,3.510871 -338.2,266.2,6381,0.7092204,-0.8787887,3.682623 -286.6,205,6387,0.8514649,-0.9205779,3.721912 -587.08,94.60001,6388,1.11686,-0.5911837,3.116762 -562.9457,210.4336,6390,0.6990322,-0.7725189,3.361606 -336.232,265.384,6392,0.7326242,-0.8601614,3.690589 -413.6465,94.31201,6393,1.143827,-0.7959844,3.442847 -523.5473,204.2128,6394,0.717591,-0.8021905,3.406878 -293.032,234.28,6395,0.8238713,-0.8823785,3.739531 -535.9889,102.6064,6396,1.179176,-0.5894871,3.203489 -275.752,213.544,6397,0.7915947,-0.9568883,3.730111 -291.304,206.632,6398,0.8218049,-0.9363383,3.710904 -353.5121,349.3648,6399,0.5633159,-0.8760797,3.696128 -475.8545,71.50241,6400,1.256567,-0.6956016,3.285198 -555.688,78.76001,6401,1.088583,-0.6921297,3.182014 -533.2241,106.408,6402,1.103119,-0.6461921,3.234468 -249.832,192.808,6403,0.7604111,-1.03153,3.728703 -378.3953,108.8272,6404,1.056416,-0.8621715,3.520995 -382.5424,104.68,6406,0.9726889,-0.9168744,3.511083 -394.984,101.224,6407,1.097203,-0.8334669,3.484738 -546.3569,65.28161,6408,1.152649,-0.6859097,3.17018 -492.4433,73.57601,6410,1.1117,-0.7656081,3.288335 -525.6208,71.50241,6411,0.9410399,-0.8464913,3.281379 -291.304,206.2864,6412,0.7998265,-0.9493214,3.706209 -293.3777,233.2432,6413,0.856838,-0.8583171,3.747956 -276.7888,212.5072,6414,0.8166579,-0.9417855,3.736719 -320.3344,216.6544,6416,0.799877,-0.9047719,3.679405 -394.9841,94.31201,6417,1.027593,-0.8877783,3.482926 -253.9792,197.992,6418,0.6888927,-1.066014,3.70772 -541.4633,114.4674,6422,1.060992,-0.651507,3.236187 -560.8721,210.0189,6423,0.6989381,-0.7767569,3.363429 -274.7153,212.5072,6424,0.7895132,-0.9622331,3.728849 -381.713,105.5095,6425,1.138486,-0.8098608,3.516294 -558.3838,202.554,6426,0.800595,-0.6806046,3.332645 -350.3602,350.3602,6427,0.5740901,-0.8637515,3.702922 -346.8766,282.1802,6428,0.7087357,-0.8415076,3.687621 -377.2341,108.4955,6429,1.192849,-0.7872679,3.516279 -381.713,88.09122,6430,0.9817818,-0.9374745,3.50149 -252.3204,197.5773,6431,0.7276571,-1.044103,3.72001 -304.5751,224.9489,6432,0.7638367,-0.93331,3.699353 -395.15,93.56553,6433,1.048667,-0.8762717,3.481053 -410.0799,93.56553,6434,1.240643,-0.7423472,3.440884 -502.6454,102.5235,6435,0.9549915,-0.8051361,3.328144 -276.905,122.8282,6436,0.8786519,-1.04082,3.660581 -290.6405,210.0189,6437,0.8110759,-0.9358866,3.713982 -337.8191,309.1536,6438,0.6625099,-0.8478656,3.712297 -352.1518,352.1518,6439,0.5293291,-0.9161246,3.686007 -294.8209,162.2432,6440,1.412602,-0.6349536,3.786827 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0044.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0044.csv deleted file mode 100644 index 16499f1ca9736b54bb92ad9239c08fd09c159478..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0044.csv +++ /dev/null @@ -1,91 +0,0 @@ -472.744,336.232,6379,0.7401102,-0.8748899,3.708333 -348.04,91.72,6443,0.7212021,-1.274344,3.694908 -208.36,389.8,6445,0.4743003,-1.144583,3.881469 -484.84,346.6,6452,0.7176641,-0.8664576,3.692362 -460.6,271,6454,0.7738401,-0.965111,3.690048 -218.44,434.44,6456,0.5118526,-1.03809,3.957888 -477.4,266.2,6458,0.8605489,-0.8984376,3.68605 -400.168,101.224,6461,0.5526347,-1.297091,3.614519 -410.2,165.4,6462,0.6011553,-1.223898,3.641556 -378.28,166.6,6463,0.6052125,-1.232745,3.668704 -392.2,194.2,6471,0.6713513,-1.167895,3.688565 -296.2,427.24,6474,0.5385311,-0.9946567,3.885834 -472.744,263.656,6477,0.7832004,-0.965584,3.671475 -447.4,227.08,6482,0.851555,-0.9914756,3.698509 -274.024,413.992,6483,0.4991302,-1.066214,3.858471 -464.68,253,6487,0.9809833,-0.8430799,3.723894 -463.24,265.96,6488,0.7242934,-1.009379,3.670612 -342.28,211.24,6490,0.6737001,-1.171102,3.749895 -202.6,376.84,6491,0.5269574,-1.115989,3.932808 -204.04,379.72,6493,0.5507174,-1.089915,3.959741 -431.272,267.112,6495,0.8140918,-0.9573085,3.735962 -282.664,426.088,6504,0.4929467,-1.050323,3.857824 -344.872,191.08,6513,0.5747521,-1.236743,3.695646 -394.6,193,6361,0.6886773,-1.159516,3.695566 -447.4,297.64,6383,0.8893861,-0.8338176,3.760649 -436.4561,277.48,6397,0.7915947,-0.9568883,3.730111 -455.4641,270.568,6398,0.8218049,-0.9363383,3.710904 -436.4561,274.7152,6414,0.8166579,-0.9417855,3.736719 -436.4561,274.7153,6424,0.7895132,-0.9622331,3.728849 -419.0379,257.297,6431,0.7276571,-1.044103,3.72001 -315.4,139,6441,0.6100191,-1.275239,3.710216 -206,321,6442,0.5730316,-1.152177,3.920651 -400.6,103,6444,0.6124054,-1.275752,3.626851 -223,441,6446,0.4908014,-1.05306,3.934088 -344,211,6447,0.7137299,-1.14804,3.767268 -220,443,6448,0.4641543,-1.079883,3.907601 -411,165,6449,0.7155778,-1.166697,3.671272 -432,267,6450,0.806482,-0.9685563,3.72999 -260,401,6451,0.5587025,-1.028197,3.924798 -603,181,6453,1.008638,-0.8804266,3.471298 -458,266,6455,0.8173044,-0.9423661,3.700955 -212.2,439,6457,0.4854884,-1.063283,3.939133 -471.4,269.8,6459,0.8149383,-0.9338536,3.682192 -349,92.2,6460,0.6711349,-1.288343,3.6784 -399.88,101.8,6464,0.6233305,-1.27334,3.629202 -235,237,6465,0.6112044,-1.217993,3.847049 -210,446,6466,0.4827929,-1.057094,3.946032 -418.6,133,6467,0.6723471,-1.21999,3.637186 -221.8,440.2,6468,0.4850584,-1.05875,3.929369 -418.6,133.48,6469,0.7647252,-1.181813,3.656927 -188.2,384.04,6470,0.601768,-1.044795,4.046682 -274.6,412.84,6472,0.5222766,-1.042552,3.880716 -271,405.4,6473,0.5341524,-1.042586,3.88972 -463.24,300.52,6475,0.837198,-0.8591517,3.723699 -457,265,6476,0.8441777,-0.9172859,3.711876 -191.8,409,6478,0.480425,-1.11829,3.921761 -258.76,401.32,6479,0.5344257,-1.051384,3.900781 -234.28,232.84,6480,0.7239673,-1.171147,3.925304 -379,167.8,6481,0.6534425,-1.209978,3.683511 -233.8,437.8,6484,0.498224,-1.046848,3.925842 -224.2,430.12,6485,0.5037476,-1.052638,3.937942 -454.6,268.84,6486,0.8303846,-0.9251447,3.710315 -417.448,132.328,6489,0.6246365,-1.240167,3.626713 -457.192,140.968,6492,1.142834,-0.9823852,3.679374 -467.5601,299.5984,6494,0.8566963,-0.841563,3.724018 -463.4129,291.304,6496,0.8633071,-0.8552634,3.725502 -258.472,401.896,6497,0.5308689,-1.05574,3.89812 -473.7809,256.0529,6498,0.8859904,-0.9003969,3.690553 -392.9105,193.8448,6499,0.7431409,-1.131729,3.712033 -208.36,388.7632,6500,0.4875686,-1.133353,3.89458 -212.5072,409.4993,6501,0.5469115,-1.04395,3.980613 -376.7364,165.2292,6502,0.7839463,-1.156461,3.725693 -478.7576,293.6265,6503,0.7479562,-0.9405483,3.670327 -391.6663,192.6007,6505,0.685264,-1.162736,3.693727 -451.386,239.8788,6506,1.013467,-0.8558105,3.742778 -431.4795,267.2503,6507,0.8607224,-0.9229989,3.750674 -445.9117,224.9489,6508,0.7973627,-1.030211,3.683738 -341.8999,210.0189,6509,0.7406067,-1.136761,3.782272 -436.9538,272.7246,6510,0.7984478,-0.9561507,3.726769 -470.3968,298.4041,6511,0.7931923,-0.8903509,3.703264 -392.164,192.103,6512,0.7132897,-1.148816,3.702176 -377.2341,165.2292,6514,0.7353798,-1.177452,3.709795 -411.5729,165.2292,6515,0.7123765,-1.17175,3.667926 -411.5729,227.4372,6516,0.7499411,-1.072779,3.713936 -460.8417,287.6545,6517,0.783361,-0.928679,3.704599 -355.735,190.9086,6518,0.6970755,-1.17507,3.731357 -366.4846,198.075,6519,0.5702053,-1.224975,3.682645 -499.0623,355.735,6520,0.7217166,-0.842951,3.681246 -448.8977,223.1573,6521,0.7110869,-1.085256,3.658747 -434.565,251.8227,6522,0.7469326,-1.027815,3.701761 -477.5632,273.3218,6523,0.9107324,-0.8458817,3.700855 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0045.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0045.csv deleted file mode 100644 index 55d1d46c5df8fddbdbbed474416aeb28916400cf..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0045.csv +++ /dev/null @@ -1,96 +0,0 @@ -476,177,6449,0.7155778,-1.166697,3.671272 -486,263,6450,0.806482,-0.9685563,3.72999 -428.2,111.4,6460,0.6711349,-1.288343,3.6784 -322.6,431.8,6468,0.4850584,-1.05875,3.929369 -362,399,6473,0.5341524,-1.042586,3.88972 -506.2,267.4,6476,0.8441777,-0.9172859,3.711876 -350.2,395.8,6479,0.5344257,-1.051384,3.900781 -332.2,428.2,6484,0.498224,-1.046848,3.925842 -506.44,268.84,6486,0.8303846,-0.9251447,3.710315 -496.6,145,6489,0.6246365,-1.240167,3.626713 -455.8,200.2,6499,0.7431409,-1.131729,3.712033 -379.72,417.16,6504,0.4929467,-1.050323,3.857824 -522,297,6511,0.7931923,-0.8903509,3.703264 -413,133,6524,0.6499131,-1.280258,3.697862 -482,126,6532,0.616762,-1.267488,3.629162 -307,407,6533,0.4998442,-1.089798,3.932982 -530,274,6536,0.8436857,-0.8843669,3.679149 -274.6,243.4,6544,0.7350556,-1.18832,3.971267 -493,275,6545,0.7678106,-0.9689398,3.718903 -295,425.8,6546,0.4951259,-1.070137,3.962749 -374,418,6549,0.5277221,-1.009769,3.888159 -417.4,217,6550,0.6732287,-1.169046,3.747515 -355,398.2,6552,0.5530231,-1.027675,3.908981 -499,113.8,6556,0.6493258,-1.256995,3.611648 -361,399.4,6557,0.5356237,-1.039137,3.890956 -508.6,257.8,6561,0.8859047,-0.8991114,3.7039 -503.56,117.64,6564,0.6182032,-1.264946,3.608119 -444.52,98.92001,6566,0.6906084,-1.283316,3.657727 -269,330,6567,0.5983484,-1.143114,3.977753 -300,386,6568,0.5147582,-1.110803,3.932159 -512.2,255.88,6569,0.8146233,-0.9546681,3.687311 -515.8,293.8,6570,0.8125417,-0.8805583,3.709711 -502.6,295,6571,0.7675718,-0.9258502,3.720749 -537,279,6574,0.7523792,-0.9466916,3.662555 -497.8,109,6577,0.6267012,-1.272128,3.609931 -298,305,6586,0.6113741,-1.154332,3.925881 -297,308,6588,0.5975779,-1.159961,3.920809 -498,184,6590,1.031585,-0.9594576,3.679665 -498,235,6591,1.245184,-0.7018242,3.753279 -406.6,159.4,6441,0.6100191,-1.275239,3.710216 -299,326,6442,0.5730316,-1.152177,3.920651 -323,432,6446,0.4908014,-1.05306,3.934088 -539.8,335.8,6452,0.7176641,-0.8664576,3.692362 -523,265,6459,0.8149383,-0.9338536,3.682192 -312,438,6466,0.4827929,-1.057094,3.946032 -383.8,418.6,6474,0.5385311,-0.9946567,3.885834 -525.6208,260.2,6477,0.7832004,-0.965584,3.671475 -417.16,217,6490,0.6737001,-1.171102,3.749895 -301.96,378.28,6491,0.5269574,-1.115989,3.932808 -384,419,6525,0.5386137,-0.9906421,3.884715 -333,428,6526,0.4832712,-1.061216,3.910976 -318,435,6527,0.4892654,-1.050749,3.940429 -454,99,6528,0.6792934,-1.282418,3.647709 -308,289,6529,0.6039674,-1.176029,3.89459 -303,379,6530,0.5198169,-1.116687,3.925613 -300,388,6531,0.5200931,-1.102727,3.938626 -447,100,6534,0.6877393,-1.281937,3.655578 -364,408,6535,0.5362738,-1.022369,3.896223 -289,382.6,6537,0.526093,-1.110889,3.950844 -507,267,6538,0.8259382,-0.9285304,3.704164 -308,390,6539,0.5190324,-1.096752,3.930576 -510,259,6540,0.8814359,-0.8990535,3.702097 -365,368,6541,0.5680387,-1.059249,3.877731 -298.6,431.8,6542,0.4919929,-1.061927,3.962226 -275,239,6543,0.7336206,-1.19528,3.965229 -298.6,325,6547,0.5733655,-1.152101,3.918612 -293.32,422.92,6548,0.4953449,-1.075424,3.961733 -302.2,379,6551,0.5263051,-1.109639,3.932021 -274.6,238.6,6553,0.7164767,-1.202742,3.95583 -401.32,202.6,6554,0.6467547,-1.21058,3.747874 -448.84,101.8,6555,0.7053344,-1.272524,3.656636 -491.8,274.6,6558,0.7909585,-0.9520965,3.724715 -358.6,395.8,6559,0.5358927,-1.046007,3.890495 -299.8,387.4,6560,0.516751,-1.106899,3.93546 -400.168,203.176,6562,0.653928,-1.206721,3.751511 -363.88,370.792,6563,0.5601087,-1.060021,3.87691 -293.032,422.632,6565,0.4943601,-1.077086,3.960823 -413.6465,191.7712,6572,0.6599228,-1.219095,3.72961 -417.7937,216.6544,6573,0.778827,-1.103496,3.776953 -500.7377,249.832,6575,0.8786135,-0.926392,3.708299 -424.0145,110.4861,6576,0.6812927,-1.28571,3.681565 -478.7576,115.4627,6578,0.6348382,-1.271385,3.628976 -314.5284,257.7947,6579,0.6544915,-1.184676,3.890624 -493.6875,112.9744,6580,0.6531163,-1.258765,3.616118 -361.8065,394.1547,6581,0.5559868,-1.026294,3.898876 -478.7576,117.4534,6582,0.6447679,-1.265172,3.630533 -505.6314,210.0189,6583,1.027006,-0.9019302,3.68779 -269.7386,330.6527,6584,0.585745,-1.15168,3.966794 -501.1524,127.9044,6585,0.6506667,-1.240884,3.615507 -506.1291,259.7853,6587,0.8667233,-0.9116163,3.706259 -413.0659,140.7441,6589,0.6318285,-1.279657,3.698137 -490.7015,269.7386,6592,0.7773967,-0.9723862,3.719965 -520.5613,287.6545,6593,0.7425945,-0.949567,3.687688 -258.9891,341.4023,6594,0.5737315,-1.153273,3.981617 -273.3218,241.0732,6595,0.7302293,-1.195005,3.967652 -284.0714,327.0695,6596,0.5522133,-1.167426,3.923236 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0046.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0046.csv deleted file mode 100644 index 48b26797cceabc4952087e4c5439249aa2298d35..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0046.csv +++ /dev/null @@ -1,164 +0,0 @@ -444,287,6376,0.8227874,-0.9370166,3.709812 -472,334,6379,0.7401102,-0.8748899,3.708333 -443.8,287.8,6398,0.8218049,-0.9363383,3.710904 -607,169,6409,1.115829,-0.784753,3.260161 -423,272,6506,1.013467,-0.8558105,3.742778 -365,101,6598,4.083828,-0.2901113,3.644392 -259,126,6599,0.7670153,-1.401697,3.797513 -279,312,6606,0.6159048,-1.197595,3.907675 -484,356,6607,0.6488191,-0.8939169,3.694225 -489,361,6612,0.6538354,-0.8726557,3.69208 -299,383,6620,0.5344373,-1.131207,3.921903 -284,414,6621,0.5179763,-1.109091,3.963399 -255,189,6622,0.6713679,-1.356221,3.83602 -318,417,6623,0.5012351,-1.090368,3.919698 -242,205,6625,0.6958045,-1.338179,3.873335 -277,262.6,6645,0.6737783,-1.238967,3.881019 -357,418,6647,0.5325658,-1.022214,3.891568 -295,326,6650,0.6093106,-1.166601,3.900592 -435,293,6658,0.7519031,-0.9800893,3.714281 -455,307,6659,0.7928777,-0.8941287,3.700722 -391,412.6,6661,0.5513155,-0.9800235,3.852262 -231.4,159.4,6665,0.7130758,-1.397924,3.848021 -515.8,407.8,6666,0.5527276,-0.8611253,3.68968 -255,293,6667,0.7114616,-1.192924,3.956921 -298.6,292.6,6673,0.6626237,-1.181057,3.885755 -485.8,357.4,6674,0.6683897,-0.8683974,3.694411 -352.6,385,6677,0.563443,-1.053841,3.875198 -491.8,362.2,6678,0.6543859,-0.8664315,3.689199 -434.2,274.6,6681,0.8756579,-0.9236801,3.706412 -293,351,6683,0.5909919,-1.142324,3.921661 -507,396,6685,0.5672715,-0.8795711,3.691806 -427,259,6687,0.8294971,-0.9984647,3.698634 -272,315,6688,0.6654043,-1.168395,3.940533 -373.96,422.92,6691,0.5220282,-1.008667,3.872145 -356.68,417.16,6692,0.5295278,-1.027165,3.889685 -451.72,312.04,6694,0.8162302,-0.8666216,3.713252 -255.88,381.16,6695,0.5611776,-1.150181,3.983176 -254.44,290.44,6696,0.7043281,-1.201443,3.951619 -428.2,283,6697,0.7719244,-0.9916793,3.71644 -254.2,289,6698,0.7101764,-1.200778,3.952738 -453.16,304.84,6699,0.7938824,-0.9001601,3.701512 -343.72,408.52,6700,0.5353379,-1.048505,3.898312 -422.92,278.92,6704,0.7658244,-1.010013,3.719749 -303.4,397,6705,0.5361157,-1.103526,3.932816 -291,373,6707,0.5720157,-1.12346,3.939055 -270,321,6708,0.6796382,-1.151572,3.956342 -434.44,291.88,6709,0.7688286,-0.9694779,3.715565 -313,289,6710,0.6326572,-1.191624,3.850092 -232.6,161.8,6711,0.754846,-1.382578,3.860522 -430.6,239.8,6712,0.9654042,-0.9418308,3.678821 -285,393,6732,0.5475073,-1.116503,3.955509 -483,340,6452,0.7176641,-0.8664576,3.692362 -456,283,6459,0.8149383,-0.9338536,3.682192 -329,442,6468,0.4850584,-1.05875,3.929369 -373,424,6474,0.5385311,-0.9946567,3.885834 -345,409,6479,0.5344257,-1.051384,3.900781 -302.2,397,6491,0.5269574,-1.115989,3.932808 -338,436,6526,0.4832712,-1.061216,3.910976 -305,398,6530,0.5198169,-1.116687,3.925613 -351,382,6541,0.5680387,-1.059249,3.877731 -346,411,6552,0.5530231,-1.027675,3.908981 -254,289,6553,0.7164767,-1.202742,3.95583 -370.1009,224.9488,6572,0.6599228,-1.219095,3.72961 -370.1009,256.0529,6573,0.778827,-1.103496,3.776953 -293.6265,296.6125,6579,0.6544915,-1.184676,3.890624 -266.7527,365.2902,6584,0.585745,-1.15168,3.966794 -257.7947,374.2481,6594,0.5737315,-1.153273,3.981617 -284.6685,359.3182,6596,0.5522133,-1.167426,3.923236 -376,97,6597,4.353633,-0.1719532,3.573157 -381,162,6600,0.6873069,-1.282111,3.670241 -307,180,6601,0.6503931,-1.333996,3.765094 -256,217,6602,0.6607739,-1.323968,3.857602 -265,221,6603,0.6606804,-1.312167,3.850592 -280,253,6604,0.6667854,-1.253598,3.865415 -300,292,6605,0.6740703,-1.173366,3.882938 -303,165,6608,0.6947935,-1.338937,3.765219 -266,177,6609,0.7021236,-1.351595,3.820579 -315,182,6610,0.6751488,-1.315144,3.762135 -292,291,6611,0.6741577,-1.182352,3.892075 -296,135,6613,0.7643971,-1.359759,3.759209 -349,155,6614,0.7038615,-1.310567,3.703985 -302,392,6615,0.5424148,-1.107407,3.932213 -391,412,6616,0.5561748,-0.9759362,3.853404 -358,117,6617,0.7988091,-1.318261,3.667924 -361,243,6618,0.6640332,-1.198765,3.756943 -273,333,6619,0.598291,-1.18276,3.929198 -245.8,209.8,6624,0.6896741,-1.331083,3.871492 -277,317,6626,0.621577,-1.188275,3.917713 -285,417,6627,0.5181731,-1.103144,3.965793 -369,177,6628,0.6689101,-1.281565,3.694126 -315,190,6629,0.658995,-1.311889,3.765736 -329,260,6630,0.6401703,-1.215653,3.805784 -487,356,6631,0.6628581,-0.8759054,3.690953 -519,410,6632,0.531864,-0.8820395,3.685452 -265,141,6633,0.7366831,-1.386287,3.797492 -305,153,6634,0.713418,-1.345593,3.755979 -240,175,6635,0.7128759,-1.372017,3.852311 -307,273,6636,0.681866,-1.192204,3.856653 -285.4,287.8,6637,0.6997067,-1.178791,3.906263 -378,434,6638,0.5174394,-0.9895283,3.877086 -379,440,6639,0.525978,-0.9674634,3.886115 -247,145,6640,0.743345,-1.39447,3.824165 -517,407,6641,0.5468445,-0.8716452,3.686555 -375,144,6642,0.7508665,-1.28432,3.666049 -388,159,6643,0.7326295,-1.260061,3.660802 -291.4,291.4,6644,0.6830333,-1.174671,3.897797 -293.8,293.8,6646,0.6796297,-1.172969,3.894748 -242.2,206.2,6648,0.7184843,-1.328245,3.881571 -435,274,6649,0.8607492,-0.935186,3.703376 -357,413,6651,0.5441026,-1.019387,3.891293 -365,424,6652,0.5335808,-1.002667,3.88895 -383,156,6653,0.7480593,-1.261847,3.66521 -257.8,187,6654,0.6937943,-1.348655,3.837144 -306,292,6655,0.6872501,-1.159643,3.879676 -290.2,139,6656,0.7476565,-1.364637,3.767253 -284.68,287.56,6657,0.6974851,-1.180992,3.9062 -317.8,416.2,6660,0.5036662,-1.089316,3.920427 -334.6,436.6,6662,0.4976994,-1.046305,3.92043 -327.4,442.6,6663,0.4938833,-1.046736,3.932853 -377.8,434.2,6664,0.5168742,-0.9899807,3.87729 -488.2,361,6668,0.6620811,-0.8646972,3.693841 -357.4,418.6,6669,0.5379012,-1.01521,3.894134 -373,424.6,6670,0.5413685,-0.9854894,3.883295 -267.4,214.12,6671,0.6603991,-1.319137,3.841412 -277.48,261.64,6672,0.6721206,-1.240782,3.878889 -364.6,424.6,6675,0.5375146,-0.99772,3.891832 -373,171.4,6676,0.6866487,-1.276657,3.686761 -344.2,409,6679,0.5428522,-1.03981,3.901708 -417.4,163,6680,0.6636392,-1.262057,3.628118 -306.28,291.88,6682,0.6622485,-1.175407,3.870668 -446.2,385,6684,0.6184695,-0.9063329,3.77069 -290.44,291.88,6686,0.6803587,-1.178734,3.897243 -349.48,409.96,6689,0.5314703,-1.044551,3.891348 -363.88,424.36,6690,0.5400104,-0.9961848,3.893554 -298.216,293.032,6693,0.6753385,-1.171915,3.887078 -289.576,291.304,6701,0.6688666,-1.187268,3.893557 -284.392,287.848,6702,0.7279891,-1.163166,3.918088 -289.2304,139.9312,6703,0.7513504,-1.363163,3.769849 -506.9585,392.9105,6706,0.5760981,-0.8748568,3.689989 -490.7015,320.5004,6713,0.6973612,-0.9114981,3.654664 -244.8554,187.624,6714,0.7483989,-1.340303,3.868877 -496.1758,369.2715,6715,0.7179123,-0.7759749,3.693743 -307.0634,292.1335,6716,0.6876639,-1.158157,3.878572 -259.7853,371.7598,6717,0.5863059,-1.142616,3.982052 -468.8043,289.6452,6718,0.7569156,-0.9453613,3.660358 -305.5704,293.6265,6719,0.6481266,-1.181664,3.868797 -453.8744,309.5518,6720,0.7750085,-0.9053892,3.70384 -349.3649,381.713,6721,0.5608985,-1.065427,3.874298 -451.386,379.2247,6722,0.6629732,-0.8644547,3.765991 -424.0145,162.7408,6723,0.6578504,-1.260113,3.620382 -257.297,180.1591,6724,0.7040743,-1.354145,3.834217 -381.713,234.9021,6725,0.6797555,-1.183243,3.726526 -401.1219,239.8788,6726,0.6740087,-1.161751,3.705705 -451.386,302.0868,6727,0.7608333,-0.936129,3.699145 -267.2503,364.2948,6728,0.5869606,-1.14713,3.965033 -251.8227,290.6405,6729,0.7247807,-1.192553,3.964065 -431.4795,175.1824,6730,0.6689785,-1.231818,3.619653 -309.1536,294.8209,6731,0.6992949,-1.144488,3.882598 -294.8209,309.1536,6733,0.6551851,-1.162818,3.901 -433.9678,287.6545,6734,0.7449467,-0.9971454,3.709974 -416.6491,165.8264,6735,0.6680241,-1.256992,3.630765 -294.8209,298.4041,6736,0.6844181,-1.161694,3.900182 -398.136,204.047,6737,0.6520883,-1.229103,3.679595 -350.3602,383.2061,6738,0.5710149,-1.052659,3.878684 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0047.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0047.csv deleted file mode 100644 index 1ef67690c63fe5f90b72e41a8d8f8a737145047a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0047.csv +++ /dev/null @@ -1,258 +0,0 @@ -606,152,6294,1.13657,-0.5734022,3.077849 -597.4,155.8,6302,1.050384,-0.6552165,3.152781 -589,237,6317,0.7297439,-0.7768244,3.40232 -579,231,6319,0.767167,-0.7685224,3.399947 -565.48,172.36,6327,0.9966618,-0.7149673,3.276079 -566.2,155.8,6335,1.104832,-0.6753093,3.202964 -594,154,6370,1.010267,-0.6968898,3.173175 -474,171,6373,1.06564,-0.8438227,3.445857 -546,139,6384,1.027731,-0.8151524,3.262748 -404,247,6431,0.7276571,-1.044103,3.72001 -331,55,6746,4.664564,-0.09718675,3.010741 -183,96,6760,4.884775,-0.5364002,4.28291 -355,157,6761,0.7066287,-1.258907,3.690739 -231.4,198.28,6763,0.7643645,-1.306086,3.896036 -235,212.2,6764,0.7441246,-1.292261,3.903395 -434.2,51.4,6772,4.203822,0.2946751,2.330277 -362,121,6777,0.7521763,-1.282332,3.643214 -343,135,6779,0.7084171,-1.298091,3.688461 -261,233,6782,0.6856176,-1.264547,3.883951 -159.4,51.4,6783,5.01151,-0.9187673,4.203355 -445,43,6784,4.134581,0.2478482,2.260616 -272.2,124.6,6792,0.768198,-1.363526,3.766529 -258,169,6794,0.7305627,-1.334207,3.826596 -260.2,175,6795,0.6854657,-1.346088,3.824866 -293.8,61,6802,4.584535,-0.2581329,3.319914 -182,58,6806,4.76764,-0.8101655,4.070198 -428,348,6810,0.5766922,-0.9410912,3.781847 -388.6,65.8,6812,4.153036,0.1189424,2.740557 -153.4,55,6818,5.059413,-0.9370587,4.240882 -347.8,46.6,6824,4.479192,-0.1065818,2.891246 -250,279,6831,0.7312081,-1.180536,3.960761 -316,75,6840,4.634545,-0.02272257,3.235842 -333,112,6841,0.7727591,-1.315164,3.6736 -305.8,163,6844,0.7022611,-1.303286,3.760926 -241,66,6850,4.170437,-0.6057768,3.724072 -325,54.28,6877,4.575951,-0.1441295,3.068818 -358,234,6879,0.6760294,-1.156597,3.760687 -501.4,350.2,6881,0.5263931,-0.8862822,3.682812 -394.6,369.4,6882,0.540969,-0.9894383,3.845685 -181,54.28,6883,4.712036,-0.8503671,4.059541 -365.8,140.2,6884,0.733505,-1.257466,3.658134 -514.6,161.8,6885,1.109034,-0.7273754,3.3021 -384.04,175.24,6886,0.6495909,-1.233384,3.674388 -355,184,6887,0.6519493,-1.255194,3.717276 -385,125,6890,3.260738,0.05935421,3.175898 -358.12,348.04,6891,0.5667377,-1.04772,3.872863 -283.24,51.4,6892,4.293799,-0.4733777,3.385334 -345.16,45.64,6893,4.28569,-0.2030289,2.922925 -410.2,159.4,6895,0.6566463,-1.225462,3.623623 -353.8,57.16,6898,4.410478,-0.03686657,2.897137 -415,359,6903,0.5287105,-0.9930271,3.807835 -279,342,6907,0.604211,-1.129793,3.96793 -401,137,6909,0.703472,-1.238539,3.612409 -368.2,379.72,6911,0.5181335,-1.019331,3.888432 -414.28,156.52,6912,0.6657459,-1.219709,3.615944 -305,330,6913,0.5930307,-1.130747,3.919227 -193.96,70.12,6914,4.615661,-0.7117764,4.046169 -397,142.12,6915,0.6625772,-1.258458,3.630587 -500.68,350.92,6917,0.5336739,-0.8762858,3.684158 -365.32,140.68,6918,0.7337101,-1.25735,3.65914 -267.4,62.2,6922,4.422278,-0.4522265,3.512362 -355.24,371.08,6926,0.5404874,-1.038738,3.895952 -392.68,369.64,6927,0.5418663,-0.9894562,3.848711 -271,346.6,6929,0.5947065,-1.135201,3.981155 -409,256.6,6935,0.7552277,-0.9819608,3.707433 -445.96,172.36,6936,1.0744,-0.8588499,3.488957 -270.568,118.504,6937,0.7836777,-1.367408,3.762897 -279.208,343.144,6938,0.603114,-1.12983,3.968284 -417,357,6940,0.558611,-0.9609771,3.805268 -233.8,172.6,6951,0.7518398,-1.344281,3.863177 -530,137,6409,1.115829,-0.784753,3.260161 -293.6265,278.6966,6579,0.6544915,-1.184676,3.890624 -278.6966,341.4023,6584,0.585745,-1.15168,3.966794 -285,95,6597,4.353633,-0.1719532,3.573157 -258,205,6602,0.6607739,-1.323968,3.857602 -298,272,6605,0.6740703,-1.173366,3.882938 -309,166,6610,0.6751488,-1.315144,3.762135 -333,105,6617,0.7988091,-1.318261,3.667924 -244.6,199,6624,0.6896741,-1.331083,3.871492 -357,156,6628,0.6689101,-1.281565,3.694126 -502,351,6632,0.531864,-0.8820395,3.685452 -295,141,6634,0.713418,-1.345593,3.755979 -303,253,6636,0.681866,-1.192204,3.856653 -281.8,270.28,6637,0.6997067,-1.178791,3.906263 -289,273.16,6644,0.6830333,-1.174671,3.897797 -337,380.2,6660,0.5036662,-1.089316,3.920427 -346.6,403,6663,0.4938833,-1.046736,3.932853 -498,352,6666,0.5527276,-0.8611253,3.68968 -297.4,272.2,6673,0.6626237,-1.181057,3.885755 -358.6,349,6677,0.563443,-1.053841,3.875198 -399,141,6680,0.6636392,-1.262057,3.628118 -304.84,270.28,6682,0.6622485,-1.175407,3.870668 -488.2,340.6,6685,0.5672715,-0.8795711,3.691806 -296.488,274.024,6693,0.6753385,-1.171915,3.887078 -466.8136,323.4864,6715,0.7179123,-0.7759749,3.693743 -433.9678,336.9233,6722,0.6629732,-0.8644547,3.765991 -279.6919,341.8999,6728,0.5869606,-1.14713,3.965033 -325,39,6739,4.563844,-0.2466986,2.993142 -429,39,6740,4.100262,0.1259828,2.362704 -377,43,6741,4.29664,-0.02976588,2.69525 -178,54,6742,4.784888,-0.843048,4.080268 -280,49,6743,4.481955,-0.4424634,3.367609 -302,47,6744,4.598883,-0.3071139,3.197878 -172,60,6745,4.816411,-0.8375001,4.152788 -383,51,6747,4.004675,-0.05599522,2.750216 -163,68,6748,5.027113,-0.7961342,4.273301 -281,64,6749,4.435217,-0.356683,3.436386 -208.6,68.2,6750,4.517905,-0.6668416,3.937512 -277,65.8,6751,4.246857,-0.4140116,3.468493 -198,73,6752,4.664081,-0.6567466,4.038564 -388,63,6753,4.12359,0.08075301,2.737909 -382,64,6754,4.276731,0.1238644,2.752249 -418,62,6755,3.982688,0.1765573,2.565469 -256,74,6756,4.38137,-0.4291657,3.654549 -234,78,6757,4.293951,-0.5424812,3.809277 -252,76,6758,4.306943,-0.460294,3.690929 -315,78,6759,4.712484,0.01671575,3.23479 -304,171,6762,0.6731951,-1.310785,3.769418 -288,243,6765,0.6762314,-1.224592,3.86049 -312,348,6766,0.5565875,-1.120439,3.923352 -195,56,6767,4.613137,-0.7851775,3.964858 -417,46,6768,3.919879,0.03511916,2.530701 -445,43,6769,4.301744,0.3282101,2.227747 -326.2,55,6770,4.651844,-0.1161226,3.048597 -182,65,6771,4.801381,-0.7538241,4.106901 -262.6,63.4,6773,4.3424,-0.4763712,3.562839 -369,58,6774,4.332857,0.02945127,2.820693 -243,79,6775,4.251462,-0.4977696,3.768042 -331,121,6776,0.7418526,-1.318686,3.687195 -246,145,6778,0.7079746,-1.385461,3.816061 -257.8,169,6780,0.6884673,-1.35824,3.82726 -265,174,6781,0.7043706,-1.332766,3.820442 -426,45,6785,3.887405,0.05398232,2.482021 -269,58,6786,4.312262,-0.4865182,3.497015 -260,61,6787,4.201332,-0.5420125,3.580244 -355,57,6788,4.503275,0.01222746,2.874373 -293,61,6789,4.546395,-0.2825633,3.337288 -385,59,6790,4.146751,0.04565452,2.743057 -264,73,6791,4.425126,-0.3924882,3.585123 -234,149,6793,0.7337121,-1.382415,3.836665 -446,173,6796,1.081651,-0.8605797,3.486166 -298.6,373,6797,0.5316256,-1.11818,3.959075 -189,55,6798,4.63549,-0.8137539,3.998794 -431.8,39.4,6799,4.044597,0.1245342,2.364358 -351,49,6800,4.440959,-0.1024,2.86631 -305,55,6801,4.590069,-0.2550973,3.212368 -185,71,6803,4.732413,-0.7209858,4.115315 -255,177,6804,0.7260771,-1.328628,3.837958 -169,60,6805,4.89886,-0.8440151,4.166865 -443,48,6807,4.394849,0.3895094,2.200092 -391,61,6808,3.985599,0.04387075,2.755277 -244,75,6809,4.076229,-0.5682417,3.733311 -351,54,6811,4.505485,-0.03468241,2.887608 -443,326,6813,0.6162045,-0.9204333,3.736881 -163,55,6814,4.936893,-0.9039027,4.177929 -451,36,6815,4.359643,0.3235754,2.073084 -287,127,6816,0.7439306,-1.353508,3.749378 -311,343,6817,0.5563951,-1.129705,3.918947 -287,47,6819,4.452847,-0.4280227,3.314317 -180,71,6820,4.753238,-0.7427738,4.143064 -343,56,6821,4.58499,-0.03496402,2.944945 -221.8,155.8,6822,0.7703238,-1.376065,3.860333 -182.2,55,6823,4.753324,-0.8303447,4.048048 -260.2,59.8,6825,4.295325,-0.5198644,3.566451 -355,57.4,6826,4.522742,0.01170029,2.873157 -253,66,6827,4.363835,-0.4987353,3.645905 -367,141,6828,0.726723,-1.259194,3.657815 -515,162,6829,1.106278,-0.7326922,3.303361 -260.2,232.84,6830,0.6871741,-1.264561,3.885105 -399,369,6832,0.5415294,-0.9873419,3.839657 -279.4,49,6833,4.421079,-0.4563579,3.377178 -398.2,50.2,6834,4.022599,0.0246658,2.65916 -268.6,58.6,6835,4.384054,-0.4709975,3.501812 -403,58,6836,3.993767,0.06482141,2.649805 -280.6,64.60001,6837,4.462422,-0.3468658,3.443081 -197.8,71.8,6838,4.608265,-0.6717851,4.036647 -382.6,63.4,6839,4.192883,0.08623473,2.778553 -397,143,6842,0.6543859,-1.26245,3.630939 -257.32,169.48,6843,0.7101321,-1.343741,3.825822 -385,175,6845,0.6402758,-1.238063,3.674189 -232.84,201.16,6846,0.7645257,-1.300748,3.899441 -325,39.4,6847,4.622403,-0.2327411,2.985189 -178.6,53.8,6848,4.804749,-0.8466653,4.070472 -328.6,51.4,6849,4.647661,-0.1236623,3.019514 -255.4,73,6851,4.304652,-0.4590927,3.657861 -322,100,6852,0.8068173,-1.330151,3.674288 -361,119,6853,0.7634986,-1.281743,3.640916 -399.4,121,6854,3.47826,0.2240588,3.023336 -476.2,173.8,6855,1.023715,-0.8445195,3.435551 -404,365,6856,0.5342079,-0.9910035,3.830705 -493,377,6857,0.4820371,-0.9034174,3.723425 -172.6,61,6858,4.856516,-0.82127,4.152493 -435,51,6859,4.313525,0.3360697,2.301658 -391,63.4,6860,4.14475,0.09714839,2.717431 -243.4,79,6861,4.240782,-0.5016115,3.763839 -322,103,6862,0.8089999,-1.327297,3.675664 -446.2,172.6,6863,1.05812,-0.8764054,3.491169 -280.36,340.84,6864,0.591755,-1.140111,3.961157 -251.8,75.4,6865,4.167638,-0.5065314,3.683687 -295,140.2,6866,0.7065327,-1.343572,3.752565 -316.6,238.6,6867,0.6537623,-1.211083,3.818445 -497.8,311.8,6868,0.5841712,-0.8980388,3.644392 -182.2,58.6,6869,4.762402,-0.8086663,4.070685 -433,53,6870,4.046289,0.2223703,2.403717 -243.4,69.4,6871,4.232409,-0.5633697,3.715229 -244.6,75.4,6872,4.198524,-0.5263854,3.732621 -254.2,62.2,6873,4.363449,-0.5147362,3.619145 -347,48,6874,4.358734,-0.1446768,2.926996 -417.4,46.6,6875,3.903924,0.02518575,2.537823 -387.4,62.2,6876,4.0984,0.06157021,2.748617 -397,142.6,6878,0.6576634,-1.260924,3.630103 -267.4,263.8,6880,0.7519141,-1.168084,3.92465 -382.6,64.36,6888,4.188802,0.0810308,2.773926 -417.16,61.48,6889,3.984277,0.1660767,2.567535 -358.12,145,6894,0.6823704,-1.283028,3.679474 -478.6,331,6896,0.6003309,-0.8711544,3.689558 -329.32,51.4,6897,4.806147,-0.08576372,3.011009 -385.48,61.48,6899,4.172055,0.07983998,2.740287 -263.8,61,6900,4.407298,-0.4589196,3.539406 -294.76,140.68,6901,0.7155493,-1.341452,3.752717 -465.4,314.2,6902,0.6333832,-0.8896611,3.689618 -497.8,351.4,6904,0.5638651,-0.8447435,3.684344 -476.2,173.8,6905,1.029648,-0.8402776,3.433737 -296.2,271.72,6906,0.6710399,-1.173646,3.881012 -242.92,78.76,6908,4.257429,-0.4988906,3.761954 -187,67,6910,4.601311,-0.7727601,4.080606 -433,339.688,6916,0.5738586,-0.9511966,3.766469 -474.472,185.896,6919,1.052942,-0.7951806,3.44489 -358.696,348.328,6920,0.5592847,-1.056411,3.870173 -229.096,59.75201,6921,4.274831,-0.6675728,3.770749 -231.1696,197.992,6923,0.7506588,-1.311859,3.894225 -445.096,184.168,6924,1.038765,-0.8617151,3.512603 -386.6897,214.5808,6925,1.05229,-0.8777526,3.676635 -445.096,175.528,6928,1.080759,-0.8590275,3.491029 -432.3089,341.0704,6930,0.595934,-0.9269727,3.768828 -440.6033,253.9792,6931,0.7880501,-0.9009674,3.649335 -496.5905,314.1136,6932,0.602619,-0.8724688,3.645202 -399.1313,135.784,6933,0.6961402,-1.245356,3.615084 -446.8241,171.0352,6934,1.06259,-0.8732259,3.487385 -369.2715,224.9489,6939,0.7413435,-1.119037,3.732517 -269.7386,130.3927,6941,0.7724354,-1.356436,3.775577 -394.1547,137.8576,6942,0.7263783,-1.23281,3.617541 -354.3415,170.2058,6943,0.6626929,-1.265722,3.706525 -453.8744,299.5985,6944,0.6539214,-0.9274835,3.689265 -396.643,142.8343,6945,0.6790166,-1.248583,3.626987 -466.3159,190.1124,6946,1.047151,-0.8004522,3.470728 -446.4094,182.6474,6947,1.006909,-0.8751373,3.51712 -469.7996,189.117,6948,1.052806,-0.7899011,3.463567 -493.6875,332.4443,6949,0.6216584,-0.8250744,3.664093 -472.7856,317.5144,6950,0.5957609,-0.9096516,3.686 -353.3462,207.033,6952,0.6860427,-1.196921,3.740779 -293.6265,311.5424,6953,0.5985588,-1.165257,3.914438 -284.6685,341.4023,6954,0.5803299,-1.139976,3.954597 -350.3602,224.9489,6955,0.7096863,-1.160815,3.761091 -233.9068,212.4077,6956,0.7272167,-1.307266,3.899035 -454.8697,189.117,6957,1.11142,-0.7721137,3.48056 -356.3322,135.3693,6958,0.9147069,-1.189924,3.643664 -463.2305,172.9927,6959,1.032695,-0.8601575,3.461245 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0048.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0048.csv deleted file mode 100644 index 9438c1053208756c9aeb62f6dde11824b792e345..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0048.csv +++ /dev/null @@ -1,180 +0,0 @@ -238,54,6739,4.563844,-0.2466986,2.993142 -86.2,71.8,6742,4.784888,-0.843048,4.080268 -297.64,65.8,6747,4.004675,-0.05599522,2.750216 -109,90,6752,4.664081,-0.6567466,4.038564 -340,54,6799,4.044597,0.1245342,2.364358 -262.6,64.60001,6800,4.440959,-0.1024,2.86631 -303,77,6808,3.985599,0.04387075,2.755277 -162,91,6809,4.076229,-0.5682417,3.733311 -58.6,68.68,6818,5.059413,-0.9370587,4.240882 -266.2,70.60001,6826,4.522742,0.01170029,2.873157 -265,201,6846,0.7645257,-1.300748,3.899441 -143.56,77.32,6921,4.274831,-0.6675728,3.770749 -415,182.2,6947,1.006909,-0.8751373,3.51712 -343,167.8,6965,0.6707503,-1.302272,3.758383 -357.4,135.4,6973,0.6794665,-1.327934,3.702544 -528.04,98.92001,6977,1.03356,-0.7915271,3.062097 -520,126,6978,1.113382,-0.6521938,3.056927 -520,91,6980,1.095825,-0.7817987,3.033053 -464,372,6981,0.4555452,-0.9063859,3.826389 -105.4,89.8,6984,4.613949,-0.6812322,4.0478 -319,260,6985,0.6884141,-1.164243,3.892277 -290.44,75.88,6987,4.360912,0.1400091,2.74006 -520,124,6991,1.086669,-0.6848903,3.074647 -292.6,125.8,7001,0.7688807,-1.37785,3.770936 -520.6,88.60001,7009,1.085779,-0.7963471,3.03637 -461.8,376.84,7010,0.4624619,-0.8876972,3.833657 -297,169,7011,0.7142027,-1.336237,3.819977 -391,358,7012,0.4946853,-1.041765,3.916908 -508.6,98.2,7014,1.132975,-0.7601352,3.054503 -537.4,214.6,7016,0.7243636,-0.756116,3.374497 -379.72,369.64,7017,0.4981972,-1.034678,3.94597 -375.4,343.72,7021,0.520428,-1.069385,3.920881 -391,357.4,7024,0.4987614,-1.037624,3.915902 -530.2,211,7025,0.7221357,-0.7881514,3.392673 -410.2,335.8,7026,0.5419826,-0.9886026,3.856697 -303.4,139,7028,0.7637134,-1.345455,3.768807 -337,163,7029,0.6727707,-1.316412,3.762751 -384.04,366.76,7030,0.4897928,-1.043462,3.936966 -489.16,309.16,7032,0.5550568,-0.8519892,3.679899 -383,335,7033,0.5408292,-1.047788,3.898082 -418.6,346.6,7034,0.5216979,-0.9727795,3.858924 -434.44,182.44,7036,0.980384,-0.8434983,3.474207 -493,331,7037,0.4921583,-0.8994443,3.714351 -377.8,145,7038,0.6671382,-1.291861,3.682334 -391.24,356.68,7040,0.50878,-1.025374,3.913914 -496.36,132.04,7041,1.12951,-0.6882824,3.136153 -420.04,169.48,7043,0.9870222,-0.908949,3.492627 -398.44,222.76,7045,0.8837119,-0.9122657,3.654525 -434,311,7049,0.6093668,-0.9064361,3.771612 -325,317.8,7050,0.5376953,-1.188365,3.958616 -419,252,7054,0.7447996,-0.9293449,3.690855 -323.56,319.24,7060,0.5474963,-1.178175,3.962005 -527,151,6302,1.050384,-0.6552165,3.152781 -506.2,169,6327,0.9966618,-0.7149673,3.276079 -473,137,6409,1.115829,-0.784753,3.260161 -326.97,262.2737,6579,0.6544915,-1.184676,3.890624 -341,164,6610,0.6751488,-1.315144,3.762135 -319.24,260.2,6644,0.6830333,-1.174671,3.897797 -327.4,259,6673,0.6626237,-1.181057,3.885755 -387,319,6677,0.563443,-1.053841,3.875198 -337,53,6740,4.100262,0.1259828,2.362704 -290,56,6741,4.29664,-0.02976588,2.69525 -194,64,6743,4.481955,-0.4424634,3.367609 -243,69,6746,4.664564,-0.09718675,3.010741 -195,80,6751,4.246857,-0.4140116,3.468493 -328,75,6755,3.982688,0.1765573,2.565469 -172,89,6756,4.38137,-0.4291657,3.654549 -150,93,6757,4.293951,-0.5424812,3.809277 -347,59,6769,4.301744,0.3282101,2.227747 -280,73,6774,4.332857,0.02945127,2.820693 -296.2,169.48,6780,0.6884673,-1.35824,3.82726 -64.36,68.68,6783,5.01151,-0.9187673,4.203355 -175,77,6787,4.201332,-0.5420125,3.580244 -206,76,6789,4.546395,-0.2825633,3.337288 -274,153,6793,0.7337121,-1.382415,3.836665 -99.4,71.8,6798,4.63549,-0.8137539,3.998794 -347,61,6807,4.394849,0.3895094,2.200092 -301,79,6812,4.153036,0.1189424,2.740557 -356,47,6815,4.359643,0.3235754,2.073084 -316,132,6816,0.7439306,-1.353508,3.749378 -201,62,6819,4.452847,-0.4280227,3.314317 -89.8,87.4,6820,4.753238,-0.7427738,4.143064 -259,62.2,6824,4.479192,-0.1065818,2.891246 -418,331,6832,0.5415294,-0.9873419,3.839657 -194.2,64.60001,6833,4.421079,-0.4563579,3.377178 -182.44,73,6835,4.384054,-0.4709975,3.501812 -109,89.8,6838,4.608265,-0.6717851,4.036647 -293.8,77.8,6839,4.192883,0.08623473,2.778553 -237.4,53.8,6847,4.622403,-0.2327411,2.985189 -423,329,6856,0.5342079,-0.9910035,3.830705 -302.2,75.4,6860,4.14475,0.09714839,2.717431 -159.4,94.60001,6861,4.240782,-0.5016115,3.763839 -335,109,6862,0.8089999,-1.327297,3.675664 -327,143,6866,0.7065327,-1.343572,3.752565 -347,227,6867,0.6537623,-1.211083,3.818445 -161.8,91,6872,4.198524,-0.5263854,3.732621 -169,77.8,6873,4.363449,-0.5147362,3.619145 -259,63,6874,4.358734,-0.1446768,2.926996 -327.4,59.8,6875,3.903924,0.02518575,2.537823 -237.16,68.68,6877,4.575951,-0.1441295,3.068818 -461.8,159.4,6885,1.109034,-0.7273754,3.3021 -293.32,77.32,6888,4.188802,0.0810308,2.773926 -327.88,74.44,6889,3.984277,0.1660767,2.567535 -386.2,319,6891,0.5667377,-1.04772,3.872863 -257.32,60.04,6893,4.28569,-0.2030289,2.922925 -420,153,6895,0.6566463,-1.225462,3.623623 -237.16,65.8,6897,4.806147,-0.08576372,3.011009 -265.96,70.12,6898,4.410478,-0.03686657,2.897137 -159.4,94.60001,6908,4.257429,-0.4988906,3.761954 -407,137,6909,0.703472,-1.238539,3.612409 -400.6,346.6,6911,0.5181335,-1.019331,3.888432 -409,141.4,6915,0.6625772,-1.258458,3.630587 -493,310.6,6917,0.5336739,-0.8762858,3.684158 -428.9911,185.1357,6948,1.052806,-0.7899011,3.463567 -356,56,6960,4.648065,0.5482958,1.990826 -287,61,6961,4.400756,0.03178291,2.685109 -193,76.60001,6962,4.561699,-0.3339199,3.418927 -526,109,6963,1.102095,-0.7015843,3.025502 -307,130,6964,0.7512987,-1.36047,3.757983 -437,310,6966,0.5892705,-0.9283085,3.770373 -502,325,6967,0.469157,-0.9119548,3.707682 -482,375,6968,0.4192329,-0.9206861,3.808855 -475,390,6969,0.4163993,-0.9006701,3.836884 -322.6,65.8,6970,4.15728,0.1835522,2.512019 -238,69,6971,4.791875,-0.05129539,3.014364 -364.6,123.4,6972,0.7462682,-1.293897,3.655924 -303,158,6974,0.7031056,-1.351958,3.801865 -65.8,68.2,6975,4.952812,-0.9194647,4.176859 -176,87,6976,4.411083,-0.4059587,3.600579 -73,68,6979,4.863104,-0.903998,4.129126 -91,79,6982,4.810067,-0.767275,4.079709 -339,286,6983,0.6042687,-1.157297,3.900515 -260,72,6986,4.466116,-0.02983318,2.920435 -294.76,64.36,6988,4.362859,0.07449275,2.653095 -521,89,6989,1.109396,-0.7723044,3.017385 -327.4,74.2,6990,4.089834,0.2269862,2.526547 -531,211,6992,0.7322342,-0.7745255,3.383343 -319,260.2,6993,0.6828995,-1.168572,3.893019 -381.4,370.6,6994,0.4904964,-1.039572,3.945018 -464,376,6995,0.4433533,-0.9166347,3.833592 -149.8,93.4,6996,4.264623,-0.5427163,3.804257 -495.4,92.2,6997,1.217135,-0.7439284,3.031787 -382.6,317.8,6998,0.5714438,-1.048578,3.875248 -322.6,73,6999,4.168651,0.2255968,2.532341 -301,131.8,7000,0.7551597,-1.364845,3.767086 -480,381,7002,0.4152394,-0.9136516,3.819833 -347,114,7003,0.8038952,-1.300616,3.657791 -383.8,367,7004,0.4916339,-1.040958,3.93749 -103.24,71.56001,7005,4.607242,-0.7971447,3.963435 -320.68,70.12,7006,4.108037,0.1666488,2.554381 -519.4,124.6,7007,1.107185,-0.6647918,3.062151 -460.36,157.96,7008,1.131094,-0.7083883,3.289465 -73,70.12,7013,4.940021,-0.8772803,4.143561 -497.8,136.36,7015,1.089911,-0.6943446,3.176333 -176.2,75.4,7018,4.4243,-0.4753731,3.543851 -91.72,74.44,7019,4.741678,-0.8049901,4.048943 -502.1201,78.76001,7020,1.147018,-0.8246846,3.043428 -153.064,80.48801,7022,4.168474,-0.6283744,3.725867 -268.4944,173.1088,7023,0.7527208,-1.345791,3.860883 -376.3217,378.3953,7027,0.4876879,-1.036817,3.961128 -479.656,277.48,7031,0.6157842,-0.8745138,3.640453 -405.3521,137.512,7035,0.7013439,-1.23779,3.613852 -504.8849,152.3728,7039,1.083748,-0.6387582,3.162056 -463.4129,139.9312,7042,1.131842,-0.7562677,3.255139 -531.0123,336.9233,7044,0.4297055,-0.8751571,3.681866 -458.851,292.1335,7046,0.6225972,-0.8779559,3.696949 -518.5707,294.6218,7047,0.4972798,-0.9051475,3.634337 -374.2481,339.4116,7048,0.5191716,-1.081971,3.91771 -404.1079,339.4116,7051,0.5583403,-0.9718889,3.868223 -468.8043,137.8576,7052,1.083556,-0.7902578,3.263438 -468.8043,162.7408,7053,1.138085,-0.6610358,3.264405 -344.3882,329.4583,7055,0.5537295,-1.116725,3.945983 -356.3322,329.4583,7056,0.5249678,-1.127583,3.930895 -493.6875,326.97,7057,0.4880213,-0.8969185,3.717067 -406.5963,234.9021,7058,0.7117296,-1.030959,3.706398 -477.5632,273.3218,7059,0.657033,-0.832049,3.626849 -460.8417,156.2712,7061,1.152911,-0.6925056,3.273629 -524.1445,323.4864,7062,0.4520137,-0.889539,3.672146 -311.5424,254.8087,7063,0.7014341,-1.17724,3.895711 -498.6641,161.704,7064,1.053851,-0.6568249,3.214255 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0049.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0049.csv deleted file mode 100644 index 9f43cede0fad856ae12595e9e450b96cf1150a62..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0049.csv +++ /dev/null @@ -1,189 +0,0 @@ -84,133,6598,4.083828,-0.2901113,3.644392 -175,74,6741,4.29664,-0.02976588,2.69525 -123,84,6746,4.664564,-0.09718675,3.010741 -40,120,6775,4.251462,-0.4977696,3.768042 -65,95,6786,4.312262,-0.4865182,3.497015 -142.6,77.8,6824,4.479192,-0.1065818,2.891246 -47,106,6827,4.363835,-0.4987353,3.645905 -51.4,113.32,6865,4.167638,-0.5065314,3.683687 -120.52,87.4,6877,4.575951,-0.1441295,3.068818 -236.2,67,6960,4.648065,0.5482958,1.990826 -178,77,6988,4.362859,0.07449275,2.653095 -214.6,86.2,6990,4.089834,0.2269862,2.526547 -54,98,7018,4.4243,-0.4753731,3.543851 -502.6,127,7071,0.7453406,-0.7624915,3.126022 -492,181,7073,0.6895738,-0.7115236,3.294864 -283,202.6,7074,0.6812649,-1.29149,3.87895 -316.36,240.04,7075,0.6425455,-1.190811,3.881093 -399,378,7077,0.4508226,-0.9353335,3.980112 -365.32,417.16,7078,0.7020268,-0.4795691,4.055937 -258,208,7085,0.7281311,-1.290684,3.910569 -487,331,7089,0.3886335,-0.8407694,3.768642 -210,53,7091,4.208362,0.04173023,2.333854 -464.2,187,7097,0.731428,-0.7504207,3.36784 -374.2,398.2,7101,0.6523714,-0.5916513,4.00818 -442.6,128.2,7104,1.077545,-0.5874993,3.04365 -140.2,76.60001,7106,4.594286,-0.0669442,2.861907 -177.4,49,7111,4.401533,-0.09626921,2.503965 -503.8,159.4,7113,0.6873008,-0.7276537,3.221539 -343.72,204.04,7118,0.6838078,-1.148651,3.767252 -450,360,7119,0.4152423,-0.8581789,3.872508 -466.6,77.8,7121,1.00909,-0.7366915,2.928546 -368.2,126.28,7126,0.6884415,-1.244058,3.616735 -438.76,78.76,7128,1.049932,-0.8002853,3.007234 -379,157,7132,0.6202911,-1.22567,3.678194 -283.24,201.16,7133,0.6724867,-1.301007,3.879046 -507,203,7134,0.5764416,-0.7692207,3.38702 -71.8,85,7135,4.474362,-0.4379185,3.368709 -470.2,73,7136,1.035609,-0.7210284,2.883985 -490.6,285.4,7140,0.4233075,-0.8886006,3.682989 -477,343,7141,0.406048,-0.8111896,3.794287 -371,289,7144,0.5683326,-1.043871,3.870964 -389,379,7145,0.5119299,-0.845466,3.981421 -277.48,123.4,7148,0.7696518,-1.35851,3.756754 -32,108,7151,4.496378,-0.5026546,3.70543 -259,119,7153,0.8315214,-1.362249,3.761294 -384,323,7155,0.5026067,-1.021755,3.923712 -464.68,336.52,7156,0.4072568,-0.8819481,3.816515 -342.28,130.6,7158,0.6796016,-1.300678,3.684026 -310.6,217,7159,0.6614217,-1.227867,3.855224 -287.56,221.32,7160,0.6827081,-1.248493,3.892895 -383.8,319,7161,0.504908,-1.031387,3.911669 -477.4,343,7163,0.407338,-0.8061941,3.7923 -457.48,286.12,7165,0.4911586,-0.8976889,3.732127 -490.6,284.68,7167,0.411055,-0.9029725,3.690015 -447.4,271.72,7168,0.5500605,-0.8591134,3.682612 -442,240,7176,0.5640774,-0.9420187,3.649491 -320.2,225.4,7177,0.6751853,-1.176127,3.84286 -456.04,329.32,7179,0.41419,-0.9250596,3.82399 -427,235,7182,0.6330328,-0.8948045,3.633088 -304,351,7183,0.7597148,-0.8421677,4.039504 -400.6,248.2,7203,0.6092964,-0.9827282,3.734351 -286.6,64.60001,7213,5.041284,1.177308,1.264563 -419,93,7214,1.115152,-0.7640931,3.065748 -426,151,6327,0.9966618,-0.7149673,3.276079 -314,242,6673,0.6626237,-1.181057,3.885755 -215,87,6755,3.982688,0.1765573,2.565469 -52,114,6756,4.38137,-0.4291657,3.654549 -170.2,88.60001,6774,4.332857,0.02945127,2.820693 -283.24,157.96,6780,0.6884673,-1.35824,3.82726 -57,99,6787,4.201332,-0.5420125,3.580244 -44,113,6809,4.076229,-0.5682417,3.733311 -150,87,6826,4.522742,0.01170029,2.873157 -62.92,96.04,6835,4.384054,-0.4709975,3.501812 -117.64,71.56001,6847,4.622403,-0.2327411,2.985189 -40.6,119.8,6861,4.240782,-0.5016115,3.763839 -47.8,103,6873,4.363449,-0.5147362,3.619145 -182.44,93.16,6888,4.188802,0.0810308,2.773926 -285,126,6964,0.7512987,-1.36047,3.757983 -458,322,6968,0.4192329,-0.9206861,3.808855 -176.68,90.28001,6987,4.360912,0.1400091,2.74006 -427,83,6989,1.109396,-0.7723044,3.017385 -209.8,85,6999,4.168651,0.2255968,2.532341 -417,91,7014,1.132975,-0.7601352,3.054503 -465,188,7016,0.7243636,-0.756116,3.374497 -460,186,7025,0.7221357,-0.7881514,3.392673 -317.8,153.64,7029,0.6727707,-1.316412,3.762751 -457,286.6,7037,0.4921583,-0.8994443,3.714351 -410.2,122.2,7041,1.12951,-0.6882824,3.136153 -296.6125,239.8788,7063,0.7014341,-1.17724,3.895711 -35,52,7065,4.275564,-0.8288012,3.436693 -177,49,7066,4.292669,-0.1436466,2.539554 -455,33,7067,1.108192,-0.8223125,2.817895 -212,51,7068,4.189868,0.03936987,2.31397 -477,35,7069,1.004639,-0.8387423,2.830974 -283,136,7070,0.7345698,-1.360248,3.776201 -309,147,7072,0.6761304,-1.33791,3.770169 -482,312,7076,0.3939912,-0.9096566,3.758043 -171.4,46.6,7079,4.413478,-0.1343558,2.541897 -184,50,7080,4.273307,-0.1004623,2.501157 -451,36,7081,1.121001,-0.8206227,2.827363 -214,53,7082,4.063724,0.004127962,2.374249 -314,130,7083,0.6968233,-1.341109,3.730588 -299,174,7084,0.6682736,-1.32147,3.822877 -346,211,7086,0.6828396,-1.138847,3.768123 -292,241,7087,0.6963697,-1.189959,3.906139 -323,294,7088,0.5906312,-1.132676,3.955493 -294,408,7090,0.9380138,-0.449439,4.169277 -346.6,154.6,7092,0.6602125,-1.263957,3.713771 -373,400,7093,0.6645346,-0.5662763,4.012035 -177,52,7094,4.346549,-0.09929996,2.530682 -140,77,7095,4.63767,-0.05295985,2.850055 -277,114,7096,0.7788371,-1.372897,3.741583 -251,205,7098,0.7694551,-1.272455,3.907187 -294,413,7099,0.9671627,-0.3925395,4.181812 -451,273,7100,0.5347737,-0.8639662,3.685726 -209.8,52.6,7102,4.233656,0.05230992,2.337094 -39.4,112.6,7103,4.17613,-0.5521397,3.731366 -214,51,7105,4.192665,0.04167093,2.316424 -502.12,126.28,7107,0.7349073,-0.7757064,3.139392 -455,133,7108,1.02819,-0.5639019,3.036319 -414,152,7109,1.074256,-0.6353862,3.213179 -488,298,7110,0.4194023,-0.8738939,3.70646 -284,159,7112,0.7048724,-1.342028,3.816921 -494,181,7114,0.6648023,-0.7349685,3.308812 -448,272,7115,0.5475524,-0.8569417,3.683151 -440.2,325,7116,0.4602332,-0.9003494,3.825833 -494,324,7117,0.3448274,-0.9341083,3.780869 -211,55,7120,4.15941,0.04894989,2.364894 -499,160,7122,0.7321194,-0.6860249,3.193491 -288,224,7123,0.6917592,-1.237608,3.89442 -442,328,7124,0.4458868,-0.9088902,3.836006 -188,82,7125,4.329311,0.1350442,2.609321 -103.24,77.32,7127,4.713959,-0.2377209,3.081569 -466.12,77.32,7129,1.014108,-0.7342643,2.924272 -321.4,310.6,7130,0.5479335,-1.16166,3.990306 -349,153.4,7131,0.6586375,-1.26567,3.707624 -427,82.60001,7137,1.092573,-0.7852537,3.028947 -273.16,111.88,7138,0.7949548,-1.37202,3.73875 -454.6,133,7139,1.007147,-0.5892104,3.061018 -111.88,77.32,7142,4.832379,-0.1427105,2.989325 -439,79,7143,1.06258,-0.7794002,3.003615 -208.36,85.96001,7146,4.236717,0.2623827,2.513556 -185.32,88.84,7147,4.273764,0.1655699,2.659683 -346.6,147.4,7149,0.6699572,-1.270985,3.699854 -411.4,376.84,7150,0.4317624,-0.9325652,3.963032 -445,353.8,7152,0.4232465,-0.88062,3.871421 -449.8,272.2,7154,0.5310273,-0.8741301,3.689501 -102.952,77.03201,7157,4.782104,-0.2156954,3.061428 -427.816,334.504,7162,0.4712467,-0.9014418,3.858776 -208.36,85.672,7164,4.145033,0.2011485,2.544513 -83.94401,80.48801,7166,4.582359,-0.3660761,3.248354 -148.2256,86.01761,7169,4.688107,0.08410607,2.825223 -417.7937,117.1216,7170,1.09022,-0.7135092,3.127108 -440.6033,71.50241,7171,1.072673,-0.7912446,2.974252 -183.4768,92.23841,7172,4.389746,0.2143806,2.686362 -397.0576,299.5984,7173,0.5476944,-0.9658847,3.841325 -71.50241,86.01761,7174,4.563397,-0.4013769,3.357081 -322.4081,237.3904,7175,0.6544416,-1.172341,3.861426 -471.2926,259.7853,7178,0.4912904,-0.8966246,3.649799 -446.4094,354.3415,7180,0.4542451,-0.8100592,3.851477 -321.9933,239.8788,7181,0.6525174,-1.166343,3.867095 -395.15,147.9105,7184,1.022468,-0.7716671,3.323578 -327.0695,269.7386,7185,0.5951673,-1.17825,3.9134 -323.4864,287.6545,7186,0.60928,-1.135828,3.937613 -491.1992,287.1569,7187,0.4099598,-0.9082818,3.695363 -410.0799,344.3882,7188,0.4626484,-0.9731387,3.910839 -330.6527,309.1536,7189,0.6039329,-1.061066,3.959673 -356.3322,332.4443,7190,0.5740789,-0.9677192,3.956618 -371.2621,344.3882,7191,0.4919836,-1.037379,3.970686 -436.4561,132.881,7192,1.068939,-0.6029958,3.08837 -414.0612,147.8109,7193,1.075645,-0.6393129,3.205781 -317.0167,244.8554,7194,0.6300446,-1.194768,3.89036 -344.3882,302.5845,7195,0.5526575,-1.122484,3.939284 -262.5723,162.2432,7196,0.7121313,-1.371458,3.851657 -241.0732,190.9086,7197,0.7942731,-1.296203,3.898009 -341.4023,213.0049,7198,0.6777053,-1.138323,3.787013 -327.0695,294.8209,7199,0.5843403,-1.126745,3.952109 -398.7332,305.5705,7200,0.521506,-0.9832948,3.858674 -422.0239,141.3413,7201,1.054031,-0.6545832,3.179197 -413.0659,147.3133,7202,1.087024,-0.6386628,3.199038 -463.2305,255.4059,7204,0.5630442,-0.8302196,3.604149 -355.735,301.9873,7205,0.5381522,-1.101884,3.927451 -365.2902,302.5845,7206,0.5422735,-1.065049,3.910132 -398.7332,323.4864,7207,0.4963934,-0.9664638,3.876674 -433.9678,132.3833,7208,1.158553,-0.5058888,3.017069 -323.4864,239.8788,7209,0.6544182,-1.166788,3.862193 -285,65,7210,5.195682,1.269938,1.19071 -279.4,63.4,7211,5.347325,1.311409,1.149977 -291,61,7212,5.184868,1.281506,1.084905 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0050.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0050.csv deleted file mode 100644 index 9e6fa20c3602d235a098061f5cbda16be13e11c9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0050.csv +++ /dev/null @@ -1,231 +0,0 @@ -75,95,6741,4.29664,-0.02976588,2.69525 -85,114,6754,4.276731,0.1238644,2.752249 -124,106,6755,3.982688,0.1765573,2.565469 -51,112,6788,4.503275,0.01222746,2.874373 -45.4,101.8,6800,4.440959,-0.1024,2.86631 -99,111,6808,3.985599,0.04387075,2.755277 -45.64,109,6811,4.505485,-0.03468241,2.887608 -36,113,6821,4.58499,-0.03496402,2.944945 -102,100,6834,4.022599,0.0246658,2.65916 -130,94,6859,4.313525,0.3360697,2.301658 -85.96001,113.32,6888,4.188802,0.0810308,2.773926 -41.8,99.4,6893,4.28569,-0.2030289,2.922925 -113.8,99.4,6970,4.15728,0.1835522,2.512019 -44.2,112.6,6986,4.466116,-0.02983318,2.920435 -113.8,69.4,7105,4.192665,0.04167093,2.316424 -332.2,207.4,7118,0.6838078,-1.148651,3.767252 -287,230,7123,0.6917592,-1.237608,3.89442 -376.6,76.60001,7128,1.049932,-0.8002853,3.007234 -399,71,7136,1.035609,-0.7210284,2.883985 -394.6,130.6,7139,1.007147,-0.5892104,3.061018 -93.16,109,7147,4.273764,0.1655699,2.659683 -242.92,132.04,7153,0.8315214,-1.362249,3.761294 -387,315,7155,0.5026067,-1.021755,3.923712 -438.76,264.52,7165,0.4911586,-0.8976889,3.732127 -187,77.8,7213,5.041284,1.177308,1.264563 -107.56,51.4,7215,4.209576,-0.08126303,2.244284 -285,210,7221,0.6808878,-1.28636,3.874975 -476.2,412.84,7228,0.4050357,-0.2933911,3.88084 -468,157,7231,0.6656574,-0.6265584,3.156673 -317,352,7233,0.7026311,-0.857522,4.021524 -346,181,7235,0.6524898,-1.193844,3.718431 -474,276,7236,0.3744127,-0.9724582,3.750555 -471,295,7237,0.3777959,-0.9255928,3.776333 -444,119,7246,0.7333642,-0.7784193,3.139069 -411,358,7251,0.485339,-0.8148237,3.93512 -108.136,58.02401,7252,4.273729,-0.0115652,2.247609 -280.6,159.4,7254,0.7163598,-1.338828,3.794013 -417.4,178.6,7256,0.7037923,-0.8066931,3.407416 -356,337,7259,0.5549285,-0.9996617,3.983083 -488.2,176.2,7267,0.5097359,-0.7916897,3.343143 -498,175,7268,0.4856008,-0.7891893,3.330529 -303.4,248.2,7269,0.6783228,-1.169636,3.892387 -383.8,326.2,7270,0.5003488,-1.010388,3.944641 -381.4,242.2,7276,0.6058423,-1.003113,3.745183 -381.16,241.48,7284,0.6269059,-0.9670739,3.725248 -393,336,7285,0.4688318,-1.016111,3.959883 -398.44,71.56001,7286,1.101185,-0.6322174,2.791786 -490.6,137.8,7289,0.6278516,-0.6068424,3.051373 -316.6,241,7292,0.6714426,-1.149815,3.858075 -361,157,7294,0.6407158,-1.206642,3.657186 -428.2,170.2,7295,0.7183129,-0.7411166,3.322566 -351.4,214.6,7298,0.6602142,-1.096162,3.742971 -113.32,66.66401,7304,4.24458,0.05406716,2.274803 -386,319,7306,0.4877795,-1.044784,3.938921 -472,308,7307,0.3702912,-0.949832,3.817572 -71.84801,108.136,7308,4.534033,0.1595869,2.694033 -292,325,7311,0.7309989,-0.9784893,4.010879 -471.88,306.28,7312,0.3734118,-0.8993757,3.791375 -432,158,7315,0.7140074,-0.764528,3.290832 -440.2,332.2,7316,0.4219093,-0.8841917,3.871251 -284.68,421.48,7317,0.9437055,-0.3976983,4.181216 -399.88,75.88,7318,0.9967615,-0.7462653,2.940145 -382.6,126.28,7319,1.050194,-0.60909,3.062153 -520.84,155.08,7320,0.4845315,-0.6666713,3.162271 -516.52,157.96,7321,0.529703,-0.567908,3.082475 -352.36,215.56,7322,0.6535826,-1.100768,3.747382 -385.48,313.48,7323,0.5124896,-1.005067,3.913982 -271,136.6,7325,0.7388955,-1.37402,3.768891 -342.28,179.56,7326,0.6593108,-1.199306,3.720294 -443.8,239.8,7328,0.5327378,-0.8344049,3.601734 -405.4,127,7329,1.053046,-0.4581262,2.922556 -391,275,7330,0.5794598,-0.9287799,3.78827 -273.16,369.64,7331,1.171,-0.2585867,4.024193 -294.76,417.16,7332,0.9030283,-0.4247582,4.155986 -470.44,309.16,7334,0.3858254,-0.858417,3.782433 -374.2,148.6,7337,1.032961,-0.6083507,3.172913 -365.32,378.28,7343,0.5485892,-0.86567,4.035686 -364,300,7347,0.5266182,-1.099858,3.934333 -266,145,7354,0.7597049,-1.35242,3.775726 -357,93,7376,1.123351,-0.7539916,3.051372 -68,111,6774,4.332857,0.02945127,2.820693 -273.4,136.6,6964,0.7512987,-1.36047,3.757983 -114.76,104.68,6999,4.168651,0.2255968,2.532341 -355,93,7014,1.132975,-0.7601352,3.054503 -439,265,7037,0.4921583,-0.8994443,3.714351 -75,70,7066,4.292669,-0.1436466,2.539554 -383,35,7067,1.108192,-0.8223125,2.817895 -114,69,7068,4.189868,0.03936987,2.31397 -405,36,7069,1.004639,-0.8387423,2.830974 -443.8,118.6,7071,0.7453406,-0.7624915,3.126022 -284.2,209.8,7074,0.6812649,-1.29149,3.87895 -67.24001,70.12,7079,4.413478,-0.1343558,2.541897 -83,71,7080,4.273307,-0.1004623,2.501157 -379,38.2,7081,1.121001,-0.8206227,2.827363 -116.2,71.8,7082,4.063724,0.004127962,2.374249 -297,180,7084,0.6682736,-1.32147,3.822877 -283,414,7090,0.9380138,-0.449439,4.169277 -36,102,7095,4.63767,-0.05295985,2.850055 -110.2,71.8,7102,4.233656,0.05230992,2.337094 -444.52,119.08,7107,0.7349073,-0.7757064,3.139392 -394,130,7108,1.02819,-0.5639019,3.036319 -74.2,70.60001,7111,4.401533,-0.09626921,2.503965 -280,168,7112,0.7048724,-1.342028,3.816921 -451,150,7113,0.6873008,-0.7276537,3.221539 -447,169,7114,0.6648023,-0.7349685,3.308812 -113.32,74.44,7120,4.15941,0.04894989,2.364894 -399.4,76.60001,7121,1.00909,-0.7366915,2.928546 -436,311,7124,0.4458868,-0.9088902,3.836006 -365,83,7137,1.092573,-0.7852537,3.028947 -375.4,80.2,7143,1.06258,-0.7794002,3.003615 -333,150,7149,0.6699572,-1.270985,3.699854 -430,258,7154,0.5310273,-0.8741301,3.689501 -473.32,264.52,7167,0.411055,-0.9029725,3.690015 -315.4,229,7177,0.6751853,-1.176127,3.84286 -380.2201,332.4443,7191,0.4919836,-1.037379,3.970686 -331.9466,217.4839,7198,0.6777053,-1.138323,3.787013 -434.565,237.49,7204,0.5630442,-0.8302196,3.604149 -404.1079,308.5564,7207,0.4963934,-0.9664638,3.876674 -181,77.8,7211,5.347325,1.311409,1.149977 -191.8,73,7212,5.184868,1.281506,1.084905 -357,95,7214,1.115152,-0.7640931,3.065748 -65.8,55,7216,4.406871,-0.2184258,2.462202 -73,55,7217,4.425723,-0.1694099,2.406449 -38,59,7218,4.673168,-0.2449107,2.561098 -403,73,7219,0.9835644,-0.7608817,2.931257 -459,135,7220,0.770964,-0.5490602,3.002419 -434,308,7222,0.4434211,-0.9263595,3.826657 -319,353,7223,0.6901034,-0.8684628,4.024191 -268,366,7224,1.146061,-0.3419345,4.031946 -409,359,7225,0.5044276,-0.7723375,3.927762 -299,406,7226,0.9222477,-0.3984819,4.115762 -355,432,7227,0.6717096,-0.4741822,4.117386 -477.4,413.8,7229,0.385808,-0.3695745,3.900338 -58.6,52.6,7230,4.579216,-0.2000555,2.424906 -481,175,7232,0.5493903,-0.7443746,3.309629 -285,400,7234,0.9364398,-0.4767385,4.126308 -440,333,7238,0.4263632,-0.8696446,3.868265 -300,410,7239,0.9103312,-0.401425,4.126137 -492,138,7240,0.6297841,-0.591314,3.036022 -284,204,7241,0.6872011,-1.291306,3.865024 -259,211,7242,0.7503654,-1.273485,3.886081 -432,258,7243,0.5313266,-0.8570783,3.67315 -329,295,7244,0.5884115,-1.131298,3.960217 -426,36,7245,0.906646,-0.8588575,2.848143 -385,329,7247,0.4883599,-1.025347,3.954332 -86.2,73,7248,4.322987,-0.04301898,2.466702 -111.88,101.8,7249,4.22495,0.2296141,2.504395 -329,362,7250,0.6708333,-0.8346846,4.028149 -458.2,134.2,7253,0.7717227,-0.556529,3.005518 -349.48,173.8,7255,0.6568493,-1.190038,3.695529 -464,188,7257,0.5548033,-0.8079647,3.409828 -314,243,7258,0.6667275,-1.161318,3.869707 -316.6,352.6,7260,0.707392,-0.8493682,4.021563 -443,338,7261,0.4108019,-0.882658,3.881819 -298.6,406.6,7262,0.9308361,-0.3829804,4.116608 -81.4,71.8,7263,4.418855,-0.03397151,2.451876 -269,139,7264,0.7584117,-1.356009,3.762301 -442.6,149.8,7265,0.719576,-0.7126543,3.213579 -532.6,160.6,7266,0.467314,-0.591625,3.108853 -355,376.6,7271,0.5952753,-0.8195956,4.032757 -290,125,7272,0.7672258,-1.31865,3.68895 -501,176,7273,0.4796606,-0.7794459,3.324937 -61,64.60001,7274,4.577057,-0.1240635,2.481637 -317,241,7275,0.6646382,-1.158199,3.861673 -385,323,7277,0.4921176,-1.032747,3.940851 -446.2,338.2,7278,0.4103468,-0.8616172,3.872569 -116.2,63.4,7279,4.149001,0.006705754,2.28085 -368.2,281.8,7280,0.5642913,-1.048735,3.872155 -382.6,325,7281,0.4934629,-1.03183,3.958644 -441.64,336.52,7282,0.411705,-0.8964084,3.879824 -71.56001,107.56,7283,4.513704,0.1445139,2.699456 -121.96,104.68,7287,4.184051,0.2927861,2.468519 -280.36,159.4,7288,0.7153507,-1.340477,3.795233 -339.4,181,7290,0.6663961,-1.196229,3.723533 -290.2,229,7291,0.6874192,-1.232008,3.886535 -74.44,70.12,7293,4.437357,-0.07649717,2.481138 -428.68,172.36,7296,0.7024372,-0.7621419,3.345533 -497.8,175,7297,0.5021552,-0.7435201,3.297507 -419.8,255.4,7299,0.5642525,-0.8583317,3.680054 -323.8,361,7300,0.6846275,-0.8362131,4.031395 -299.08,407.08,7301,0.9085173,-0.4201587,4.120842 -451,337,7302,0.3929264,-0.888156,3.874946 -343,179.8,7303,0.6530527,-1.205135,3.724298 -85.96001,73,7305,4.369224,-0.02276802,2.448819 -381.16,241.192,7309,0.6267561,-0.9680503,3.724963 -443.368,241.192,7310,0.5218656,-0.8580819,3.621536 -265.384,134.056,7313,0.7613259,-1.369251,3.761507 -490.024,137.512,7314,0.6183589,-0.6433736,3.065726 -121.96,104.68,7324,4.174319,0.2872733,2.47276 -299.5984,407.4257,7327,0.8993608,-0.4330038,4.122303 -274.7152,235.3168,7333,0.6856211,-1.266687,3.925792 -283.0096,413.6465,7335,0.9179867,-0.4788898,4.167093 -386.6897,249.832,7336,0.6431834,-0.8884245,3.705066 -490.3697,137.8576,7338,0.6217736,-0.6278537,3.062598 -392.9105,303.7456,7339,0.4876624,-1.047623,3.9024 -382.5424,330.7025,7340,0.5129953,-0.9773148,3.945035 -438.9444,167.7175,7341,0.6742583,-0.7696342,3.326881 -414.0612,299.5985,7342,0.4903397,-0.9454768,3.836951 -496.1758,132.881,7344,0.5989255,-0.6565289,3.062562 -229.9255,202.554,7345,0.8484146,-1.260498,3.8785 -443.9211,242.3671,7346,0.5141444,-0.8702959,3.631165 -476.2692,150.2992,7348,0.6395246,-0.6488493,3.141164 -338.4163,174.1871,7349,0.6577023,-1.236403,3.711405 -399.1313,336.9233,7350,0.4657064,-0.9906331,3.949258 -344.3882,129.3973,7351,0.6907415,-1.245441,3.619558 -344.3882,282.1802,7352,0.5950379,-1.097254,3.904821 -476.2692,317.0167,7353,0.370994,-0.8397511,3.789592 -381.713,239.8788,7355,0.597786,-1.021986,3.748512 -336.9233,364.2948,7356,0.6850471,-0.7604848,4.010279 -441.4327,150.2992,7357,0.7041889,-0.7499211,3.243586 -287.6545,305.5704,7358,0.7725326,-0.9749509,3.968701 -430.9818,165.8264,7359,0.6950262,-0.7828347,3.334801 -330.6527,262.5723,7360,0.6246861,-1.129742,3.888751 -314.5284,269.7386,7361,0.6702126,-1.102596,3.905617 -356.3322,302.5845,7362,0.5313395,-1.107129,3.961817 -481.1464,294.8209,7363,0.3708717,-0.8755794,3.746207 -241.0732,176.5759,7364,0.7937004,-1.328623,3.847853 -395.15,255.4059,7365,0.559109,-0.9945189,3.771304 -359.3182,314.5284,7366,0.5051107,-1.13106,3.977603 -427.3987,305.5705,7367,0.4587185,-0.9295134,3.842214 -365.2902,317.5144,7368,0.5360758,-1.038113,3.949352 -430.9818,258.9891,7369,0.490032,-0.9587516,3.73134 -255,61,7370,5.559666,2.212929,-0.1616528 -285,53,7371,4.772686,1.916659,-0.03887235 -262,57,7372,4.940767,1.786609,0.201138 -141,84,7373,4.542282,0.5123326,2.021699 -265,54,7374,4.955303,1.808733,0.1199885 -186.76,77.32,7375,4.809947,1.025916,1.395653 -181,77.32,7377,5.026803,1.108565,1.327781 -206.2,73,7378,5.058602,1.35519,0.9872724 -356.2,93.4,7379,1.137337,-0.7406639,3.040009 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0051.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0051.csv deleted file mode 100644 index 4c4c1a0dcab8246e496c733e325684309e74fb47..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0051.csv +++ /dev/null @@ -1,101 +0,0 @@ -256,201,7148,0.7696518,-1.35851,3.756754 -392.2,369.4,7277,0.4921176,-1.032747,3.940851 -452,339,7307,0.3702912,-0.949832,3.817572 -295,133,7318,0.9967615,-0.7462653,2.940145 -426,198,7320,0.4845315,-0.6666713,3.162271 -395.56,280.36,7328,0.5327378,-0.8344049,3.601734 -399.88,342.28,7342,0.4903397,-0.9454768,3.836951 -301,221.8,7382,0.6882959,-1.282464,3.747252 -375,216,7383,0.6295582,-0.7661988,3.330333 -344.872,370.792,7385,0.5783561,-1.102139,3.983937 -271,94.60001,7386,1.124792,-0.7766315,2.763136 -438,442,7395,0.3818561,-0.3446483,3.895386 -424.6,219.4,7397,0.4787214,-0.7500205,3.317047 -451,206,7401,0.3910402,-0.7705869,3.268845 -465,169,7404,0.357404,-0.7084072,3.048743 -379,351.4,7405,0.5150656,-1.115548,3.946287 -224.2,442.6,7407,1.085896,-0.3477294,4.004942 -310.6,303.4,7413,0.6682261,-1.141974,3.85418 -365.8,391,7414,0.540956,-1.021162,3.992377 -427,189.4,7416,0.4832353,-0.6173122,3.083931 -392.2,230.2,7417,0.5672629,-0.7707521,3.385537 -445,304.6,7418,0.3892039,-0.902977,3.702464 -332.2,191.8,7419,0.6561366,-1.218005,3.611057 -448,341,7420,0.3758307,-0.9476246,3.82184 -452,357,7421,0.3622078,-0.7942983,3.795111 -265.96,136.36,7422,1.0776,-0.7940723,3.012593 -326.2,238.6,7423,0.6523762,-1.194946,3.724734 -319.24,274.6,7424,0.6608518,-1.156465,3.794546 -412.84,415.72,7425,0.4490568,-0.7639542,3.951936 -394.6,377.8,7427,0.4828609,-1.024238,3.955702 -278.92,136.36,7428,1.073907,-0.6963269,2.912406 -363,333,7430,0.5614694,-1.053886,3.874061 -374.2,331,7437,0.5553036,-0.9256169,3.806544 -399,410,7438,0.4778463,-0.8643064,3.973851 -303.4,179.8,7445,0.9720748,-0.5747703,3.025918 -254,151,7014,1.132975,-0.7601352,3.054503 -271,95,7067,1.108192,-0.8223125,2.817895 -292,275,7074,0.6812649,-1.29149,3.87895 -267.4,97,7081,1.121001,-0.8206227,2.827363 -292,183,7108,1.02819,-0.5639019,3.036319 -368,216,7114,0.6648023,-0.7349685,3.308812 -263.8,141.4,7137,1.092573,-0.7852537,3.028947 -273.4,137.8,7143,1.06258,-0.7794002,3.003615 -309.4,289,7177,0.6751853,-1.176127,3.84286 -437.8,441.4,7229,0.385808,-0.3695745,3.900338 -402,217,7232,0.5493903,-0.7443746,3.309629 -390,183,7240,0.6297841,-0.591314,3.036022 -362.2,389.8,7259,0.5549285,-0.9996617,3.983083 -356.2,197.8,7265,0.719576,-0.7126543,3.213579 -432,200,7266,0.467314,-0.591625,3.108853 -413,217,7267,0.5097359,-0.7916897,3.343143 -431.56,371.08,7282,0.411705,-0.8964084,3.879824 -389.8,183.4,7289,0.6278516,-0.6068424,3.051373 -417,215,7297,0.5021552,-0.7435201,3.297507 -323.4864,223.1573,7349,0.6577023,-1.236403,3.711405 -344.3882,336.9233,7352,0.5950379,-1.097254,3.904821 -370.0677,362.9014,7362,0.5313395,-1.107129,3.961817 -373.6509,305.5705,7365,0.559109,-0.9945189,3.771304 -413.0659,348.5686,7367,0.4587185,-0.9295134,3.842214 -256,152,7376,1.123351,-0.7539916,3.051372 -254.2,152.2,7379,1.137337,-0.7406639,3.040009 -268,93,7380,1.119429,-0.8137144,2.797645 -301,180,7381,0.9966829,-0.535345,2.993603 -353,337,7384,0.5685842,-1.129133,3.919946 -451,203.8,7387,0.394275,-0.669891,3.187443 -257.8,248.2,7388,0.7458765,-1.323226,3.84555 -307,407.8,7389,0.6811503,-0.9391783,4.021881 -435,377,7390,0.4010162,-0.8273551,3.867525 -274,137,7391,1.054531,-0.7757652,2.996533 -291,273,7392,0.6809789,-1.284944,3.871762 -379,355,7393,0.5131396,-1.108268,3.945007 -255,247,7394,0.7459081,-1.33736,3.852442 -289,205,7396,0.7101876,-1.316437,3.727495 -393,231,7398,0.5647958,-0.7678291,3.386317 -413.8,416.2,7399,0.4466123,-0.762831,3.952456 -301,221,7400,0.687717,-1.28535,3.747336 -336,275,7402,0.6455395,-1.065629,3.73841 -439,295,7403,0.4059477,-0.9057355,3.6778 -481,203,7406,0.2969903,-0.6888111,3.193091 -445,307,7408,0.3887351,-0.9167374,3.716691 -449,337,7409,0.3743495,-0.9242452,3.800621 -393,371,7410,0.4876153,-1.031449,3.944394 -264.52,140.68,7411,1.091844,-0.7654706,3.028792 -464.2,169,7412,0.3566038,-0.694573,3.040896 -397,384.04,7415,0.4812907,-0.9656486,3.948162 -265.384,140.968,7426,1.086123,-0.7699205,3.012167 -276.7888,175.1824,7429,1.069715,-0.6159292,3.043239 -351.8532,361.8065,7431,0.5655853,-1.112935,3.96806 -351.8532,167.7175,7432,0.74759,-0.7218838,3.07473 -414.0612,177.6708,7433,0.5156009,-0.7540978,3.148226 -350.3602,362.3042,7434,0.5674741,-1.116598,3.970116 -351.8532,217.4839,7435,0.7062206,-0.7565059,3.334294 -314.5284,297.1101,7436,0.6580852,-1.159621,3.84568 -428.9911,185.1357,7439,0.4966261,-0.4157664,2.882687 -439.9398,341.4023,7440,0.3884393,-0.8677902,3.764457 -377.2341,186.1311,7441,0.6723836,-0.6114967,3.087565 -355.735,198.075,7442,0.7192096,-0.6936069,3.200133 -84,112,7443,4.993259,1.917024,-0.08133995 -88.84,113.32,7444,4.888502,1.896232,-0.03583505 -254.44,152.2,7446,1.123297,-0.7523438,3.053903 -244.6,148.6,7447,1.150704,-0.7822675,3.065742 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0052.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0052.csv deleted file mode 100644 index f94c7611fedcd63c84b599dcad4840c40318bf54..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0052.csv +++ /dev/null @@ -1,89 +0,0 @@ -202,156,7128,1.049932,-0.8002853,3.007234 -308,241,7132,0.6202911,-1.22567,3.678194 -353,313,7243,0.5313266,-0.8570783,3.67315 -286,448,7260,0.707392,-0.8493682,4.021563 -373,395.8,7281,0.4934629,-1.03183,3.958644 -325,190.6,7314,0.6183589,-0.6433736,3.065726 -393,171,7404,0.357404,-0.7084072,3.048743 -287.8,331,7413,0.6682261,-1.141974,3.85418 -417.4,349,7420,0.3758307,-0.9476246,3.82184 -409,321,7451,0.3706064,-0.8939236,3.723567 -373,396,7452,0.4778406,-0.9898965,3.945086 -294,252,7454,0.6259316,-1.297018,3.754387 -530.92,241.48,7455,-0.03876757,-0.7795264,3.429085 -339,386,7456,0.5492887,-1.159232,3.980559 -218.2,197.8,7458,1.070789,-0.4164776,2.897437 -370.6,381.4,7459,0.4826432,-1.012626,3.921059 -258.76,109,7462,0.8307583,-0.8268292,2.828899 -253,97.48,7467,0.8651123,-0.7906577,2.723002 -372.52,395.56,7470,0.4789117,-0.9547246,3.934923 -313,307,7485,0.6276823,-0.824091,3.634568 -340,412,7492,0.5582938,-0.8757316,3.948087 -420,348,7307,0.3702912,-0.949832,3.817572 -324.4817,361.8065,7352,0.5950379,-1.097254,3.904821 -364,229,7397,0.4787214,-0.7500205,3.317047 -362,378,7405,0.5150656,-1.115548,3.946287 -417,347,7409,0.3743495,-0.9242452,3.800621 -377,395,7427,0.4828609,-1.024238,3.955702 -336.9233,389.178,7431,0.5655853,-1.112935,3.96806 -287.1569,177.6708,7432,0.74759,-0.7218838,3.07473 -353.3462,186.1311,7433,0.5156009,-0.7540978,3.148226 -354.3415,187.624,7439,0.4966261,-0.4157664,2.882687 -404.1079,344.3882,7440,0.3884393,-0.8677902,3.764457 -308.5564,204.047,7441,0.6723836,-0.6114967,3.087565 -294.8209,212.4077,7442,0.7192096,-0.6936069,3.200133 -185.8,62.2,7448,1.031674,-1.060967,2.826401 -527,199,7449,-0.07578612,-0.7408912,3.235512 -530.2,241,7450,-0.01997753,-0.8201877,3.445019 -272,333,7453,0.6707395,-1.25036,3.904408 -250,90,7457,0.8776455,-0.7850646,2.658804 -416.2,346.6,7460,0.3643073,-0.9410603,3.812858 -337,381,7461,0.5520195,-1.168076,3.972237 -472,192,7463,0.05644118,-0.6127982,3.080606 -409,321.4,7464,0.3683942,-0.9337627,3.751344 -257.32,378.28,7465,0.7179183,-1.125903,3.946608 -211,85,7466,0.9682039,-0.9722865,2.847331 -270.28,309.16,7468,0.6721138,-1.266467,3.858571 -330.76,372.52,7469,0.5656305,-1.154091,3.952008 -479.08,179.56,7471,0.02633781,-0.5871413,3.019644 -415.72,345.16,7472,0.3632249,-0.9224014,3.802022 -425.8,195.4,7473,0.2343903,-0.6455147,3.117444 -337.96,388.072,7474,0.5522635,-1.129378,3.973981 -448.8977,224.9488,7475,0.1754399,-0.6733183,3.276191 -189.6976,92.23841,7476,1.0348,-0.9830313,2.891756 -237.736,287.848,7477,0.7284883,-1.317494,3.843072 -253.9792,100.5328,7478,0.8468349,-0.8321793,2.775335 -450.28,236.008,7479,0.2117769,-0.8252857,3.417228 -370.1009,386.6897,7480,0.4854098,-1.00919,3.933971 -419.8672,222.8752,7481,0.2630393,-0.6014558,3.208334 -287.1568,177.256,7482,0.7326698,-0.7253249,3.077587 -392.9105,171.0352,7483,0.345112,-0.6636742,3.012278 -322.4081,202.1392,7484,0.6080027,-0.6882508,3.156998 -137.8576,307.8929,7486,1.003971,-1.122599,3.776981 -455.1185,245.6848,7487,0.2073414,-0.840941,3.465131 -453.0449,237.3904,7488,0.2139546,-0.8748652,3.452512 -291.304,336.9232,7489,0.6410987,-1.19267,3.888646 -364.2948,202.554,7490,0.4485853,-0.4781313,3.000719 -353.3462,314.5284,7491,0.5126196,-0.9388528,3.715467 -419.0379,222.4605,7493,0.2995387,-0.7489279,3.311532 -391.6663,170.2058,7494,0.3769614,-0.7446318,3.069965 -309.5518,205.0423,7495,0.6658707,-0.5228267,3.036372 -344.3882,296.6125,7496,0.5356944,-0.6509211,3.504585 -329.4583,314.5284,7497,0.5730409,-1.062534,3.786001 -284.6685,334.435,7498,0.6583815,-1.159665,3.865263 -414.0612,341.8999,7499,0.3625563,-0.8863091,3.778629 -428.9911,195.089,7500,0.2182744,-0.6167498,3.095891 -359.3182,355.735,7501,0.5056291,-0.8924952,3.815336 -376.7364,394.1547,7502,0.4696184,-0.9355476,3.928442 -165.2292,401.6196,7503,1.302491,-0.04958793,3.640428 -236.8928,287.6545,7504,0.7218258,-1.341179,3.848278 -165.8264,266.1555,7505,0.9137955,-1.22185,3.729208 -305.5705,298.4041,7506,0.6196327,-1.132045,3.773113 -389.178,168.2151,7507,0.3527228,-0.6070456,2.950116 -267.2503,326.97,7508,0.6831796,-1.238121,3.887314 -370.0677,201.6582,7509,0.4386762,-0.7917179,3.23536 -344.9855,316.32,7510,0.5358523,-1.108605,3.81284 -377.2341,371.2621,7511,0.4618128,-0.9160231,3.864739 -183.7423,201.6582,7512,1.075223,-0.7673739,3.171997 -413.0659,208.8246,7513,0.2944348,-0.7039142,3.218188 -394.1547,302.0868,7514,0.4065745,-0.9168229,3.679204 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0053.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0053.csv deleted file mode 100644 index bdeb09d964ae0549d29e900a0b862c53363620d1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0053.csv +++ /dev/null @@ -1,99 +0,0 @@ -80.2,190.6,7015,1.089911,-0.6943446,3.176333 -309,295,7165,0.4911586,-0.8976889,3.732127 -309,349,7195,0.5526575,-1.122484,3.939284 -327.4,351.4,7393,0.5131396,-1.108268,3.945007 -203.8,214.6,7396,0.7101876,-1.316437,3.727495 -280.6,193,7397,0.4787214,-0.7500205,3.317047 -69.4,139,7411,1.091844,-0.7654706,3.028792 -300,133,7412,0.3566038,-0.694573,3.040896 -245.8,307,7436,0.6580852,-1.159621,3.84568 -378.28,139.24,7471,0.02633781,-0.5871413,3.019644 -477.4,223,7517,-0.1001519,-0.8087302,3.568237 -493,227.8,7520,-0.1285303,-0.8304138,3.603422 -338.2,362.2,7524,0.477253,-1.105974,3.977357 -59.75201,125.416,7529,1.091947,-0.7759858,2.977863 -107.8,166.6,7530,1.0088,-0.5155903,2.951899 -473.8,163,7533,-0.1680983,-0.8157721,3.357353 -353.8,290.2,7536,0.3620833,-0.9473006,3.763294 -348.04,345.16,7537,0.4048512,-0.9081865,3.888348 -335.08,149.32,7538,0.1991519,-0.6139017,3.078501 -389.8,169.48,7539,-0.00484411,-0.5458045,3.150709 -368.2,192.52,7542,0.1546015,-0.6844206,3.325894 -445.96,168.04,7543,-0.128297,-0.7129701,3.292168 -166.888,363.88,7544,0.7891741,-1.217759,3.951205 -38.2,308.2,7547,1.105213,-0.9026037,3.653624 -241.48,325,7549,0.6548661,-1.244738,3.91692 -371.08,186.76,7553,0.1518787,-0.7185184,3.328147 -336.52,356.68,7554,0.4649798,-1.040423,3.947416 -473.8,231.4,7555,-0.07602567,-0.8125328,3.595908 -248.68,206.92,7556,0.5990351,-1.207096,3.654713 -285.4,308.2,7560,0.5559655,-1.095885,3.841532 -45.64,62.92,7562,1.124658,-0.8061163,2.730986 -250.6,224.2,7564,0.6127095,-1.33475,3.772843 -327,351,7405,0.5150656,-1.115548,3.946287 -361,309,7409,0.3743495,-0.9242452,3.800621 -348.5686,305.5705,7440,0.3884393,-0.8677902,3.764457 -433,155,7449,-0.07578612,-0.7408912,3.235512 -445,196.6,7455,-0.03876757,-0.7795264,3.429085 -354,289,7464,0.3683942,-0.9337627,3.751344 -361.8065,185.5504,7475,0.1754399,-0.6733183,3.276191 -331.9466,185.1357,7493,0.2995387,-0.7489279,3.311532 -296.6125,129.3973,7494,0.3769614,-0.7446318,3.069965 -327.0695,341.4023,7511,0.4618128,-0.9160231,3.864739 -161.8,320.2,7515,0.7819189,-1.287071,3.899731 -322,348,7516,0.4888669,-1.028548,3.919295 -474,163,7518,-0.1806222,-0.7961509,3.34508 -340,363,7519,0.474994,-1.094302,3.979013 -377,209,7521,0.1695537,-0.7541209,3.435523 -225.4,379,7522,0.6958293,-1.236387,4.00217 -480,225,7523,-0.07576191,-0.8601097,3.601895 -242,294,7525,0.6474977,-1.318061,3.891966 -311,342,7526,0.4967735,-0.9696645,3.879959 -249,202,7527,0.6001304,-1.248679,3.670474 -319,117,7528,0.2241668,-0.6196578,2.924869 -481.96,176.68,7531,-0.1583589,-0.8409615,3.428806 -199.72,428.68,7532,0.7709929,-0.9156566,4.006978 -205.48,273.16,7534,0.6985465,-1.403123,3.886366 -307.72,342.28,7535,0.5020899,-0.9321929,3.869931 -382.6,192.52,7540,0.1819067,-0.8120747,3.402935 -251.8,316.6,7541,0.6342883,-1.23571,3.901506 -471.0161,223.912,7545,-0.06238581,-0.8382481,3.583137 -498.6641,222.8752,7546,-0.1090784,-0.8984879,3.625096 -375.976,147.88,7548,0.07310828,-0.668519,3.141704 -171.0352,154.4464,7550,0.7717434,-0.6908373,3.074773 -324.136,166.888,7551,0.2506954,-0.5905131,3.132178 -320.68,172.072,7552,0.2624245,-0.5680676,3.136596 -405.3521,183.4768,7557,-0.01501452,-0.6104002,3.263944 -206.2864,272.6416,7558,0.6977935,-1.381707,3.874913 -384.6161,206.2864,7559,0.1547777,-0.7846789,3.448356 -79.79681,407.4257,7561,1.090904,-0.6368902,3.830324 -324.4817,166.888,7563,0.2811762,-0.7044495,3.215233 -181.4032,148.2256,7565,0.7323923,-0.7773001,3.125973 -463.8276,165.2292,7566,-0.1456479,-0.792209,3.345731 -374.2481,207.5306,7567,0.2177907,-0.8736167,3.497374 -167.7175,359.3182,7568,0.7886635,-1.204018,3.938865 -319.505,167.7175,7569,0.2553254,-0.542227,3.098033 -111.4814,165.2292,7570,0.9771935,-0.6109517,3.024766 -311.5424,332.4443,7571,0.5092839,-1.042098,3.888676 -476.2692,227.4372,7572,-0.0863955,-0.816431,3.58624 -180.1591,144.3273,7573,0.7439332,-0.5453749,2.914244 -371.7598,155.2759,7574,0.03701428,-0.5257484,3.060349 -368.2761,195.089,7575,0.1272884,-0.5997591,3.28301 -233.9068,314.5284,7576,0.6656868,-1.303675,3.919111 -356.3322,305.5704,7577,0.3631677,-0.9007087,3.796987 -257.7947,159.2572,7578,0.5215949,-0.906223,3.306566 -305.5704,347.3742,7579,0.5547665,-1.251558,3.980363 -448.8977,180.1591,7580,-0.04551194,-0.8470476,3.42814 -230.3236,183.7423,7581,0.6011876,-0.7495406,3.264614 -329.4583,159.2572,7582,0.2988919,-0.8191302,3.284261 -176.5759,180.1591,7583,0.7739137,-0.5366029,3.066219 -223.1573,162.2432,7584,0.5938187,-0.4012071,2.90808 -370.0677,194.4918,7585,0.1536521,-0.6913805,3.339752 -317.5144,275.7106,7586,0.3696536,-0.5760407,3.54385 -334.2359,327.0695,7587,0.4379202,-0.9484417,3.853872 -294.8209,129.9946,7588,0.3366391,-0.660916,3.007881 -262.5723,151.4936,7589,0.4601763,-0.6128467,3.047113 -205.2414,169.4095,7590,0.6667578,-0.2692809,2.831163 -168.2151,359.3182,7591,0.7914958,-1.172582,3.928352 -330.6527,162.2432,7592,0.2257939,-0.6025348,3.124467 -260.7807,287.6545,7593,0.5800036,-0.8686798,3.683522 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0054.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0054.csv deleted file mode 100644 index ab5646c8e0b8351bf04cd965e092306e4338b2d1..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0054.csv +++ /dev/null @@ -1,179 +0,0 @@ -197,326,7059,0.657033,-0.832049,3.626849 -325,358.12,7222,0.4434211,-0.9263595,3.826657 -355,415,7519,0.474994,-1.094302,3.979013 -324.4817,216.6544,7521,0.1695537,-0.7541209,3.435523 -307.72,384.04,7526,0.4967735,-0.9696645,3.879959 -307.72,198.28,7542,0.1546015,-0.6844206,3.325894 -303.4,150.76,7548,0.07310828,-0.668519,3.141704 -490.6,94.60001,7602,-0.8381825,-0.5997226,3.099399 -226.6,187,7611,0.3644118,-0.6940088,3.217032 -349.48,188.2,7615,0.03092048,-0.7235469,3.370486 -398.44,195.4,7617,-0.05411112,-0.8055691,3.480326 -46.6,62.2,7631,0.7244498,-0.9559168,2.886992 -212.2,178.6,7638,0.3681012,-0.591078,3.116506 -185.32,192.52,7639,0.4850133,-0.6987635,3.199398 -521.1281,277.48,7655,-0.8675972,-0.08852295,3.731683 -299.08,134.92,7662,-0.01322874,-0.5534576,3.00879 -125.416,181.4032,7663,0.6012345,-0.5179804,2.977141 -509.32,140.68,7665,-0.6648661,-0.6928057,3.367391 -284.392,412.264,7668,0.6362695,-1.324401,3.956037 -513.64,134.92,7672,-0.7334096,-0.6729987,3.338776 -320.68,169.48,7673,0.07134459,-0.701988,3.25659 -386.2,163,7674,-0.08614921,-0.8000954,3.360754 -467.8,163,7677,-0.3831666,-0.7599231,3.431114 -511.1057,173.1088,7680,-0.464276,-0.8018101,3.535457 -257.32,61.48,7686,0.07995061,-0.7255463,2.80115 -159.4,170.2,7688,0.513647,-0.6299887,3.061487 -392.2,189.4,7690,-0.06773961,-0.7787468,3.440464 -460.36,117.64,7694,-0.6869255,-0.5429531,3.120636 -424.6,391,7697,-0.0836914,-0.2695349,3.965684 -305.128,137.512,7698,-0.01769339,-0.5685481,3.03746 -417.448,135.784,7699,-0.3324575,-0.6924344,3.238819 -507.304,270.568,7700,-0.903021,-0.0202603,3.659411 -493.48,90.28001,7701,-0.8947431,-0.5821261,3.064578 -511,329.8,7704,-0.5812187,-0.2117899,3.907311 -493.48,173.8,7707,-0.3992913,-0.8086771,3.517062 -466.6,166.6,7711,-0.3558729,-0.7710173,3.448116 -422.92,231.4,7716,-0.01514141,-0.8668838,3.632843 -260.2,399.1313,7719,0.6345186,-1.21466,3.908612 -355.24,430.12,7723,0.4633218,-1.034817,3.997033 -358.696,113.32,7724,-0.314547,-0.5019429,2.951902 -299.944,135.784,7727,-0.01729729,-0.5527337,3.00298 -382.888,121.96,7729,-0.419337,-0.4754663,2.993897 -419.8672,386.6897,7731,-0.05835038,-0.2980498,3.949544 -112.9744,216.6544,7732,0.6875952,-0.5773848,3.137061 -510.76,329.32,7734,-0.6105517,-0.1704061,3.90811 -433,222.76,7735,-0.07372395,-0.8504704,3.61482 -439.912,106.408,7736,-0.6309151,-0.5580501,3.05597 -418.6,359.56,7737,-0.03517585,-0.4444444,3.877165 -458.92,116.776,7738,-0.6486811,-0.5862726,3.142498 -447.4,217,7741,-0.1869785,-0.7744479,3.581306 -217,215.8,7397,0.4787214,-0.7500205,3.317047 -391,194.2,7455,-0.03876757,-0.7795264,3.429085 -335,315,7464,0.3683942,-0.9337627,3.751344 -269.7386,198.075,7493,0.2995387,-0.7489279,3.311532 -215.9909,138.3553,7494,0.3769614,-0.7446318,3.069965 -411,154,7518,-0.1806222,-0.7961509,3.34508 -436,219,7523,-0.07576191,-0.8601097,3.601895 -334.6,315.4,7536,0.3620833,-0.9473006,3.763294 -329.8,199,7540,0.1819067,-0.8120747,3.402935 -401.6196,157.7642,7566,-0.1456479,-0.792209,3.345731 -329.4583,215.9909,7567,0.2177907,-0.8736167,3.497374 -309.5518,384.2014,7571,0.5092839,-1.042098,3.888676 -335.4303,338.4163,7577,0.3631677,-0.9007087,3.796987 -190.9086,183.7423,7578,0.5215949,-0.906223,3.306566 -263.7667,177.1731,7582,0.2988919,-0.8191302,3.284261 -323.4864,366.4846,7587,0.4379202,-0.9484417,3.853872 -195,34,7594,0.3367552,-0.9677017,2.889646 -224,36,7595,0.1864105,-0.8197786,2.756122 -68.2,55,7596,0.669496,-0.9596636,2.878285 -295,53,7597,-0.09660002,-0.6849409,2.753849 -241,114,7598,0.160164,-0.587157,2.882504 -431,99,7599,-0.5382315,-0.6394246,3.059224 -495,91,7600,-0.8543395,-0.6191301,3.095341 -471,99,7601,-0.7337453,-0.6068466,3.08985 -513,104,7603,-0.8593068,-0.6434555,3.188207 -261.4,136.6,7604,0.1420463,-0.5935509,3.004992 -256.6,158.2,7605,0.3335162,-0.6995603,3.10254 -376,146,7606,-0.1341311,-0.7361692,3.255234 -446.2,148.6,7607,-0.3851729,-0.7172755,3.330661 -283,172.6,7608,0.1606648,-0.6487494,3.197793 -320.2,170.2,7609,0.07382575,-0.7011296,3.25532 -386,163,7610,-0.08011442,-0.8117592,3.367328 -426,168,7612,-0.1485063,-0.8641579,3.453643 -455,163,7613,-0.2668059,-0.8410171,3.456278 -205,213,7614,0.4691476,-0.7386229,3.306156 -393,190,7616,-0.06929598,-0.7767438,3.443707 -195,329,7618,0.71037,-1.416755,3.838131 -202,365,7619,0.7148488,-1.380302,3.871491 -322,300,7620,0.3670673,-0.948148,3.725069 -224.2,367,7621,0.6877896,-1.354861,3.878043 -283,321.4,7622,0.4459074,-0.8723423,3.713536 -160,398,7623,0.7702574,-1.335989,3.877112 -239.8,391,7624,0.6752406,-1.310868,3.905174 -201.4,419.8,7625,0.7308002,-1.288171,3.913635 -307,404.2,7626,0.6066269,-1.328205,3.960458 -327,360,7627,0.4178396,-0.9383285,3.84862 -513,330,7628,-0.5697091,-0.2323522,3.919414 -223,32,7629,0.1563237,-0.7687994,2.682865 -200,39,7630,0.3239779,-0.9517567,2.894476 -506,34,7632,-0.8903331,-0.7947863,2.974248 -257,63,7633,0.06694684,-0.6957983,2.773437 -281,103,7634,-0.00529965,-0.5683478,2.862813 -476,97,7635,-0.7242795,-0.6411821,3.114801 -440,107,7636,-0.594461,-0.5780587,3.066925 -442,148,7637,-0.3831461,-0.7032141,3.315635 -349,189,7640,0.03550339,-0.7373582,3.373002 -338,214,7641,0.1674679,-0.8355013,3.490015 -153.4,299.8,7642,0.7400975,-1.395908,3.778064 -221.8,362.2,7643,0.6893113,-1.360317,3.872872 -258,371,7644,0.6440056,-1.319375,3.892497 -426,391,7645,-0.07837848,-0.2887152,3.96892 -199,34,7646,0.3201548,-0.9529902,2.877081 -304.6,97,7647,-0.1132619,-0.5491001,2.856695 -258,135,7648,0.1537024,-0.6014176,3.000631 -511,141,7649,-0.6576889,-0.7101454,3.376619 -453,173,7650,-0.2505175,-0.828852,3.476996 -512.2,103,7651,-0.8763494,-0.6239452,3.184846 -287.8,135.4,7652,0.02577243,-0.5692511,3.000969 -224.2,189.4,7653,0.3806491,-0.7077238,3.233482 -467,167,7654,-0.3523814,-0.7817731,3.452325 -384,120,7656,-0.4335649,-0.4677044,2.983322 -355,415,7657,0.4459343,-1.023539,3.97816 -275,45,7658,0.007826813,-0.7676749,2.77918 -257.8,58.6,7659,0.07454783,-0.7314989,2.792634 -280.6,103,7660,-0.01844854,-0.5518816,2.837458 -494.2,91,7661,-0.9002926,-0.5776919,3.081245 -75,191,7664,0.758882,-0.5750809,3.009767 -493.48,172.36,7666,-0.4227179,-0.7861841,3.504599 -516,275,7667,-0.8233026,-0.1292044,3.714648 -295,52.6,7669,-0.08232392,-0.7024783,2.776909 -257,111,7670,0.09082986,-0.5562503,2.860021 -257.8,139,7671,0.126951,-0.5351433,2.961644 -523,139,7675,-0.6875283,-0.7215892,3.397552 -424.6,167.8,7676,-0.1557841,-0.8524284,3.446582 -273.16,201.16,7678,0.2668951,-0.7274494,3.328282 -513.64,166.6,7679,-0.4878151,-0.8010848,3.521827 -133.48,306.28,7681,0.7632897,-1.392414,3.776248 -242,295,7682,0.6232163,-1.332003,3.789541 -206.2,343,7683,0.7051871,-1.411158,3.858023 -167.8,362.2,7684,0.749346,-1.362875,3.847812 -47.08,62.92,7685,0.7243793,-0.9680413,2.901833 -244.6,91,7687,0.1215005,-0.6144631,2.813426 -344.2,185.8,7689,0.04436446,-0.7375278,3.357849 -422.2,231.4,7691,-0.01322269,-0.8675333,3.631902 -327,303,7692,0.3802156,-0.9995285,3.750171 -418,392,7693,-0.04285266,-0.3027753,3.960323 -511,136.6,7695,-0.6476266,-0.7276553,3.370925 -466.12,159.4,7696,-0.3826871,-0.7635814,3.418824 -227.08,116.2,7702,0.1940544,-0.5225708,2.836261 -467.56,163.72,7703,-0.3879192,-0.7570019,3.428921 -440.2,107.56,7705,-0.6157434,-0.5648423,3.059029 -392.68,188.2,7706,-0.0657131,-0.7855147,3.441582 -76.60001,187,7708,0.7565298,-0.6023299,3.016854 -509.32,136.36,7709,-0.7484071,-0.6588846,3.322963 -411.4,152.2,7710,-0.182954,-0.8054669,3.355148 -345.16,185.32,7712,0.05480645,-0.761333,3.370237 -294.76,52.84,7713,-0.07789334,-0.710104,2.779277 -225.64,146.152,7714,0.3061655,-0.6922745,3.077966 -388.072,163.432,7715,-0.09830276,-0.7901939,3.358512 -419.176,389.8,7717,-0.04979221,-0.3012137,3.956873 -379.432,159.976,7718,-0.09223913,-0.7700508,3.327125 -464.104,120.232,7720,-0.5856178,-0.662169,3.207899 -274.024,199.72,7721,0.2681162,-0.736255,3.330181 -334.8496,214.5808,7722,0.1609962,-0.8120478,3.469237 -401.896,398.44,7725,-0.00866621,-0.2418728,3.949612 -312.04,201.448,7726,0.1839333,-0.7771146,3.394561 -289.2304,83.94402,7728,-0.1366175,-0.4509316,2.702871 -459.2657,117.1216,7730,-0.7019717,-0.5360577,3.110587 -81.87041,399.1313,7733,0.8561854,-1.269316,3.820316 -448.8977,165.2292,7739,-0.295812,-0.7949471,3.411171 -424.0145,219.9722,7740,-0.07147215,-0.8211474,3.583699 -276.905,366.4846,7742,0.5234758,-0.9658995,3.819031 -456.3627,115.4627,7743,-0.6596881,-0.565903,3.124375 -269.7386,198.075,7744,0.247376,-0.7049349,3.301362 -452.4809,215.9909,7745,-0.1924608,-0.7806873,3.58202 -337.8191,155.0768,7746,-0.0169261,-0.6958405,3.231764 -377.2341,119.245,7747,-0.3718118,-0.5017559,3.007815 -159,171,7748,0.4786051,-0.4552226,2.931858 -131,178,7749,0.5930298,-0.5941975,3.026249 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0055.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0055.csv deleted file mode 100644 index cf4e1a0ac1f259537a56b1a94fdecadb8790b1d4..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0055.csv +++ /dev/null @@ -1,201 +0,0 @@ -331,405,7229,0.385808,-0.3695745,3.900338 -236.2,171.4,7401,0.3910402,-0.7705869,3.268845 -227.0224,285.0833,7496,0.5356944,-0.6509211,3.504585 -476.2,101.8,7649,-0.6576889,-0.7101454,3.376619 -448.6,55,7661,-0.9002926,-0.5776919,3.081245 -229.96,119.08,7671,0.126951,-0.5351433,2.961644 -477.4,97,7672,-0.7334096,-0.6729987,3.338776 -139,163,7688,0.513647,-0.6299887,3.061487 -336.52,186.76,7722,0.1609962,-0.8120478,3.469237 -420.04,320.68,7737,-0.03517585,-0.4444444,3.877165 -471,33,7751,-0.9030911,-0.7428436,3.115914 -300.52,100.36,7754,-0.2224917,-0.479977,2.957796 -458,89,7755,-0.7073479,-0.6685442,3.280771 -445,127,7763,-0.3839006,-0.771376,3.442801 -432,187,7778,-0.9843037,-0.4483683,3.732922 -543.4,181,7779,0.8825671,-0.6761186,3.228893 -352.36,235.72,7782,-0.6618589,-0.2598464,3.852838 -494,259,7783,-0.5657405,-0.2881794,3.890711 -489.4,269.8,7784,-0.5641754,-0.2393579,3.929024 -123.688,327.592,7786,0.4159523,-0.9741722,3.86877 -379.432,327.592,7787,-1.477566,-0.6102378,3.173208 -439,147,7793,0.01176143,-0.7509543,3.385314 -484.84,153.64,7795,0.3149958,-0.7134191,3.297585 -333.64,247.24,7797,-0.7004847,-0.1611591,3.86639 -489.16,268.84,7798,-0.1377804,-0.5477998,2.844945 -570,240,7807,0.1163979,-0.6223092,2.827313 -421,319,7822,-0.6050164,-0.5806131,3.077469 -498,73,7824,-0.7051795,-0.6671811,3.27822 -494,90,7827,0.3124253,-0.7051017,3.072735 -530.92,217,7832,0.8793557,-1.268979,3.71855 -268.84,73,7842,-0.07079879,-0.8833007,3.624885 -263.08,277.48,7845,0.8825998,-1.258044,3.710138 -558,109,7847,0.09999985,-0.6023875,2.83974 -279.208,284.392,7849,-0.8624424,-0.6980824,3.165542 -83.94401,218.728,7851,0.7423158,-1.390439,3.744825 -293.32,375.4,7853,-1.008104,-0.6363057,3.272903 -497.8,71.56001,7854,0.3282164,-0.7329151,3.101199 -203.8,127,7855,-0.5593156,-0.2496542,3.92519 -203.8,403,7857,-0.9877698,-0.6045027,3.105938 -463,52.6,7858,0.06510598,-0.7354649,3.290249 -312.04,146.44,7859,-0.05729159,-0.6442225,3.762604 -425.8,261.64,7860,0.7423964,-1.434295,3.845828 -312.04,310.6,7861,-0.08663744,-0.7987208,3.500744 -158.5936,171.0352,7863,-0.09007297,-0.7888557,3.444103 -211.816,203.176,7865,-0.8679698,-0.613801,3.096835 -71.84801,177.256,7867,0.05361236,-0.7694684,3.377851 -335.08,157.96,7868,-1.261875,-0.257334,3.515491 -519.4,152.2,7869,-0.9439861,-0.2489403,3.931612 -542,245,7870,-0.5396254,-0.6436924,3.837353 -267.112,177.256,7874,0.05832845,-0.723511,3.284506 -204.904,97.76801,7878,0.6872487,-0.6932667,3.205954 -104.68,214.5808,7879,0.1491511,-0.8032079,3.468797 -428.2,241,7883,0.5020089,-0.6605394,3.139924 -398.44,165.16,7890,-0.09739921,-0.8451124,3.615044 -433,185.32,7891,-0.7193978,-0.532726,3.126183 -381.16,160.84,7455,-0.03876757,-0.7795264,3.429085 -266.7527,177.1731,7493,0.2995387,-0.7489279,3.311532 -198.075,123.4254,7494,0.3769614,-0.7446318,3.069965 -368,281,7536,0.3620833,-0.9473006,3.763294 -323,173,7540,0.1819067,-0.8120747,3.402935 -211,95,7598,0.160164,-0.587157,2.882504 -427,65,7601,-0.7337453,-0.6068466,3.08985 -467,67,7603,-0.8593068,-0.6434555,3.188207 -236.2,140.2,7605,0.3335162,-0.6995603,3.10254 -304.6,146.2,7609,0.07382575,-0.7011296,3.25532 -373,132,7610,-0.08011442,-0.8117592,3.367328 -415,133,7612,-0.1485063,-0.8641579,3.453643 -383,159,7616,-0.06929598,-0.7767438,3.443707 -220,41,7633,0.06694684,-0.6957983,2.773437 -247,82,7634,-0.00529965,-0.5683478,2.862813 -400,76,7636,-0.594461,-0.5780587,3.066925 -415,114,7637,-0.3831461,-0.7032141,3.315635 -268.6,74.2,7647,-0.1132619,-0.5491001,2.856695 -436.6,133,7650,-0.2505175,-0.828852,3.476996 -467.8,67,7651,-0.8763494,-0.6239452,3.184846 -260.2,112.6,7652,0.02577243,-0.5692511,3.000969 -347,93,7656,-0.4335649,-0.4677044,2.983322 -271.72,113.32,7662,-0.01322874,-0.5534576,3.00879 -258,33,7669,-0.08232392,-0.7024783,2.776909 -223,92.2,7670,0.09082986,-0.5562503,2.860021 -304.84,145,7673,0.07134459,-0.701988,3.25659 -413.8,133,7676,-0.1557841,-0.8524284,3.446582 -268.84,179.56,7678,0.2668951,-0.7274494,3.328282 -488.2,130.6,7679,-0.4878151,-0.8010848,3.521827 -254.44,284.68,7681,0.7632897,-1.392414,3.776248 -473.7809,227.0224,7700,-0.903021,-0.0202603,3.659411 -445.96,55.72,7701,-0.8947431,-0.5821261,3.064578 -444.52,126.28,7703,-0.3879192,-0.7570019,3.428921 -399.88,75.88,7705,-0.6157434,-0.5648423,3.059029 -50,190,7708,0.7565298,-0.6023299,3.016854 -393.4,119.8,7710,-0.182954,-0.8054669,3.355148 -445,130,7711,-0.3558729,-0.7710173,3.448116 -208.36,130.6,7714,0.3061655,-0.6922745,3.077966 -272.296,113.32,7727,-0.01729729,-0.5527337,3.00298 -346.6,94.31201,7729,-0.419337,-0.4754663,2.993897 -431.8,187,7735,-0.07372395,-0.8504704,3.61482 -400.168,75.30401,7736,-0.6309151,-0.5580501,3.05597 -430.9818,129.3973,7739,-0.295812,-0.7949471,3.411171 -419.0379,183.1451,7740,-0.07147215,-0.8211474,3.583699 -416.5495,83.11458,7743,-0.6596881,-0.565903,3.124375 -266.1555,176.5759,7744,0.247376,-0.7049349,3.301362 -438.1482,172.9927,7745,-0.1924608,-0.7806873,3.58202 -319.9032,129.9946,7746,-0.0169261,-0.6958405,3.231764 -131,165,7748,0.4786051,-0.4552226,2.931858 -34,40,7750,0.6781388,-0.9872844,2.90371 -401,65,7752,-0.5818675,-0.6465098,3.079309 -533.8,62.2,7753,-1.391499,-0.5498153,3.260579 -261,115,7756,0.01869345,-0.5571504,3.006879 -230,120,7757,0.1395615,-0.5785577,2.989918 -53,139,7758,0.723273,-0.8192952,3.040752 -420,115,7759,-0.3884402,-0.7232233,3.340504 -351,121,7760,-0.09612102,-0.7567816,3.2797 -177,141,7761,0.4201137,-0.7261161,3.109172 -216,143,7762,0.2211782,-0.5375364,3.038951 -305,146,7764,0.06995673,-0.7043172,3.265316 -71,179,7765,0.3605655,-0.7073346,3.224073 -217,171,7766,0.3226988,-0.7197565,3.260502 -236,172,7767,-0.3927246,-0.8324724,3.608032 -490,151,7768,-0.9428357,-0.4321726,3.509126 -500,149,7769,-1.335149,-0.2024076,3.515192 -521,153,7770,0.1825384,-0.7648973,3.393147 -306,178,7771,-0.2399467,-0.8467667,3.615542 -464,167,7772,0.3731474,-0.7052165,3.299157 -228,192,7773,0.5911142,-0.7393389,3.248189 -147.4,201.4,7774,-0.1406617,-0.8352345,3.630795 -443.8,182.2,7775,0.6544145,-0.7624524,3.267392 -129,216,7776,-1.075817,-0.4673617,3.745607 -560,174,7777,-0.06125453,-0.8726622,3.628468 -32,257,7780,0.7504901,-1.358541,3.698891 -224,241,7781,0.302946,-0.9454253,3.65727 -490,284,7785,0.8862315,-1.266455,3.704008 -539,36,7788,-1.339775,-0.6180819,3.257866 -536,52,7789,0.0626278,-0.5982607,3.049451 -260,120,7790,0.4388098,-0.7458012,3.110627 -172,141,7791,-0.775396,-0.8389482,3.59999 -554,111,7792,-0.2166381,-0.8446831,3.525972 -346,159,7794,-0.274165,-0.9058014,3.632458 -249,181,7796,0.3278322,-0.8917803,3.641314 -271,74,7799,-1.004586,-0.6807328,3.255554 -500.2,59.8,7800,0.7255298,-0.901114,2.999694 -39,105,7801,-0.6087292,-0.6110831,3.195947 -421,91,7802,0.3459566,-0.6914986,3.070123 -192,133,7803,0.6434086,-0.7218896,3.099246 -101,169,7804,-0.2653939,-0.7917587,3.50363 -436,147,7805,0.8193347,-0.665693,3.219188 -57,245,7806,-0.4043406,-0.8144293,3.97371 -211,73,7808,0.1388634,-0.776817,3.393158 -318,170,7809,0.4602873,-0.6828455,3.069833 -157,149,7810,-0.4304678,-0.4521581,4.298752 -571,359,7811,-0.05649973,-0.6268811,2.827741 -254,61,7812,-0.9074019,-0.6622956,3.136058 -465.4,49,7813,-0.931644,-0.4422071,3.073628 -434.44,78.76,7814,0.3332534,-0.555097,3.124225 -199,173.8,7815,0.1435798,-0.7927294,3.408201 -320,172,7816,-0.9786828,-0.373616,3.574467 -507.4,165.4,7817,0.6556055,-0.7831566,3.32847 -141.4,226.6,7818,-1.007713,-0.1524749,3.882264 -529,239.8,7819,0.7624033,-1.399988,3.777629 -255.4,284.2,7820,0.7303636,-1.422318,3.819693 -303.4,290.2,7821,-0.02226932,-0.4768662,3.889906 -399.4,76.60001,7823,-1.027494,-0.6200614,3.266954 -458.2,88.60001,7825,-0.5745646,-0.5901946,3.194005 -412.6,97,7826,-0.7744814,-0.7270392,3.379165 -202.6,126.28,7828,0.2031074,-0.6729116,3.136828 -245.8,137.8,7829,0.7214066,-0.7416425,3.106593 -70.60001,178.6,7830,-0.9710234,-0.4566964,3.733557 -543,181,7831,-0.556868,-0.6325615,3.839102 -134.92,335.08,7833,0.8613126,-1.258185,3.741019 -157,345,7834,0.06144607,-0.7050669,2.783658 -220.6,40.6,7835,-0.007320072,-0.5780291,3.024366 -271,112,7836,0.2206467,-0.640061,3.111669 -236,145,7837,-0.4864818,-0.8257262,3.519277 -487,119.8,7838,0.7721842,-0.6794119,3.233968 -78,239,7839,0.7429302,-1.394145,3.749307 -254.2,259,7840,0.6816375,-1.36563,3.776851 -302,265,7841,-0.1336057,-0.545078,2.848363 -435,182,7843,0.7338077,-0.6806662,3.22174 -91,227.8,7844,0.7532296,-1.407231,3.777704 -129.4,334.6,7846,-0.9028701,-0.7778521,3.578941 -217,75.88,7848,0.7462502,-1.41634,3.796363 -467.56,49.96,7850,0.7330031,-0.6750498,3.185649 -251.8,256.6,7852,0.7711734,-1.355228,3.880973 -489.4,283,7856,0.8494408,-1.249359,3.833874 -398.44,165.16,7862,0.4402581,-0.5467141,3.059615 -384.616,153.064,7864,0.4337882,-0.7162598,3.313993 -446.824,56.29601,7866,0.723805,-0.7697421,3.124615 -529.7681,217,7871,-0.4080305,-0.4984179,2.995287 -345.2177,90.16481,7872,0.7209609,-0.7490373,3.10733 -71.50241,177.256,7873,0.2626846,-0.7363992,3.325514 -314.1136,146.152,7875,-0.271608,-0.7989199,3.466533 -431.4795,137.8576,7876,0.4936204,-0.6569507,3.137805 -162.2432,174.1871,7877,0.2847282,-0.7750031,3.023 -334.435,185.1357,7880,-0.02849522,-0.630342,3.217977 -312.7368,140.7441,7881,0.5849294,-0.5130308,3.041229 -111.4814,189.117,7882,-0.05485764,-0.7219348,3.72145 -158.66,172.9927,7884,0.4257839,-0.5193281,2.983524 -151.4936,158.66,7885,0.6499493,-0.7250085,3.125591 -102.5235,180.1591,7886,0.1618103,-0.8174337,3.465027 -330.6527,183.7423,7887,-0.01586365,-0.8328672,3.620066 -413.0659,198.075,7888,-0.2537572,-0.5198774,2.994548 -318,95,7889,-0.07404315,-0.8183944,3.508213 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0056.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0056.csv deleted file mode 100644 index 3a24745fcd7abf088fa2ec83d1725b537c6035a6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0056.csv +++ /dev/null @@ -1,213 +0,0 @@ -446.2,83.8,7665,-0.6648661,-0.6928057,3.367391 -388.6,69.4,7694,-0.6869255,-0.5429531,3.120636 -445.96,78.76,7709,-0.7484071,-0.6588846,3.322963 -450.28,360.424,7723,0.4633218,-1.034817,3.997033 -428.68,70.12,7825,-0.5745646,-0.5901946,3.194005 -242.92,67.24001,7842,-0.07079879,-0.8833007,3.624885 -84.52,231.4,7844,0.7532296,-1.407231,3.777704 -59.75201,178.984,7873,0.2626846,-0.7363992,3.325514 -322.6,85,7895,-0.6242684,-0.6402928,3.263514 -425.8,167.8,7904,0.749884,-0.7433624,3.11979 -247.24,283.24,7913,0.9657948,-0.8892614,3.492777 -182.44,314.92,7937,0.05773217,-0.7257245,3.3049 -304.84,137.8,7939,0.528891,-0.7191331,3.105064 -229.96,149.32,7943,0.7160237,-1.424301,3.848473 -210.088,197.992,7944,0.755904,-1.306649,3.923581 -394.12,386.92,7946,-0.182666,-0.4482952,2.933053 -193.96,123.4,7950,0.05143881,-0.7179058,3.280893 -361,116.2,7951,0.5298501,-0.7235276,3.242538 -299.944,134.056,7952,0.4761339,-0.7725183,3.321477 -463,53.8,7955,0.0507018,-0.6302543,3.188998 -434.44,68.68,7956,0.3870225,-0.7114282,3.225645 -273.4,131.8,7957,0.8668172,-0.6797166,3.228542 -426,108,7960,-0.07199862,-0.7758274,3.446607 -130.6,153.64,7961,-0.8114817,-0.7047809,3.379304 -490.6,57.16,7964,-0.06156116,-0.731625,3.279779 -450.28,78.76,7965,-0.06928442,-0.7953243,3.454019 -325.864,116.776,7966,0.1659263,-0.7517884,3.393619 -260.2,227.368,7969,0.4384549,-0.5585263,3.053762 -460.36,71.56001,7973,-0.6045923,-0.6390049,3.959946 -75.30401,222.184,7974,0.8192108,-1.333815,3.691528 -542,209,7975,-0.5012728,-0.605422,4.203166 -236.008,263.656,7976,0.1059081,-0.4791377,2.926576 -183.88,323.56,7981,-0.3992843,-0.8901457,3.531182 -523,89.8,7982,0.005285328,-0.728966,3.255032 -362.2,139,7985,0.6842797,-0.6836191,3.199854 -331.048,172.072,7986,0.7369595,-1.413499,3.797506 -97.76801,215.272,7987,-0.2061381,-0.6592704,3.057311 -366.76,261.64,7988,0.3290324,-0.7347676,3.08726 -303.4,73,7989,0.2302594,-0.5448141,3.036627 -187.624,118.504,7990,0.4784113,-0.7727061,3.325171 -195.4,137.8,7991,-0.06007477,-0.7417593,3.707826 -201.16,193.96,7992,-0.8276461,-0.3974914,4.031127 -423,212,7993,0.8350401,-1.347279,3.719433 -540,229,7994,-1.080266,-0.5943632,3.252573 -463.24,52.84,7996,0.6107717,-0.5864392,3.039777 -422.92,173.8,8003,0.532625,-0.7767048,3.333552 -458.92,51.4,8004,0.7342296,-1.405122,3.777842 -189.352,204.904,8005,0.8650938,-1.222742,3.710378 -353.512,251.56,8006,0.8781492,-0.9976656,3.748954 -191.08,407.08,8008,0.1701211,-0.7076501,2.905816 -191.08,65.8,8010,0.4876423,-0.6506595,3.14186 -245.8,381.4,8018,0.4397072,-0.578658,3.085394 -183.1451,117.4534,7494,0.3769614,-0.7446318,3.069965 -435,49,7603,-0.8593068,-0.6434555,3.188207 -291.4,134.2,7609,0.07382575,-0.7011296,3.25532 -361,116,7610,-0.08011442,-0.8117592,3.367328 -369,60,7636,-0.594461,-0.5780587,3.066925 -243.4,67,7647,-0.1132619,-0.5491001,2.856695 -434.2,49,7651,-0.8763494,-0.6239452,3.184846 -241,103,7652,0.02577243,-0.5692511,3.000969 -415,38.2,7661,-0.9002926,-0.5776919,3.081245 -291.88,133.48,7673,0.07134459,-0.701988,3.25659 -369.64,60.04,7705,-0.6157434,-0.5648423,3.059029 -378.28,103.24,7710,-0.182954,-0.8054669,3.355148 -425,112,7711,-0.3558729,-0.7710173,3.448116 -330.76,172.36,7722,0.1609962,-0.8120478,3.469237 -249.832,102.6064,7727,-0.01729729,-0.5527337,3.00298 -370.792,59.75201,7736,-0.6309151,-0.5580501,3.05597 -410.0799,105.5095,7739,-0.295812,-0.7949471,3.411171 -258.9891,165.8264,7744,0.247376,-0.7049349,3.301362 -305.5705,119.245,7746,-0.0169261,-0.6958405,3.231764 -291,135,7764,0.06995673,-0.7043172,3.265316 -60,180,7765,0.3605655,-0.7073346,3.224073 -299,167,7771,-0.2399467,-0.8467667,3.615542 -434.2,164.2,7775,0.6544145,-0.7624524,3.267392 -283,231,7781,0.302946,-0.9454253,3.65727 -470,261,7785,0.8862315,-1.266455,3.704008 -241,175,7796,0.3278322,-0.8917803,3.641314 -243,63,7799,-1.004586,-0.6807328,3.255554 -421,129,7805,0.8193347,-0.665693,3.219188 -227,50,7812,-0.9074019,-0.6622956,3.136058 -187,167.8,7815,0.1435798,-0.7927294,3.408201 -315,159,7816,-0.9786828,-0.373616,3.574467 -141.4,225.4,7818,-1.007713,-0.1524749,3.882264 -369.4,61,7823,-1.027494,-0.6200614,3.266954 -463,54,7824,-0.7051795,-0.6671811,3.27822 -229,129.4,7829,0.7214066,-0.7416425,3.106593 -191.8,70.60001,7848,0.7462502,-1.41634,3.796363 -430,35,7858,0.06510598,-0.7354649,3.290249 -300.52,133.48,7859,-0.05729159,-0.6442225,3.762604 -144.0784,168.9616,7863,-0.09007297,-0.7888557,3.444103 -374.248,137.512,7864,0.4337882,-0.7162598,3.313993 -208.36,195.9184,7865,-0.8679698,-0.613801,3.096835 -316.1873,77.72321,7872,0.7209609,-0.7490373,3.10733 -299.5984,133.7104,7875,-0.271608,-0.7989199,3.466533 -147.3133,171.2011,7877,0.2847282,-0.7750031,3.023 -187.624,87.40001,7878,0.6872487,-0.6932667,3.205954 -329.4583,172.6941,7880,-0.02849522,-0.630342,3.217977 -96.55151,189.117,7882,-0.05485764,-0.7219348,3.72145 -144.3273,172.9927,7884,0.4257839,-0.5193281,2.983524 -327.0695,169.4095,7887,-0.01586365,-0.8328672,3.620066 -290,85,7889,-0.07404315,-0.8183944,3.508213 -389.8,147.88,7890,-0.09739921,-0.8451124,3.615044 -389,69,7892,-0.05806155,-0.5091171,2.855957 -225.4,79,7893,-0.4893605,-0.5629656,3.098552 -353,77,7894,-0.3408983,-0.5583628,3.072263 -411,79,7896,-0.1392375,-0.4933834,2.970063 -262,97,7897,-0.4120398,-0.715313,3.321995 -398,93,7898,0.1119543,-0.5233906,2.948628 -206,111,7899,0.04885203,-0.6554177,3.14653 -267,117,7900,0.04434005,-0.62396,3.182492 -273,131,7901,0.497104,-0.7157638,3.101699 -139,149.8,7902,-0.2761005,-0.8279032,3.6186 -454.6,145,7903,-0.0874149,-0.8466802,3.627017 -51.4,189.4,7905,-0.06130364,-0.8565472,3.637633 -425,172,7906,0.579757,-0.725197,3.220474 -140,193,7907,0.4676695,-0.7561621,3.314778 -201,193,7908,0.7036039,-0.7235341,3.24337 -102,225,7909,0.8473988,-0.6742098,3.225184 -40.6,257.8,7910,0.6944788,-0.7633425,3.381093 -141,255,7911,0.7958907,-1.385471,3.740316 -289,263,7912,0.8378332,-1.359375,3.72508 -52,343,7914,0.9619864,-0.8621797,3.495055 -56,348,7915,0.8722476,-1.04196,3.776431 -209,411,7916,0.792008,-1.219282,3.937174 -356.2,431.8,7917,0.3177374,-0.9038772,2.934533 -162,32,7918,0.3145295,-0.7937608,3.019818 -179,85,7919,0.04641611,-0.6540926,3.158489 -270,120,7920,0.1940336,-0.6128066,3.097564 -220,132,7921,0.7190703,-0.7458259,3.084622 -55,173,7922,0.669868,-0.710562,3.208299 -105,209,7923,0.610348,-0.7793541,3.333129 -159.4,219.4,7924,0.6302158,-1.332585,3.845051 -417,276,7925,0.88035,-1.306933,3.71575 -205,317,7926,0.9598569,-0.8611025,3.469765 -49,337,7927,-0.878494,-0.6151313,3.096734 -415,39,7928,0.2921301,-0.8557816,2.958586 -174,50,7929,-1.29956,-0.5383305,3.320706 -490.6,57.4,7930,-0.4900447,-0.8075894,3.542209 -469,109,7931,-0.05111254,-0.9304755,3.6457 -438,159,7932,-0.1084585,-0.8308943,3.626168 -427,168,7933,0.4384183,-0.7442118,3.342882 -216,194,7934,0.7383628,-0.7001039,3.233733 -86,232,7935,0.6849696,-0.8302811,3.408489 -154,247,7936,-0.04278305,-0.5311491,3.004752 -251,105,7938,-0.8936281,-0.6996365,3.186894 -442,35,7940,-0.8013032,-0.7023819,3.371439 -129.4,154.6,7941,0.2432444,-0.6608922,3.19101 -463,71,7942,0.3926865,-0.6416768,3.286683 -414,281,7945,-0.09632052,-0.5577305,2.851985 -235.72,65.8,7947,-1.032675,-0.683041,3.571466 -261.4,97,7948,0.2790915,-0.6672285,3.065993 -524,90,7949,-0.09043825,-0.8095127,3.371628 -162,191,7953,-1.055414,-0.6049216,3.260621 -201.4,194.2,7954,-0.7233262,-0.6753222,3.289971 -201.4,166.6,7958,-0.3634749,-0.7877124,3.450888 -33,262,7959,0.5477922,-0.766402,3.134332 -369.64,143.56,7962,-1.383462,-0.4966322,3.291822 -466,71,7963,-0.6649256,-0.7302314,3.381916 -373.96,140.68,7967,0.7599031,-1.330527,3.67065 -299.08,163.72,7968,-0.7353562,-0.5198051,3.115061 -388.36,68.68,7970,-0.7476245,-0.539038,3.719349 -143.56,165.16,7971,-0.855626,-0.6611081,3.351574 -496.6,164.2,7972,0.744431,-0.7069444,3.202161 -574.6,277,7977,0.04692147,-0.7544216,3.367339 -201.448,115.048,7978,-0.09167302,-0.7652115,3.459043 -324.136,144.424,7979,0.8939291,-1.276716,3.700025 -369.064,144.424,7980,-0.6405259,-0.9026188,3.62056 -465.4865,98.45921,7983,-0.07043373,-0.76606,3.419373 -305.8192,119.1952,7984,0.1531543,-0.8121473,3.471801 -243.6112,283.0096,7995,-1.074728,-0.6587445,3.559787 -522.8561,89.12801,7997,-1.164335,-0.0533389,3.731465 -87.40001,180.712,7998,0.6931037,-0.7616066,3.340072 -482.0753,191.7712,7999,0.493484,-0.6832575,3.153021 -130.6,242.92,8000,0.2013823,-0.7941573,3.401571 -151.336,170.344,8001,-0.04279101,-0.862844,3.63972 -299.944,165.16,8002,-1.036616,-0.6107388,3.245668 -202.1392,332.7761,8007,-0.05694523,-0.8504553,3.453153 -378.3953,129.5632,8009,0.3019832,-0.708209,3.08603 -193.8448,121.2688,8011,0.2392411,-0.7059907,3.308045 -150.2992,173.1088,8012,0.8754336,-1.000593,3.75724 -260.2,166.888,8013,-1.418519,-0.2402504,3.602737 -195.9184,409.4993,8014,0.8709543,-1.207546,3.749503 -508.6174,132.3833,8015,0.8489501,-0.9812448,3.713523 -215.9909,362.3042,8016,0.8609446,-1.21845,3.794328 -189.117,386.192,8017,-0.2978476,-0.7511259,3.280551 -374.2481,88.09122,8019,-0.04084873,-0.7323467,3.616631 -150.2992,172.6941,8020,0.8287224,-1.307916,3.684094 -396.643,195.089,8021,0.8374411,-1.144507,3.792865 -221.9629,272.7246,8022,0.2545139,-0.7227936,3.317413 -245.8508,386.192,8023,-0.04125481,-0.8582801,3.455311 -259.7853,167.7175,8024,0.3186501,-0.7118247,3.067078 -376.7364,130.3927,8025,0.2587816,-0.5951535,3.036202 -185.1357,117.9511,8026,-0.7816023,-0.5834248,3.713392 -190.1124,130.3927,8027,0.6657531,-0.6876596,3.154723 -506.1291,152.7876,8028,-0.8861983,-0.05979595,3.67231 -93.56553,198.075,8029,-1.072373,-0.09630115,3.902048 -445.9117,207.033,8030,0.8407377,-1.352324,3.720007 -502.6454,218.9769,8031,0.09281791,-0.9849119,3.452965 -241.0732,284.0714,8032,0.7056867,-0.7083179,3.215461 -364.2948,115.4627,8033,0.8318983,-1.325341,3.743931 -93.56553,218.9769,8034,-0.3141562,-0.5874071,3.108625 -255.4059,305.5705,8035,-0.08162764,-0.8501719,3.414006 -326.97,88.09122,8036,0.1323478,-0.7765632,3.450418 -374.2481,117.4534,8037,-0.6970332,-0.7214251,3.578508 -326.4724,171.2011,8038,0.6867672,-0.6972085,3.211123 -491.1992,112.9744,8039,-0.1651304,-0.7799877,3.427246 -99.5375,215.9909,8040,-1.268436,-0.2847157,3.547859 -384.4005,126.4114,8041,-0.05348502,-0.7240828,3.617685 -491.8959,129.9946,8042,-0.2528139,-0.6140279,3.032665 -398.136,195.089,8043,0.1694556,-0.7672853,3.389078 -304,74,8044,-0.686103,-0.6689427,3.37875 -299.5985,165.2292,8045,0.1782394,-0.6478963,3.124853 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0057.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0057.csv deleted file mode 100644 index 05d176bfee1b19440d1b401bb5a23630cee00a0d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0057.csv +++ /dev/null @@ -1,202 +0,0 @@ -196.84,107.56,7404,0.357404,-0.7084072,3.048743 -353,33,7599,-0.5382315,-0.6394246,3.059224 -139.24,155.08,7688,0.513647,-0.6299887,3.061487 -431.56,54.28,7709,-0.7484071,-0.6588846,3.322963 -417,49,7755,-0.7073479,-0.6685442,3.280771 -154.6,203.8,7776,-1.075817,-0.4673617,3.745607 -107.56,165.16,7804,-0.2653939,-0.7917587,3.50363 -237.16,116.2,7829,0.7214066,-0.7416425,3.106593 -337,125.8,7868,-1.261875,-0.257334,3.515491 -342,59,7894,-0.3408983,-0.5583628,3.072263 -225.4,121,7921,0.7190703,-0.7458259,3.084622 -468,37,7930,-0.4900447,-0.8075894,3.542209 -463,85,7931,-0.05111254,-0.9304755,3.6457 -449,49,7941,0.2432444,-0.6608922,3.19101 -443,32,7954,-0.7233262,-0.6753222,3.289971 -377.8,122.2,7979,0.8939291,-1.276716,3.700025 -312.04,102.952,7983,-0.07043373,-0.76606,3.419373 -436,148,8002,-1.036616,-0.6107388,3.245668 -218.2,154.6,8049,-0.01549005,-0.9254292,3.641838 -442,138,8050,0.3460979,-0.5878024,3.147589 -413.8,223,8058,0.8663618,-0.9676677,3.800286 -294.76,408.808,8059,-1.421646,-0.4746982,3.294551 -277,152.2,8066,0.3029644,-0.8440612,3.004046 -185.32,45.64,8073,-0.05075081,-0.5121652,2.97107 -175,175,8075,-0.9919347,-0.2010045,3.933145 -414,204,8082,0.1397381,-0.7989119,3.41491 -441,57,8084,-0.3034705,-0.8416157,3.466592 -242.92,136.36,8086,-0.4677498,-0.8362998,4.074567 -588,184,8087,-0.4789493,-0.8129025,4.081323 -470.44,385.48,8089,-0.5035851,-0.5603276,3.09961 -497.8,193,8094,0.7553132,-1.37888,3.730251 -413.8,205,8095,0.6740686,-0.7847472,3.396442 -371.08,215.56,8097,0.9733656,-0.8513993,3.470332 -120.52,343.72,8099,-0.9961314,-0.7910912,3.594003 -590,185,8104,0.4959741,-0.6643801,3.186584 -505,67.24001,8108,-0.07158457,-0.5119045,2.973178 -585.64,191.08,8110,-0.082996,-0.5840245,3.737127 -324,98,8112,-0.495169,-0.8155189,4.078556 -586.6,184.6,8113,0.6756123,-0.7902451,3.396981 -472,109,8115,-0.3086033,-0.8455202,3.453605 -367,94.60001,8121,0.2537615,-0.7381471,3.327276 -497,133,8124,-0.9044268,-0.7410827,3.452999 -479.08,45.64,8125,0.09143574,-0.8523381,3.392224 -343,113.8,8126,-0.6705889,-0.4605075,3.749106 -545,177,8128,0.9608201,-0.8703086,3.504264 -522,48,8130,-0.628232,-0.7203064,3.396461 -435,66,8131,-0.3259925,-0.8312042,3.450149 -424,79,8132,0.06390203,-0.6726291,3.156847 -270.28,103.24,8133,0.5338776,-0.6598901,3.09413 -425.8,80.2,8137,-0.0587221,-0.8685009,3.452239 -277.48,151.336,8141,0.2847679,-0.6249067,3.060623 -307.72,70.12,8143,-0.3600812,-0.3525297,2.876975 -265,76.60001,8144,0.6891653,-0.7141931,3.219918 -125.416,210.088,8145,0.831632,-1.339753,3.735887 -538.6,250.6,8163,-0.06653447,-0.6520934,3.209068 -536,161,8165,-0.8811321,-0.4187686,3.929433 -195.089,107.9978,7494,0.3769614,-0.7446318,3.069965 -298.6,117.4,7609,0.07382575,-0.7011296,3.25532 -356,43,7636,-0.594461,-0.5780587,3.066925 -299.08,117.64,7673,0.07134459,-0.701988,3.25659 -374.2,50.2,7694,-0.6869255,-0.5429531,3.120636 -273.3218,151.4936,7744,0.247376,-0.7049349,3.301362 -299,119,7764,0.06995673,-0.7043172,3.265316 -235,51,7799,-1.004586,-0.6807328,3.255554 -423,106,7805,0.8193347,-0.665693,3.219188 -220,36,7812,-0.9074019,-0.6622956,3.136058 -173.8,217,7818,-1.007713,-0.1524749,3.882264 -356.2,43,7823,-1.027494,-0.6200614,3.266954 -416.2,49,7825,-0.5745646,-0.5901946,3.194005 -234.28,49.96,7842,-0.07079879,-0.8833007,3.624885 -309.16,116.2,7859,-0.05729159,-0.6442225,3.762604 -307.8929,117.1216,7875,-0.271608,-0.7989199,3.466533 -162.2432,165.2292,7877,0.2847282,-0.7750031,3.023 -108.4955,192.103,7882,-0.05485764,-0.7219348,3.72145 -162.2432,165.8264,7884,0.4257839,-0.5193281,2.983524 -344.9855,151.4936,7887,-0.01586365,-0.8328672,3.620066 -283,70,7889,-0.07404315,-0.8183944,3.508213 -375,51,7892,-0.05806155,-0.5091171,2.855957 -220,66,7893,-0.4893605,-0.5629656,3.098552 -271,103,7900,0.04434005,-0.62396,3.182492 -76,187,7905,-0.06130364,-0.8565472,3.637633 -131,219,7909,0.8473988,-0.6742098,3.225184 -274,105,7920,0.1940336,-0.6128066,3.097564 -190.6,208.6,7924,0.6302158,-1.332585,3.845051 -238.6,181,7934,0.7383628,-0.7001039,3.233733 -114,228,7935,0.6849696,-0.8302811,3.408489 -313.48,120.52,7938,-0.8936281,-0.6996365,3.186894 -229,53.8,7946,-0.182666,-0.4482952,2.933053 -308.584,118.504,7951,0.5298501,-0.7235276,3.242538 -225.4,182.2,7953,-1.055414,-0.6049216,3.260621 -421,47.8,7955,0.0507018,-0.6302543,3.188998 -378.28,121.96,7961,-0.8114817,-0.7047809,3.379304 -452,49,7962,-1.383462,-0.4966322,3.291822 -381.16,119.08,7966,0.1659263,-0.7517884,3.393619 -314.92,147.88,7967,0.7599031,-1.330527,3.67065 -361.8065,197.992,7968,-0.7353562,-0.5198051,3.115061 -447.4,48.52,7972,0.744431,-0.7069444,3.202161 -102.952,218.728,7973,-0.6045923,-0.6390049,3.959946 -348.328,151.336,7985,0.6842797,-0.6836191,3.199854 -164.8144,233.2432,7999,0.493484,-0.6832575,3.153021 -467.5601,208.36,8005,0.8650938,-1.222742,3.710378 -164.8144,166.888,8011,0.2392411,-0.7059907,3.308045 -269.7386,356.3322,8016,0.8609446,-1.21845,3.794328 -162.7408,165.2292,8019,-0.04084873,-0.7323467,3.616631 -332.4443,242.8648,8021,0.8374411,-1.144507,3.792865 -344.3882,353.3462,8022,0.2545139,-0.7227936,3.317413 -386.6897,107.9978,8024,0.3186501,-0.7118247,3.067078 -120.4394,213.0049,8033,0.8318983,-1.325341,3.743931 -373.6509,269.7386,8034,-0.3141562,-0.5874071,3.108625 -317.5144,147.3133,8044,-0.686103,-0.6689427,3.37875 -432,67,8045,0.1782394,-0.6478963,3.124853 -236,117,8046,0.01343093,-0.7318559,3.379302 -339,129,8047,0.506765,-0.7402833,3.119647 -155,141,8048,0.2839803,-0.5872706,3.165429 -199,159,8051,0.2544782,-0.7283017,3.340986 -280,157,8052,0.51176,-0.7717893,3.327272 -216,189,8053,0.6688818,-0.7993727,3.332216 -173,217,8054,0.6705853,-0.7816748,3.395839 -189,241,8055,0.8348238,-0.7098961,3.248638 -81,253,8056,0.7556687,-1.3886,3.765812 -440.2,219.4,8057,0.7776187,-1.378277,3.744565 -465,35,8060,-0.1209242,-0.538272,2.842569 -229,54,8061,-0.7096772,-0.7076622,3.37046 -438,55,8062,0.1367019,-0.6253771,3.117754 -242.2,115,8063,0.6122047,-0.7352049,3.10754 -119,159,8064,0.3645229,-0.7102394,3.23371 -224,152,8065,0.2382991,-0.7066647,3.324374 -188.2,53.8,8067,-0.3029394,-0.5590914,3.001355 -293.8,59.8,8068,0.2171972,-0.657811,3.210551 -249,137,8069,0.4313951,-0.6490275,3.183439 -190,168,8070,0.4662164,-0.62708,3.160643 -174,175,8071,0.6104876,-0.7486011,3.329749 -185,213,8072,0.305783,-0.8638125,2.991834 -240,89,8074,0.4444807,-0.5917259,3.15005 -498,193,8076,0.285237,-0.8003209,3.009915 -191.8,64.60001,8077,-0.461247,-0.4541124,3.01359 -311.8,69.4,8078,0.03177703,-0.697234,3.382092 -332,139,8079,0.7470427,-1.402916,3.781818 -461,219,8080,0.7290968,-0.6994679,3.074692 -68.2,181,8081,0.7528867,-1.37813,3.72951 -333,141,8083,-0.6752763,-0.7286447,3.388206 -426,81,8085,0.2680006,-0.7066097,3.21954 -585.4,188.2,8088,0.7689585,-1.211055,3.949185 -343,58.6,8090,-0.2604703,-0.7960526,3.505285 -422.2,105.4,8091,0.3618543,-0.6364485,3.17575 -205,157,8092,0.718097,-0.7490566,3.111842 -83,176,8093,-0.9369066,-0.2396498,3.928446 -188.2,241,8096,0.7963844,-1.357535,3.703562 -101,342,8098,0.9606276,-0.8756304,3.504357 -522,51,8100,-0.09820088,-0.6924936,3.248609 -323.8,97,8101,0.790682,-0.6875413,3.239798 -95,245,8102,0.6946447,-0.7907884,3.401499 -179.8,245.8,8103,-0.5318789,-0.8049585,4.088663 -173.8,175.24,8105,-0.3166389,-0.5559664,2.996956 -295,59,8106,0.1837558,-0.7667595,3.397659 -314.2,148.6,8107,-0.7782319,-0.7992902,3.604346 -244.36,87.4,8109,-0.510126,-0.7823915,4.101747 -418.6,217,8111,-0.174535,-0.6225188,3.224474 -188.2,240.04,8114,-0.928187,-0.4952088,3.583487 -424.36,77.32,8116,-0.5255495,-0.8126666,4.084676 -589.96,182.44,8117,0.539818,-0.7921544,3.40582 -232.84,211.24,8118,0.7008862,-0.7957901,3.398042 -179.56,245.8,8119,0.7047375,-1.247536,3.992941 -527.8,364.6,8120,-0.1242835,-0.7896933,3.365211 -277.48,150.76,8122,0.7512102,-1.404239,3.784496 -461.8,221.32,8123,-1.020828,-0.4266849,3.734874 -472.744,165.16,8127,-0.3517509,-0.8263808,3.94991 -120.232,344.872,8129,-0.9074091,-0.8367729,3.597717 -137.512,156.52,8134,0.8509558,-1.107187,3.823739 -341.416,386.344,8135,0.8446494,-1.070974,3.828153 -336.9232,392.9105,8136,-0.3520877,-0.8121839,3.45107 -388.7632,102.6064,8138,0.3623496,-0.7549177,3.206115 -242.92,135.784,8139,0.7054785,-1.341557,3.690786 -394.9841,181.4032,8140,0.2705035,-0.7552345,3.333478 -194.536,121.96,8142,-0.3449069,-0.5163705,3.062295 -370.1009,260.2,8146,-1.083112,-0.6537055,3.57138 -504.8849,67.35521,8147,-0.270321,-0.78091,3.498677 -419.8672,106.7536,8148,0.8704532,-0.9781969,3.737001 -266.4208,382.5424,8149,0.481531,-0.6470615,3.160475 -168.9616,171.0352,8150,0.8298313,-1.337295,3.734676 -369.2715,259.7853,8151,0.6222706,-1.206791,3.961399 -514.5894,329.4583,8152,0.7375116,-0.6866461,3.220835 -108.4955,227.9348,8153,0.0555684,-0.6543625,3.080777 -252.3204,85.6029,8154,0.1987285,-0.794672,3.405013 -317.0167,147.8109,8155,0.6772248,-0.728694,3.327591 -162.2432,233.9068,8156,0.3131444,-0.7206053,3.098475 -202.554,112.9744,8157,0.5448849,-0.6896747,3.102092 -138.3553,156.2712,8158,-0.3886516,-0.570064,3.263547 -359.3182,93.06786,8159,0.2170592,-0.6546602,3.132199 -229.9255,122.9277,8160,0.2323695,-0.6415443,3.182011 -237.49,137.1609,8161,-0.8246449,-0.537884,3.777625 -502.6454,138.3553,8162,0.6852251,-1.392377,3.879518 -305.5704,102.5235,8164,-0.6037677,-0.6950142,3.916846 -517.5754,174.1871,8166,-0.07224511,-0.8646373,3.565732 -419.0379,123.4254,8167,0.5756693,-0.7661424,3.151054 -144.3273,155.0768,8168,-0.1879593,-0.7214074,3.696369 -445.3145,169.4095,8169,0.7317821,-1.444642,3.814295 -509.8118,208.8246,8170,-0.9811725,-0.4853723,3.739941 -502.6454,129.3973,8171,0.6573229,-0.7455337,3.344638 -162.2432,233.9068,8172,0.5172351,-0.727309,3.144053 -158.66,151.4936,8173,0.4446595,-0.5715379,3.134439 -170.2,176.2,8174,-0.9061707,-0.7176319,3.450497 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0058.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0058.csv deleted file mode 100644 index 6f9841475976342161e37f3979395671732f40d0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0058.csv +++ /dev/null @@ -1,139 +0,0 @@ -408.52,143.56,7540,0.1819067,-0.8120747,3.402935 -464,48,7603,-0.8593068,-0.6434555,3.188207 -313.48,155.08,7766,0.3226988,-0.7197565,3.260502 -458,35,7813,-0.931644,-0.4422071,3.073628 -306.28,129.16,7837,-0.4864818,-0.8257262,3.519277 -464,35,7850,0.7330031,-0.6750498,3.185649 -306,131,7921,0.7190703,-0.7458259,3.084622 -443,40,7928,0.2921301,-0.8557816,2.958586 -501,54,7963,-0.6649256,-0.7302314,3.381916 -489.4,71.8,7964,-0.06156116,-0.731625,3.279779 -394.6,149.8,7967,0.7599031,-1.330527,3.67065 -316.36,189.64,8004,0.7342296,-1.405122,3.777842 -398.2,76.60001,8090,-0.2604703,-0.7960526,3.505285 -521.8,64.60001,8175,-0.4766996,-0.7692749,3.518613 -501.4,101.8,8176,-0.003962432,-0.7603227,3.371319 -310,157,8180,0.1662806,-0.8092335,3.485094 -171,267,8184,-0.5385023,-0.4985728,3.065287 -589,138,8186,-0.5200681,-0.6913111,3.737968 -542.44,147.88,8187,0.5690739,-0.7412224,3.254714 -226,229,8190,-0.4174801,-0.4928358,2.997757 -365,82,8191,0.4019036,-0.7312024,3.249329 -466,67,8194,0.2577953,-0.6629596,3.19867 -321,147,8195,0.2178852,-0.6542851,3.124762 -460,86,8198,-0.06412382,-0.7987065,3.446157 -294,161,8200,0.7487705,-0.8238895,3.288472 -345,114,8204,-0.5705863,-0.7976252,3.499663 -546,90,8207,-0.4546236,-0.7549834,3.403504 -480,89,8208,0.4601329,-0.763604,3.319397 -451,127,8210,0.4748436,-0.7552922,3.318892 -319,181,8211,0.3116585,-0.6729612,3.092296 -362,160,8213,-0.4075194,-0.5783844,3.183105 -404.2,91,8214,-0.2876744,-0.6554907,3.05387 -373,67,8215,-0.7695244,-0.6632145,3.331338 -480,71,8216,0.7156352,-0.7564789,3.25144 -242.92,206.92,8217,0.8525249,-1.099234,3.817828 -479.8,334.6,8218,0.8325195,-1.073458,3.830671 -506,141,8220,-0.4872096,-0.6791222,3.316797 -546,142,8222,-0.06583779,-0.8024945,3.456418 -450.28,124.84,8223,0.1683227,-0.6999677,3.341506 -363.4,159.4,8224,0.8406647,-1.0846,3.821018 -479.08,335.08,8225,-0.22923,-0.4129554,2.920257 -597.4,127,8227,0.06590962,-0.7063647,3.26455 -373.96,124.84,8228,-0.1056153,-0.7938021,3.295282 -587.08,109,8231,-0.13244,-0.8130527,3.445554 -545.8,141.4,8233,0.7307597,-0.7892411,3.13046 -207,171,8234,0.9592864,-0.8968432,3.49135 -486.28,332.2,8238,-0.8733481,-0.6837975,3.880068 -592.84,133.48,8239,-0.3460508,-0.6937123,3.47022 -206.2,171.4,8242,0.8726535,-0.968006,3.760268 -373,126,7609,0.07382575,-0.7011296,3.25532 -409,62,7636,-0.594461,-0.5780587,3.066925 -374.2,125.8,7673,0.07134459,-0.701988,3.25659 -424.6,69.4,7694,-0.6869255,-0.5429531,3.120636 -479.8,70.60001,7709,-0.7484071,-0.6588846,3.322963 -356.3322,156.2712,7744,0.247376,-0.7049349,3.301362 -285.4,208.6,7818,-1.007713,-0.1524749,3.882264 -409,62.2,7823,-1.027494,-0.6200614,3.266954 -259.7853,167.7175,7877,0.2847282,-0.7750031,3.023 -257.7947,168.2151,7884,0.4257839,-0.5193281,2.983524 -289,84,7893,-0.4893605,-0.5629656,3.098552 -398,77,7894,-0.3408983,-0.5583628,3.072263 -246,211,7909,0.8473988,-0.6742098,3.225184 -518.2,94.60001,7931,-0.05111254,-0.9304755,3.6457 -333,179,7934,0.7383628,-0.7001039,3.233733 -230,221,7935,0.6849696,-0.8302811,3.408489 -381.16,125.416,7951,0.5298501,-0.7235276,3.242538 -323.8,179.8,7953,-1.055414,-0.6049216,3.260621 -484.6,52.6,7954,-0.7233262,-0.6753222,3.289971 -445.96,129.16,7961,-0.8114817,-0.7047809,3.379304 -451,125.8,7966,0.1659263,-0.7517884,3.393619 -446.2,130.6,7979,0.8939291,-1.276716,3.700025 -262.2737,168.9616,8011,0.2392411,-0.7059907,3.308045 -404.1079,324.4817,8016,0.8609446,-1.21845,3.794328 -491.1992,307.0634,8022,0.2545139,-0.7227936,3.317413 -396.643,150.2992,8044,-0.686103,-0.6689427,3.37875 -258,145,8048,0.2839803,-0.5872706,3.165429 -364,160,8052,0.51176,-0.7717893,3.327272 -318,183,8053,0.6688818,-0.7993727,3.332216 -285,209,8054,0.6705853,-0.7816748,3.395839 -595,175,8057,0.7776187,-1.378277,3.744565 -431.272,365.608,8059,-1.421646,-0.4746982,3.294551 -410,143,8083,-0.6752763,-0.7286447,3.388206 -490,73,8084,-0.3034705,-0.8416157,3.466592 -329.32,142.12,8086,-0.4677498,-0.8362998,4.074567 -297,233,8103,-0.5318789,-0.8049585,4.088663 -395,153,8107,-0.7782319,-0.7992902,3.604346 -296.2,232.84,8119,0.7047375,-1.247536,3.992941 -361,154.6,8122,0.7512102,-1.404239,3.784496 -487,80,8131,-0.3259925,-0.8312042,3.450149 -483,91,8137,-0.0587221,-0.8685009,3.452239 -280.936,133.7104,8142,-0.3449069,-0.5163705,3.062295 -266.4208,173.1088,8150,0.8298313,-1.337295,3.734676 -239.8788,160.2525,8158,-0.3886516,-0.570064,3.263547 -312.0401,130.3927,8160,0.2323695,-0.6415443,3.182011 -374.2481,114.4674,8164,-0.6037677,-0.6950142,3.916846 -276.905,223.1573,8172,0.5172351,-0.727309,3.144053 -415,121,8177,-0.1116877,-0.8650762,3.640542 -512,141,8178,0.5538478,-0.7637879,3.134688 -252,149,8179,0.3931296,-0.7248237,3.234416 -426,158,8181,0.5544716,-0.6495214,3.186826 -256,189,8182,0.5205404,-0.7712898,3.412888 -337,205,8183,0.9526187,-0.726504,3.255187 -391,79,8185,-1.063809,-0.5721556,3.893706 -279,185,8188,0.7452962,-0.5475116,2.973145 -148,195,8189,0.7591867,-0.7020034,3.247589 -313,160.6,8192,0.7671157,-0.5632807,2.984457 -145,197,8193,-0.8368358,-0.605875,3.26515 -310,129,8196,0.77823,-0.9544015,3.723638 -416,311,8197,-0.3380442,-0.7815883,3.369877 -447,124,8199,0.3378423,-0.6201198,3.164172 -261.4,205,8201,-0.8876409,-0.4950808,3.110991 -433,63,8202,-0.9581012,-0.708486,3.451941 -523,65,8203,0.05447992,-0.6633764,3.156051 -513.4,82.60001,8205,0.05211198,-0.7265105,3.290903 -384,125,8206,-0.9637098,-0.6793444,3.596557 -323,177,8209,-0.07168479,-0.7966647,3.460226 -286.6,130.6,8212,0.2965842,-0.7575316,3.350268 -482.2,339.4,8219,-0.1670869,-0.8201937,3.625709 -451,85,8221,-1.099587,-0.4112943,3.76276 -318.952,102.952,8226,-1.01005,-0.6615093,3.87651 -415.72,90.85601,8229,0.89997,-1.019119,3.777436 -426.0881,357.6592,8230,-0.9974408,-0.7026381,3.78992 -457.192,111.592,8232,-1.053712,-0.4366633,3.759027 -265.384,301.672,8235,0.4074402,-0.7365437,3.34065 -336.9232,181.4032,8236,0.9573874,-0.8908648,3.489273 -264.3472,301.672,8237,0.8411395,-1.100964,3.82619 -469.7996,120.4394,8240,0.7106832,-0.6503329,3.171826 -213.0049,210.0189,8241,0.7317773,-0.7892725,3.131644 -411.5729,351.8532,8243,0.2952035,-0.7646312,3.334657 -359.3182,155.2759,8244,0.8436624,-1.165839,3.735083 -463.2305,276.905,8245,0.8243561,-1.027375,3.702928 -414.0612,299.5985,8246,0.8231063,-1.092521,3.827082 -488.7108,329.4583,8247,0.8363335,-1.106407,3.798128 -475.7716,317.5144,8248,0.3407043,-0.6451649,3.055136 -269.7386,133.5777,8249,0.6912152,-0.7389765,3.214341 -237.49,198.075,8250,0.8864811,-1.307505,3.683116 -473.98,212.4077,8251,0.8624281,-1.254406,3.673815 -456.0641,223.1573,8252,0.8246521,-0.9649553,3.714097 -404.1079,320.5004,8253,0.7493939,-1.031124,2.923199 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0059.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0059.csv deleted file mode 100644 index 5a4bf0e4b2421b6dec249a934365ef5703a683dd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0059.csv +++ /dev/null @@ -1,138 +0,0 @@ -542,66,7651,-0.8763494,-0.6239452,3.184846 -597,254,7704,-0.5812187,-0.2117899,3.907311 -544,33,7751,-0.9030911,-0.7428436,3.115914 -382.888,156.52,7762,0.2211782,-0.5375364,3.038951 -433,106,7889,-0.07404315,-0.8183944,3.508213 -405,117,7947,-1.032675,-0.683041,3.571466 -451,195,7953,-1.055414,-0.6049216,3.260621 -553,143.8,7961,-0.8114817,-0.7047809,3.379304 -509.8,169,7967,0.7599031,-1.330527,3.67065 -573,82,7972,0.744431,-0.7069444,3.202161 -558,66,8003,0.532625,-0.7767048,3.333552 -422,143,8046,0.01343093,-0.7318559,3.379302 -445,202.6,8053,0.6688818,-0.7993727,3.332216 -424.6,226.6,8072,0.305783,-0.8638125,2.991834 -603,80,8175,-0.4766996,-0.7692749,3.518613 -469,225,8183,0.9526187,-0.726504,3.255187 -472,97,8185,-1.063809,-0.5721556,3.893706 -570,103,8208,0.4601329,-0.763604,3.319397 -479.08,142.12,8228,-0.1056153,-0.7938021,3.295282 -584.2,130.6,8258,0.1135688,-0.6476571,3.151749 -450,197,8260,0.6434383,-0.7993189,3.336312 -212.68,58.6,8265,0.7428978,-1.032134,2.946628 -172.072,417.448,8270,1.11345,-0.9862407,3.700302 -207.4,328.6,8280,1.024792,-0.8107032,2.939614 -201.4,187,8282,1.166974,-0.6322199,3.13864 -206.92,327.88,8284,0.8915386,-0.8986212,2.799966 -538,444,8285,0.8577651,-0.8797448,2.828242 -224.2,104.2,8287,0.2522493,-0.6882305,3.139629 -417.4,145,8289,1.157488,-0.6745498,3.118476 -213.4,206.2,8290,-0.2655709,-0.7977732,3.51617 -241.48,310.6,8296,0.8654497,-0.9539241,2.786599 -542.2,175,8297,-0.01163116,-0.7791201,3.361644 -520.6,134.2,8299,0.6015867,-0.9128969,3.717378 -229.96,276.04,8300,-0.8518652,-0.6305298,3.180727 -591.4,289,8301,-0.6124882,-0.5816605,3.091235 -258.472,220.456,8305,0.8427454,-0.880397,2.805828 -566.92,126.28,8308,-0.4940404,-0.7109342,3.354286 -551.08,100.36,8310,-0.01944211,-0.8161355,3.450556 -402.76,133.48,8311,0.8412823,-0.8712333,2.805023 -221.32,96.04,8313,0.5136591,-0.6692833,3.167541 -345.16,188.2,8316,0.8583867,-0.8759245,2.816885 -263.8,352.6,8317,0.6921148,-0.8203834,3.409403 -219.88,100.36,8318,0.8416083,-0.9957252,3.72052 -589.96,339.4,8320,1.139718,-0.998785,3.663446 -507,436,8322,0.862032,-0.88191,2.827403 -384.616,398.44,8323,1.038714,-0.907283,3.527695 -408.808,401.896,8328,1.177694,-0.8308921,3.282096 -546.76,98.92001,8329,0.5970531,-0.7437598,3.140775 -589,303.4,8332,1.056289,-0.785951,3.314921 -381.16,188.2,8336,0.6020532,-0.7574279,3.198043 -531.4,63.4,8345,0.9969528,-0.950598,2.801358 -525.16,159.4,7540,0.1819067,-0.8120747,3.402935 -479,142,7609,0.07382575,-0.7011296,3.25532 -563.8,86.2,7709,-0.7484071,-0.6588846,3.322963 -537,51,7813,-0.931644,-0.4422071,3.073628 -412.6,147.4,7837,-0.4864818,-0.8257262,3.519277 -544,50,7850,0.7330031,-0.6750498,3.185649 -378,229,7909,0.8473988,-0.6742098,3.225184 -488.2961,140.968,7951,0.5298501,-0.7235276,3.242538 -556,147,7979,0.8939291,-1.276716,3.700025 -446.2,206.2,8004,0.7342296,-1.405122,3.777842 -511.1057,165.2292,8044,-0.686103,-0.6689427,3.37875 -424,227,8054,0.6705853,-0.7816748,3.395839 -526,159,8083,-0.6752763,-0.7286447,3.388206 -440.2,251.8,8103,-0.5318789,-0.8049585,4.088663 -510,169,8107,-0.7782319,-0.7992902,3.604346 -477,171,8122,0.7512102,-1.404239,3.784496 -420.2323,241.0732,8172,0.5172351,-0.727309,3.144053 -599.8,115,8176,-0.003962432,-0.7603227,3.371319 -447,98,8191,0.4019036,-0.7312024,3.249329 -417,146,8196,0.77823,-0.9544015,3.723638 -397,224.2,8201,-0.8876409,-0.4950808,3.110991 -605,79,8203,0.05447992,-0.6633764,3.156051 -448,131,8204,-0.5705863,-0.7976252,3.499663 -607,98,8205,0.05211198,-0.7265105,3.290903 -449,194,8209,-0.07168479,-0.7966647,3.460226 -559,142,8210,0.4748436,-0.7552922,3.318892 -344.2,188.2,8234,0.9592864,-0.8968432,3.49135 -303,58,8254,0.9344615,-0.9292019,2.788757 -190,87,8255,-0.4969967,-0.6876174,3.288507 -534,95,8256,0.8496311,-0.8760484,2.811141 -221,100,8257,-0.2715496,-0.7917387,3.515828 -434,140,8259,0.5130791,-0.8049757,3.337821 -425.8,221.8,8261,1.097563,-0.7801812,3.313895 -307,331,8262,1.171223,-0.7880209,3.322267 -288,356,8263,1.213006,-0.2098749,3.155765 -175,417.4,8264,0.8396624,-0.9476843,2.757954 -313,63,8266,-0.2507557,-0.8314068,3.497565 -586,121,8267,0.3417329,-0.7501082,3.102675 -403,134,8268,0.6810909,-0.808458,3.411381 -445,247,8269,1.209215,-0.1784124,3.14528 -528,443,8271,0.8647543,-0.9554426,2.785249 -214,66,8272,0.8528463,-0.8810475,2.828933 -226,103,8273,0.8784772,-0.5903255,2.984212 -242,233,8274,0.8583706,-0.9233089,2.795352 -217,81,8275,0.7943737,-0.5827191,2.979038 -261,219,8276,1.138029,-1.023506,3.697094 -536,446,8277,0.4198355,-0.7093458,3.218789 -543,175,8278,1.193907,-0.6923871,3.153739 -415,178.6,8279,0.9907996,-0.8115219,2.925377 -208,175,8281,0.6149356,-0.9050404,3.724186 -589.96,296.2,8283,1.132565,-1.023296,3.698629 -206,95,8286,-0.4431548,-0.7344804,3.358523 -551.8,100.6,8288,1.105685,-0.8978512,3.036252 -206.92,310.6,8291,0.8434828,-0.9525205,2.764766 -585,130,8292,0.8600814,-0.946894,2.769579 -214,59,8293,1.000834,-0.6367321,3.065969 -209.8,64.60001,8294,1.119706,-0.707791,3.175783 -235.72,264.52,8295,0.1710051,-0.8152401,3.490734 -214.12,67.24001,8298,1.105711,-0.7526917,3.117519 -532.36,62.92,8302,-0.6776562,-0.5678868,3.14908 -490.6,79,8303,0.8390414,-0.6146833,3.00117 -505,84.52,8304,0.1978941,-0.7931561,3.395416 -508.6,165.4,8306,-0.04450459,-0.8739742,3.457127 -221.8,95.8,8307,-0.7340718,-0.7032259,3.378297 -572.2,86.2,8309,0.3403579,-0.7500741,3.100915 -552.2321,144.424,8312,0.06489208,-0.7215476,3.272036 -480.0017,139.9312,8314,0.7199998,-0.7897049,3.132661 -379.432,191.08,8315,1.204084,-0.7957222,3.287042 -444.7505,245.6848,8319,0.1704153,-0.7799704,3.402527 -511.1057,164.8144,8321,1.152017,-0.8738596,3.499403 -222.8752,104.68,8324,0.6799418,-0.7644159,3.356788 -436.4561,357.6592,8325,0.984119,-0.7572815,3.267952 -419.0379,242.8648,8326,1.152591,-0.9125429,3.53101 -319.505,289.6452,8327,-0.3591544,-0.7661933,3.342773 -275.7106,332.4443,8330,0.649497,-0.913938,3.725197 -366.7831,180.1591,8331,1.043575,-0.7980478,3.307996 -323.4864,308.5564,8333,1.03936,-0.9117965,3.52646 -320.5004,317.5144,8334,0.4521747,-0.6287999,3.154162 -436.9538,356.3322,8335,0.3487807,-0.6433622,3.148972 -398.7332,169.4095,8337,0.9772722,-0.8527024,3.459552 -384.4005,190.9086,8338,0.2920984,-0.7618399,3.3299 -409.4827,323.4864,8339,-0.03997204,-0.718979,3.393085 -472.7856,171.2011,8340,0.5526963,-0.6943605,3.133527 -520.5613,150.2992,8341,0.7042601,-0.770558,3.246124 -366.4846,183.7423,8342,1.019958,-0.9006956,3.452218 -380.8173,219.5741,8343,-0.7955993,-0.6559744,3.179004 -407.08,325,8344,-0.8145097,-0.7245894,3.390251 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0060.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0060.csv deleted file mode 100644 index d4ee3fcedca6f4e73d56803eb0c9e139d0b75192..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0060.csv +++ /dev/null @@ -1,244 +0,0 @@ -422.92,132.04,7605,0.3335162,-0.6995603,3.10254 -504,50,7661,-0.9002926,-0.5776919,3.081245 -475,161.8,7796,0.3278322,-0.8917803,3.641314 -385,170.2,8019,-0.04084873,-0.7323467,3.616631 -488,159,8066,0.3029644,-0.8440612,3.004046 -406.6,177.4,8071,0.6104876,-0.7486011,3.329749 -424,123,8157,0.5448849,-0.6896747,3.102092 -529,125.8,8177,-0.1116877,-0.8650762,3.640542 -497.8,204.04,8183,0.9526187,-0.726504,3.255187 -497,154,8224,0.8406647,-1.0846,3.821018 -483.4,225.4,8269,1.209215,-0.1784124,3.14528 -256.744,172.072,8281,0.6149356,-0.9050404,3.724186 -267.112,313.768,8283,1.132565,-1.023296,3.698629 -522,146,8305,0.8427454,-0.880397,2.805828 -571,111,8307,-0.7340718,-0.7032259,3.378297 -553.96,124.84,8311,0.8412823,-0.8712333,2.805023 -268.84,88.84,8323,1.038714,-0.907283,3.527695 -419,199,8342,1.019958,-0.9006956,3.452218 -518,54,8344,-0.8145097,-0.7245894,3.390251 -424.6,122.2,8348,0.7401513,-0.8693413,3.040376 -361,128,8349,0.2841422,-0.7007942,3.149783 -430,135,8350,0.1408626,-0.82908,3.444755 -64.36,162.28,8352,0.7296875,-0.8038235,3.14502 -437,172,8354,0.3544534,-0.7397749,3.343189 -435.4,206.2,8357,0.5856658,-0.781206,3.363963 -480,231,8360,1.168952,-0.6448288,2.986268 -64.936,386.344,8363,1.191477,-0.9768722,3.525809 -499,127,8366,0.5192127,-0.7493698,3.249148 -151,278.2,8368,1.192131,-0.6628835,3.103323 -173.8,320.68,8370,1.191248,-0.8715144,3.383849 -401,342,8371,0.9547403,-0.9225547,2.784679 -169.48,310.6,8375,0.941413,-0.8990923,3.513171 -507,294,8376,1.205673,-0.833811,3.306235 -492,366,8381,1.032957,-0.9530522,2.791301 -168.04,320.68,8387,1.190441,-0.8446006,3.351833 -451,68.2,8389,1.135921,-0.3110689,2.506906 -422,353,8393,-0.8335684,-0.7071481,3.171713 -332.2,261.64,8400,1.278472,0.4370933,2.643517 -538,70,8403,1.027617,-0.9376324,2.779199 -458,117,8407,0.1576438,-0.6555573,3.265591 -170.344,312.04,8410,0.747937,-1.037919,2.929808 -352,43,8411,1.008144,-0.9972446,2.766829 -584.2,67,8413,1.204498,-0.6678382,3.100026 -242.92,303.4,8414,0.9844132,-0.9269601,3.512519 -509,297,8415,-0.5379965,-0.6375965,3.208153 -481,171.4,8417,0.9841831,-0.2688246,2.431279 -82.21601,189.352,8418,1.199475,-0.5586227,2.950295 -181,286.12,8419,0.9779045,-0.9066676,2.810529 -162.28,258.76,8422,-0.2440402,-0.6609782,3.039673 -450.28,70.12,8423,0.1851482,-0.8510764,3.498006 -557.8,129.4,8425,-0.178118,-0.7830078,3.54973 -242.92,303.4,8429,0.7421975,-1.034222,2.926674 -196.84,98.92001,8432,1.007757,-0.8990644,2.828768 -499,110.2,8434,0.6500666,-0.8049476,3.362132 -180.712,286.12,8436,1.224162,-0.2706579,2.736721 -94.60001,301.96,8437,-0.4031135,-0.7265928,3.301608 -525.16,83.08,8438,0.08465608,-0.6971641,3.179076 -582,115,8440,0.04251992,-0.8172919,3.369984 -528,119,8441,0.1947943,-0.837378,3.496025 -379,263,8444,-0.6592622,-0.6992224,3.308438 -480.52,229.96,8447,1.206979,-0.2789792,2.676697 -83.94401,277.48,8448,0.1946452,-0.6449209,3.133175 -546,58,8452,0.9921042,-0.311228,2.361821 -217,51.4,8454,-0.5605058,-0.773883,3.363899 -553.96,70.12,8455,1.079614,-0.3268169,2.511874 -77.03201,208.36,8456,0.9548549,-0.5808588,3.010118 -266.2,242.2,8457,1.009928,-0.803703,3.24478 -373,257.8,8462,1.160957,-0.8700209,3.467096 -444,359,8463,-0.6194213,-0.5943076,3.199208 -569.8,110.2,8465,1.096642,-0.9026599,2.830852 -487.72,126.28,8467,1.189629,-0.7352551,2.898914 -178.984,217,8468,1.150702,-0.6712002,3.123921 -267.112,294.76,8469,1.19148,-0.6974863,3.158752 -526.6,119.08,8472,1.105512,-0.71518,3.175555 -493,154.6,8475,0.6693133,-0.7711179,3.36594 -258.76,48.52,8477,0.86206,-0.9025671,2.825096 -267.4,81.64,8478,1.186607,-0.6097665,3.018367 -277.48,187.624,8484,0.896286,-0.9453936,2.808963 -258.472,66.66401,8485,-0.5084354,-0.6417906,3.198416 -465,359,8489,1.18016,-0.9295269,3.492515 -471,361,8490,0.9918353,-0.8702538,3.462652 -193.8448,81.87041,8492,-0.2204984,-0.6140181,3.036276 -211,286.6,8499,1.136057,-0.6554976,3.113339 -211,291.4,8511,-0.01146618,-0.69572,3.276848 -404.2,170.92,8514,0.7676272,-0.7347538,3.250024 -576,133,8530,-0.9196735,-0.7661717,3.469515 -586.6,62.2,8531,-0.8043219,-0.5207329,3.175094 -496,75,8532,0.1747732,-0.8493795,3.49343 -556.84,150.76,8533,0.7341535,-0.9578239,2.96254 -488,128,7609,0.07382575,-0.7011296,3.25532 -529,41,7850,0.7330031,-0.6750498,3.185649 -522,152,7967,0.7599031,-1.330527,3.67065 -558,129,7979,0.8939291,-1.276716,3.700025 -476,188,8004,0.7342296,-1.405122,3.777842 -523.5473,147.8109,8044,-0.686103,-0.6689427,3.37875 -462,205,8054,0.6705853,-0.7816748,3.395839 -479.8,230.2,8103,-0.5318789,-0.8049585,4.088663 -456.0641,219.5741,8172,0.5172351,-0.727309,3.144053 -585,69,8175,-0.4766996,-0.7692749,3.518613 -590,101,8176,-0.003962432,-0.7603227,3.371319 -442,87,8191,0.4019036,-0.7312024,3.249329 -431,132,8196,0.77823,-0.9544015,3.723638 -441,204,8201,-0.8876409,-0.4950808,3.110991 -562,88,8208,0.4601329,-0.763604,3.319397 -562,125,8210,0.4748436,-0.7552922,3.318892 -266,86,8257,-0.2715496,-0.7917387,3.515828 -217,407.08,8264,0.8396624,-0.9476843,2.757954 -263,52,8272,0.8528463,-0.8810475,2.828933 -264,65,8275,0.7943737,-0.5827191,2.979038 -261,162,8280,1.024792,-0.8107032,2.939614 -254,81,8285,0.8577651,-0.8797448,2.828242 -270,90,8286,-0.4431548,-0.7344804,3.358523 -267.4,294.76,8290,-0.2655709,-0.7977732,3.51617 -261,45,8292,0.8600814,-0.946894,2.769579 -303.4,291.4,8295,0.1710051,-0.8152401,3.490734 -263.08,52.84,8297,-0.01163116,-0.7791201,3.361644 -526.6,119.8,8298,1.105711,-0.7526917,3.117519 -518.2,53.8,8301,-0.6124882,-0.5816605,3.091235 -558,74,8308,-0.4940404,-0.7109342,3.354286 -264.52,85.96001,8312,0.06489208,-0.7215476,3.272036 -384.04,169.48,8315,1.204084,-0.7957222,3.287042 -523.5473,148.2256,8320,1.139718,-0.998785,3.663446 -467.5601,365.9536,8322,0.862032,-0.88191,2.827403 -354.3415,312.0401,8329,0.5970531,-0.7437598,3.140775 -472.7856,302.5845,8338,0.2920984,-0.7618399,3.3299 -561.4,65.8,8345,0.9969528,-0.950598,2.801358 -230,80,8346,0.8576342,-0.8720883,2.818454 -263,90,8347,0.3288291,-0.7501609,3.120868 -542.2,141.4,8351,0.9775205,-0.307313,2.349299 -385,171,8353,0.5033264,-0.7454952,3.245005 -481,172,8355,0.6978744,-0.8037214,3.29234 -437,201,8356,0.6656643,-0.7681683,3.295548 -469,203,8358,0.7419866,-0.7225004,3.26524 -406,224,8359,0.6994627,-0.814025,3.419626 -210,267,8361,1.213454,-0.3054553,2.68425 -83.8,277,8362,1.214857,0.4795215,2.639643 -503,369,8364,1.22292,-0.2636721,3.154215 -214,402,8365,0.04366633,-0.7412647,3.313775 -437,175,8367,1.210985,-0.5210855,2.879083 -243.4,304.6,8369,1.186838,-0.4015829,2.971228 -232,78,8372,0.9775189,-0.9078496,2.8116 -232,94,8373,1.100779,-0.9458107,2.811582 -197,100,8374,1.195216,-0.4335968,2.942595 -354,330,8377,1.185336,-0.8577717,3.377913 -396,341,8378,1.200875,-0.8985339,3.40247 -415,346,8379,1.186029,-0.915271,3.453634 -447,354,8380,1.176052,-0.9493366,3.519487 -212,80,8382,0.2398842,-0.6420131,3.15635 -427,143,8383,0.3438328,-0.7451705,3.24565 -457,149,8384,1.077616,-0.86789,3.026257 -279,190,8385,1.062456,-0.2656655,2.479868 -74,211,8386,1.194869,-0.3804902,2.945525 -380,337,8388,-0.2958395,-0.6506658,3.030082 -59,221,8390,1.200607,-0.5636601,2.950008 -181,285.4,8391,0.8513444,-0.9774363,2.773383 -262,39,8392,1.165653,-0.8571332,3.426759 -521.8,40.6,8394,1.00854,-0.8956637,2.831154 -229,109,8395,0.07725003,-0.6919003,3.188443 -459,119,8396,0.225258,-0.6901013,3.240634 -457,146,8397,0.6373482,-0.5394964,2.982251 -314.92,186.76,8398,0.7057579,-0.7544597,3.256325 -415,209,8399,0.975942,-0.6946231,3.181438 -51.4,395.8,8401,0.9170313,-0.9592109,2.780301 -245,56,8402,-0.6824762,-0.69573,3.309591 -208,82,8404,-0.1376073,-0.8219565,3.391004 -546,105,8405,-0.009250349,-0.6164421,3.091252 -434,110,8406,0.1100828,-0.7133429,3.182599 -464,151,8408,1.219671,-0.3204143,2.692425 -84.52,277.48,8409,1.198384,-0.4374158,2.945867 -216,49,8412,-0.788298,-0.7775924,3.46605 -502,80,8416,0.3891499,-0.7645444,3.336745 -231.4,94.60001,8420,0.8861668,-0.2168948,2.256487 -66,154,8421,1.190691,-0.5679373,2.872232 -558,153,8424,-0.01841292,-0.8230014,3.470315 -577,133,8426,0.7503209,-0.5702776,3.00525 -304.84,202.6,8427,1.215693,-0.250054,2.735589 -96.04,299.08,8428,1.204787,-0.6691182,3.099803 -351.4,43,8430,1.003034,-0.9907693,2.763999 -215.8,50.2,8431,1.099737,-0.9460139,2.810344 -228.52,107.56,8433,-0.08794967,-0.7219308,3.28006 -467.56,208.36,8435,1.19961,-0.5580381,2.949696 -457,117.4,8439,-0.2090499,-0.8318963,3.522926 -553.96,156.52,8442,0.2695305,-0.6995863,3.307122 -471.4,160.6,8443,0.9725918,-0.7799853,3.268805 -536.68,71.56001,8445,0.3932465,-0.7870547,3.133334 -427.24,124.84,8446,0.7073669,-0.8209581,3.417499 -427,133,8449,0.1701303,-0.7818161,3.413728 -520.84,150.76,8450,0.1550514,-0.8377904,3.495916 -556.6,151,8451,-1.263658,-0.5639566,3.311811 -62.92,168.04,8453,1.010334,-0.9960554,2.771497 -367.336,258.472,8458,1.197516,-0.5803029,2.938729 -179.3296,276.7888,8459,1.204155,-0.6383526,3.075702 -229.096,305.128,8460,0.7547333,-0.609501,3.004634 -308.584,192.808,8461,0.9285063,-0.7330359,3.255104 -498.6641,78.76001,8464,-0.05034236,-0.8805197,3.464267 -201.448,121.96,8466,0.05406263,-0.7207536,3.282717 -272.6416,309.9664,8470,0.8534814,-0.9203675,2.79609 -261.928,66.66401,8471,0.0374414,-0.8138967,3.369048 -303.7456,285.0833,8473,1.200406,-0.659606,3.095149 -241.5376,303.7456,8474,0.2386263,-0.7439893,3.346786 -457.1921,220.8016,8476,0.8725511,-0.9556141,2.787728 -212.5072,289.2304,8479,1.239585,0.1017402,2.938204 -131.6368,405.3521,8480,0.1697687,-0.8474448,3.468298 -550.5041,146.152,8481,1.159311,-0.6891324,3.127361 -268.4944,293.3777,8482,1.225443,-0.6908056,2.914973 -171.0352,249.832,8483,1.078333,-0.875393,3.021356 -498.6641,78.13794,8486,1.174316,-0.5716636,2.838826 -152.7876,247.3437,8487,1.196825,-0.3901797,2.935888 -165.2292,317.0167,8488,1.188897,-0.9336561,3.480523 -471.2926,302.0868,8491,1.092623,-0.9732599,2.789095 -441.4327,83.11458,8493,1.151384,-0.7878181,3.262488 -339.4116,309.5518,8494,1.035221,-0.681151,3.117825 -294.6218,257.297,8495,1.040826,-0.9232913,3.530592 -508.6174,324.4817,8496,1.18725,-0.8995222,3.47559 -451.8837,365.2902,8497,0.985375,-0.7871975,3.21104 -356.8298,247.3437,8498,1.164137,-0.58471,3.001438 -264.762,289.6452,8500,0.8311767,-0.8316028,2.789192 -254.8087,96.55151,8501,0.1752395,-0.8401366,3.487525 -553.4072,150.2992,8502,0.9298652,-0.8710092,3.509745 -499.0623,298.4041,8503,1.158624,-0.5472792,2.82142 -153.2852,248.8367,8504,1.089973,-0.7521601,3.20981 -326.4724,281.6826,8505,1.044332,-0.7528161,3.32307 -379.2247,304.5751,8506,0.1542456,-0.7788775,3.415499 -523.5474,150.2992,8507,1.083281,-0.8542014,2.998987 -264.762,187.624,8508,0.9652613,-0.7718096,3.226869 -364.2948,252.3204,8509,1.108861,-0.6903895,3.051283 -254.8087,257.7947,8510,1.181728,-0.5928723,3.014528 -487.7155,123.4254,8512,0.373763,-0.865369,3.370773 -513.395,151.4936,8513,0.5418941,-0.7032157,3.165204 -398.7332,223.1573,8515,0.9683908,-0.7676378,3.253122 -371.2621,257.7947,8516,1.104853,-0.7058968,3.172873 -301.9873,284.0714,8517,1.216427,-0.6404291,3.043564 -215.9909,298.4041,8518,1.044405,-0.7752349,3.320548 -383.2061,299.5985,8519,1.157415,-0.7865678,3.264086 -341.4023,309.1536,8520,1.167202,-0.5847493,3.098967 -242.8648,311.5424,8521,0.5948805,-0.5851507,3.050196 -344.3882,183.1451,8522,1.08037,-0.735328,3.213599 -327.0695,284.0714,8523,1.167555,-0.7113178,3.177894 -287.6545,305.5705,8524,1.040287,-0.7428685,3.320906 -377.2341,305.5704,8525,1.045801,-0.9372275,3.52097 -509.8118,316.32,8526,0.9379304,-0.8429835,2.798317 -230.9208,105.5095,8527,0.5221459,-0.7782632,3.430477 -495.4791,208.8246,8528,1.12285,-0.7307155,3.048468 -251.8227,248.2395,8529,-0.217226,-0.7676941,3.553552 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0061.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0061.csv deleted file mode 100644 index 6d5f6e2624c21c0aadf8e27b5bb3b16031778802..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0061.csv +++ /dev/null @@ -1,187 +0,0 @@ -382.6,93.4,7605,0.3335162,-0.6995603,3.10254 -379,100,7761,0.4201137,-0.7261161,3.109172 -434.2,123.4,7796,0.3278322,-0.8917803,3.641314 -333,63,7893,-0.4893605,-0.5629656,3.098552 -445,139,7934,0.7383628,-0.7001039,3.233733 -413.8,105.4,8139,0.7054785,-1.341557,3.690786 -393.4,65.8,8143,-0.3600812,-0.3525297,2.876975 -428.2,43,8303,0.8390414,-0.6146833,3.00117 -491,37,8345,0.9969528,-0.950598,2.801358 -438,129,8355,0.6978744,-0.8037214,3.29234 -255,261,8369,1.186838,-0.4015829,2.971228 -170.92,290.44,8370,1.191248,-0.8715144,3.383849 -220,41,8372,0.9775189,-0.9078496,2.8116 -166.6,280.6,8375,0.941413,-0.8990923,3.513171 -209,39,8382,0.2398842,-0.6420131,3.15635 -415,111,8384,1.077616,-0.86789,3.026257 -39.4,194.2,8386,1.194869,-0.3804902,2.945525 -468,39,8403,1.027617,-0.9376324,2.779199 -166.6,280.36,8410,0.747937,-1.037919,2.929808 -501,234,8415,-0.5379965,-0.6375965,3.208153 -506,108,8424,-0.01841292,-0.8230014,3.470315 -222.76,70.12,8433,-0.08794967,-0.7219308,3.28006 -438,163,8435,1.19961,-0.5580381,2.949696 -237,263,8460,0.7547333,-0.609501,3.004634 -434.44,49.96,8464,-0.05034236,-0.8805197,3.464267 -447,117,8475,0.6693133,-0.7711179,3.36594 -283,145,8484,0.896286,-0.9453936,2.808963 -412.6,159.4,8538,0.6114637,-0.7849175,3.431969 -459,175,8539,1.173856,-0.5815824,2.905431 -173.8,228.52,8540,1.047086,-0.7790574,3.268584 -203,85,8543,0.5479721,-0.6022307,2.994752 -309.16,124.84,8544,0.7276615,-0.7594185,3.151961 -359,143,8545,1.110962,-0.8703037,3.00957 -500.68,373.96,8548,-0.2284712,-0.712087,3.085739 -349,229,8552,1.195412,-0.5605415,2.95577 -181,248.2,8553,1.117765,-0.7160748,3.180624 -217,377.8,8556,-0.7759358,-0.7356178,3.384092 -430.6,161.8,8561,1.236034,-0.409693,2.635763 -438,90,8574,0.876938,-0.2791443,2.329511 -479,365,8580,0.8966355,-0.9100385,2.811383 -47.08,129.16,8584,1.190189,-0.7387487,2.888738 -214.6,368.2,8586,-0.2937551,-0.6833399,3.078649 -446.2,70.60001,8588,0.5282534,-0.6766653,2.970885 -453.4,290.2,8592,0.5524148,-0.7137893,3.192983 -523,55,8595,1.10936,-0.9128448,2.839912 -204.04,83.08,8596,0.5827039,-0.8065646,3.15303 -382,107,8597,1.129774,-0.7263632,3.181566 -309.4,245.8,8598,0.9988942,-0.9365542,3.499625 -383,48,8602,1.230442,-0.4000477,2.629356 -45.4,226.6,8603,-0.05301732,-0.8896575,3.465448 -215.8,257.8,8606,1.145714,-0.8510436,3.471236 -434.2,167.8,8609,0.9293128,-0.7595299,3.270169 -375.4,207.4,8610,1.150194,-0.9609993,3.669789 -575,319,8611,-0.4116174,-0.7234142,3.295993 -460.36,48.52,8612,1.13408,-0.7291527,3.182013 -309.16,245.8,8613,1.174201,-0.7428824,3.281565 -465,34,8617,0.9895356,-0.9313281,3.501631 -500.68,229.96,8618,1.188616,-0.3931934,2.956998 -199.72,58.6,8620,1.228231,-0.6578616,3.03198 -381.16,106.12,8623,0.9476323,-0.6804536,3.19347 -333,218,8624,0.930383,-0.2547778,2.428033 -56.29601,163.432,8625,1.083869,-0.334176,2.513614 -45.64,186.76,8626,0.6232014,-0.636436,3.078286 -199,59,8628,1.116059,-0.7697423,3.122597 -297.4,215.8,8629,1.19307,-0.6283922,3.095307 -508,37,8175,-0.4766996,-0.7692749,3.518613 -450,115,8224,0.8406647,-1.0846,3.821018 -249,49,8257,-0.2715496,-0.7917387,3.515828 -274.6,250.12,8290,-0.2655709,-0.7977732,3.51617 -499,83.8,8311,0.8412823,-0.8712333,2.805023 -248.68,49.96,8312,0.06489208,-0.7215476,3.272036 -473.7809,293.3777,8322,0.862032,-0.88191,2.827403 -396,155,8342,1.019958,-0.9006956,3.452218 -224,43,8346,0.8576342,-0.8720883,2.818454 -246,54,8347,0.3288291,-0.7501609,3.120868 -455.8,181,8360,1.168952,-0.6448288,2.986268 -449,89,8366,0.5192127,-0.7493698,3.249148 -385,107,8383,0.3438328,-0.7451705,3.24565 -394.6,40.6,8389,1.135921,-0.3110689,2.506906 -223,69.4,8395,0.07725003,-0.6919003,3.188443 -484,66,8405,-0.009250349,-0.6164421,3.091252 -509,35,8413,1.204498,-0.6678382,3.100026 -253,261.64,8414,0.9844132,-0.9269601,3.512519 -443,128,8417,0.9841831,-0.2688246,2.431279 -157,230.2,8422,-0.2440402,-0.6609782,3.039673 -500,89,8425,-0.178118,-0.7830078,3.54973 -253.288,261.928,8429,0.7421975,-1.034222,2.926674 -443.8,75.4,8434,0.6500666,-0.8049476,3.362132 -474,81,8441,0.1947943,-0.837378,3.496025 -428,123,8443,0.9725918,-0.7799853,3.268805 -467.8,39.4,8445,0.3932465,-0.7870547,3.133334 -64.936,263.656,8448,0.1946452,-0.6449209,3.133175 -473.32,109,8450,0.1550514,-0.8377904,3.495916 -454,290,8463,-0.6194213,-0.5943076,3.199208 -437.8,89.8,8467,1.189629,-0.7352551,2.898914 -183.4768,183.4768,8468,1.150702,-0.6712002,3.123921 -473.8,81.4,8472,1.105512,-0.71518,3.175555 -119.1952,390.8369,8480,0.1697687,-0.8474448,3.468298 -140.7441,208.8246,8504,1.089973,-0.7521601,3.20981 -466.8136,102.5235,8513,0.5418941,-0.7032157,3.165204 -370.6,133,8514,0.7676272,-0.7347538,3.250024 -380.8173,176.5759,8515,0.9683908,-0.7676378,3.253122 -305.5705,241.0732,8517,1.216427,-0.6404291,3.043564 -344.9855,255.4059,8520,1.167202,-0.5847493,3.098967 -317.5144,147.3133,8522,1.08037,-0.735328,3.213599 -298.4041,258.9891,8524,1.040287,-0.7428685,3.320906 -502.6454,248.8367,8526,0.9379304,-0.8429835,2.798317 -258.9891,201.6582,8529,-0.217226,-0.7676941,3.553552 -513,91,8530,-0.9196735,-0.7661717,3.469515 -505,106.6,8533,0.7341535,-0.9578239,2.96254 -331,38,8534,-0.1035948,-0.7301895,3.281773 -447,71,8535,0.9210589,-0.359883,2.441574 -64,141,8536,0.6998638,-0.7843211,3.259983 -400,154,8537,0.780113,-0.837917,3.286751 -365,230,8541,1.20147,-0.6640645,3.101295 -254.2,261.4,8542,1.095849,-0.8980122,2.834387 -269.8,148.6,8546,0.6954171,-0.8136913,3.351266 -435,165,8547,0.7246783,-0.333727,3.946749 -409,37,8549,0.9654098,-0.2597633,2.383779 -33,161,8550,0.5155702,-0.7915664,3.433841 -466,158,8551,1.101598,-0.8027726,3.231851 -309,245,8554,1.233268,0.07565502,2.931444 -119,382,8555,1.215135,-0.2128391,3.172068 -489,33,8557,1.096161,-0.9584981,2.803764 -198,50,8558,0.6047608,-0.7703719,3.258575 -405,142,8559,1.125797,-0.8353301,3.021678 -266,169,8560,0.7172823,-0.824448,3.336486 -46,226,8562,1.141742,-0.7330432,3.209971 -320,253,8563,1.094881,-0.9564531,2.808109 -200,52,8564,1.194108,-0.5567884,2.950574 -183.4,251.8,8565,-0.4291717,-0.7181444,3.299406 -461,49,8566,-0.5098898,-0.8398378,3.539217 -530,48,8567,0.9626843,-0.7966975,2.915217 -250.12,119.08,8568,0.7657616,-0.78879,3.157088 -362,143,8569,0.6996886,-0.7895498,3.36662 -434.2,175,8570,1.158491,-0.6834081,3.125533 -274.6,250.6,8571,0.7628725,-0.3659585,3.922389 -501.4,373,8572,0.8469268,-0.8775313,2.818876 -249.4,49,8573,0.08738863,-0.7304004,3.282625 -43,135.4,8575,1.158486,-0.8232768,2.881747 -197,141,8576,0.525906,-0.794906,3.431309 -465.4,158.2,8577,1.246917,-0.5357951,2.841047 -127,245.8,8578,1.040038,-0.7630968,3.263741 -360,230,8579,0.7600236,-0.3490093,3.856904 -241,41.8,8581,-0.3936698,-0.8369172,3.565772 -530.92,62.92,8582,1.000714,-0.9419115,3.501197 -502,231,8583,0.8778876,-0.310553,2.34648 -181,179.8,8585,1.218163,-0.2501046,3.154526 -406,40,8587,-0.105804,-0.727683,3.280373 -316.6,97,8589,0.9747332,-0.2524623,2.417621 -43,169,8590,0.9104571,-0.8739801,3.515803 -490.6,228.52,8591,1.16424,-0.8692405,3.46336 -381,137,8593,0.3921538,-0.7471121,3.300352 -426,125,8594,-0.1330531,-0.9193102,3.484988 -501.4,231.4,8599,1.168175,-0.7417545,3.280621 -345.16,277.48,8600,0.7735629,-0.3592245,3.850327 -479.08,365.32,8601,-0.2681355,-0.5958372,3.01984 -512.2,68.2,8604,1.208965,-0.3890238,2.629769 -51.4,224.2,8605,1.199702,-0.6071978,3.023473 -453.16,290.44,8607,1.153653,-0.8796977,3.49752 -471.88,293.32,8608,0.6846248,-0.8024121,3.351631 -344.872,279.208,8614,1.21504,-0.2335882,3.164923 -216.6544,372.1744,8615,1.145116,-0.8736963,3.49951 -472.744,293.032,8616,-1.010319,-0.6013001,3.299262 -170.344,291.304,8619,1.089202,-0.9399531,2.808112 -218.728,251.9056,8621,1.182292,-0.728466,3.245128 -325.864,275.752,8622,0.5627684,-0.7970041,3.149802 -328.6288,142.0048,8627,1.082852,-0.9365697,2.803951 -247.3437,267.2503,8630,1.162727,-0.7283422,3.285015 -344.3882,279.6919,8631,0.3878833,-0.8703943,3.445535 -490.7015,120.4394,8632,0.8347603,-0.8536071,3.152837 -364.2948,132.881,8633,1.129385,-0.6298665,3.172097 -287.6545,266.7527,8634,1.211255,-0.6087983,3.099133 -248.8367,278.6966,8635,0.7693168,-0.733051,3.135576 -344.9855,155.0768,8636,0.7241558,-0.6944168,3.200733 -362.9014,169.4095,8637,1.144573,-0.725203,3.059258 -258.9891,219.5741,8638,1.174204,-0.7175821,3.131526 -280.4882,248.2395,8639,1.100503,-0.740997,3.214091 -334.2359,244.6564,8640,1.048874,-0.7779492,3.324787 -386.192,245.8508,8641,0.9965664,-0.8807461,3.470214 -469.7996,239.8788,8642,1.142834,-0.8315461,3.308882 -380.8173,251.8227,8643,1.020908,-0.8979268,3.526019 -496.6735,254.8087,8644,1.189041,-0.5146865,2.852142 -144.3273,233.9068,8645,1.173303,-0.6148656,3.026262 -223.1573,248.2395,8646,1.145576,-0.7120441,3.178634 -305.5705,251.8227,8647,0.9838114,-0.8001639,3.224005 -361,198,8648,0.8897696,-0.9347018,2.804313 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0062.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0062.csv deleted file mode 100644 index 2259a89903141af410cc05a5c54df8516eb12a35..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0062.csv +++ /dev/null @@ -1,198 +0,0 @@ -319.24,64.36,7660,-0.01844854,-0.5518816,2.837458 -346.6,91,7757,0.1395615,-0.5785577,2.989918 -385,87.4,7855,-0.5593156,-0.2496542,3.92519 -365,131,8134,0.8509558,-1.107187,3.823739 -379,76,8154,0.1987285,-0.794672,3.405013 -276.04,67.24001,8317,0.6921148,-0.8203834,3.409403 -260,56,8346,0.8576342,-0.8720883,2.818454 -385,87,8348,0.7401513,-0.8693413,3.040376 -263,36,8402,-0.6824762,-0.69573,3.309591 -262.6,85,8433,-0.08794967,-0.7219308,3.28006 -301,269.8,8460,0.7547333,-0.609501,3.004634 -271,33,8477,0.86206,-0.9025671,2.825096 -316.6,266.2,8542,1.095849,-0.8980122,2.834387 -57.16,172.36,8575,1.158486,-0.8232768,2.881747 -502.6,52.6,8582,1.000714,-0.9419115,3.501197 -63.20801,166.888,8584,1.190189,-0.7387487,2.888738 -385,40.6,8587,-0.105804,-0.727683,3.280373 -325,109,8589,0.9747332,-0.2524623,2.417621 -539.8,203.8,8618,1.188616,-0.3931934,2.956998 -248,77,8620,1.228231,-0.6578616,3.03198 -345.4,148.6,8627,1.082852,-0.9365697,2.803951 -104.2,152.2,8651,0.5541056,-0.6574649,3.014051 -243,145,8653,0.9582378,-0.3388951,2.397151 -81.4,179.8,8655,1.085069,-0.8636532,3.000438 -317,150,8656,0.7665606,-0.2644598,2.477627 -65.8,209.8,8659,0.7020231,-0.8190518,3.428758 -280,383,8666,1.222237,-0.05428354,3.265803 -476.2,165.4,8676,1.008339,-0.5662176,3.018072 -286.6,230.2,8677,0.9172823,0.464259,2.473925 -439,153.4,8681,0.5329478,-0.958845,3.740013 -596,147,8682,1.175064,-0.7282786,2.893872 -275.8,424.6,8685,1.122012,-0.8362164,2.715093 -183.88,107.56,8686,0.5822185,-0.780453,3.010646 -580,134,8689,1.200435,-0.6164165,3.030541 -278,267,8690,0.9719325,-0.5983092,3.014924 -277.48,70.12,8693,0.5889573,-0.8502241,2.971355 -415,106.6,8704,1.168802,-0.8467972,2.858368 -292.6,212.2,8713,1.030477,-0.5938542,3.021747 -437,114,8717,1.174497,-0.8317115,2.841475 -410.2,117.4,8721,1.068305,-0.9398648,2.807294 -405.64,51.4,8723,-0.6723683,-0.8059188,3.566803 -494.2,39.4,8724,1.021216,-0.9001826,3.463706 -515.08,214.12,8725,0.922897,0.4542736,2.477102 -71.84801,343.144,8726,-0.2832957,-0.8341706,3.508635 -237.4,173.8,8728,1.151187,-0.6351798,2.884211 -229.096,223.912,8729,0.6585536,0.6174623,2.306217 -251,97,8731,0.5900421,-0.6773503,3.010481 -331,123.4,8732,0.1454716,-0.8373286,3.505067 -495.4,94.60001,8733,0.7898983,-0.2800113,2.477048 -448.6,155.8,8735,1.191075,-0.7454231,2.88997 -90.85601,337.96,8738,1.246346,-0.1079465,3.246391 -277,66,8740,0.1443858,-0.8354149,3.507203 -262,90,8742,-0.7769035,-0.7481358,3.860104 -237.16,173.8,8744,1.114754,-0.820196,3.088925 -253,100.6,8750,0.4422686,-0.03567463,2.077085 -589.96,146.44,8752,0.9320313,-0.7558441,3.231065 -454.6,157,8754,1.175534,-0.7258413,3.246358 -391,145,8757,0.7851808,-0.3261451,3.929886 -191.08,156.52,8764,1.187098,-0.7006119,3.144139 -552,211,8785,1.09701,-0.3158327,2.519039 -75.88,234.28,8786,1.109271,-0.2939057,2.50246 -415,99.4,8139,0.7054785,-1.341557,3.690786 -317,266,8369,1.186838,-0.4015829,2.971228 -227.08,309.16,8370,1.191248,-0.8715144,3.383849 -223,298.6,8375,0.941413,-0.8990923,3.513171 -263,87,8395,0.07725003,-0.6919003,3.188443 -466,58,8405,-0.009250349,-0.6164421,3.091252 -224.2,299.08,8410,0.747937,-1.037919,2.929808 -541,207,8415,-0.5379965,-0.6375965,3.208153 -443,120,8417,0.9841831,-0.2688246,2.431279 -212.2,250.6,8422,-0.2440402,-0.6609782,3.039673 -428.2,71.8,8434,0.6500666,-0.8049476,3.362132 -466.12,100.36,8450,0.1550514,-0.8377904,3.495916 -405.64,48.52,8464,-0.05034236,-0.8805197,3.464267 -243.6112,200.0656,8468,1.150702,-0.6712002,3.123921 -460,73,8472,1.105512,-0.71518,3.175555 -359.3182,241.0732,8517,1.216427,-0.6404291,3.043564 -409.4827,248.2395,8520,1.167202,-0.5847493,3.098967 -430,68,8535,0.9210589,-0.359883,2.441574 -88.60001,177.4,8536,0.6998638,-0.7843211,3.259983 -57,202,8550,0.5155702,-0.7915664,3.433841 -96,263,8562,1.141742,-0.7330432,3.209971 -377.8,249.4,8563,1.094881,-0.9564531,2.808109 -532,345,8572,0.8469268,-0.8775313,2.818876 -275,65,8573,0.08738863,-0.7304004,3.282625 -428,86,8574,0.876938,-0.2791443,2.329511 -511,339,8580,0.8966355,-0.9100385,2.811383 -239.8,196.6,8585,1.218163,-0.2501046,3.154526 -429.4,68.2,8588,0.5282534,-0.6766653,2.970885 -65.8,209.8,8590,0.9104571,-0.8739801,3.515803 -431,119,8594,-0.1330531,-0.9193102,3.484988 -541,204,8599,1.168175,-0.7417545,3.280621 -529.7681,263.656,8616,-1.010319,-0.6013001,3.299262 -428,32,8617,0.9895356,-0.9313281,3.501631 -305.5704,284.6685,8635,0.7693168,-0.733051,3.135576 -383.2061,236.8928,8640,1.048874,-0.7779492,3.324787 -514.5894,215.9909,8642,1.142834,-0.8315461,3.308882 -362.9014,255.4059,8647,0.9838114,-0.8001639,3.224005 -404,193,8648,0.8897696,-0.9347018,2.804313 -270,47,8649,0.4857854,-0.07164892,2.217438 -83.8,149.8,8650,0.6785958,-0.2656223,2.377824 -331,123,8652,1.164303,-0.8430627,2.860305 -64,177,8654,0.9389821,-0.3570677,2.438369 -118.6,181,8657,0.660271,-0.784349,3.317742 -437,151,8658,1.009227,-0.2865131,2.434555 -477,166,8660,1.133973,-0.3379906,2.532496 -77,234,8661,0.9781187,-0.6052049,3.013238 -293,212,8662,1.218832,-0.4595757,2.687306 -121,253,8663,1.191877,-0.6991581,3.161813 -346,265,8664,0.9265162,0.4902736,2.514587 -79,351.4,8665,1.214869,-0.2498927,3.173201 -284,428,8667,-0.2296343,-0.7093304,3.079565 -385,40,8668,0.3298134,-0.7764143,3.351925 -448,111,8669,0.7160487,-0.2491327,2.462521 -122,173,8670,1.105365,-0.867046,3.016034 -323,155,8671,0.643749,-0.677797,3.178559 -378,156,8672,0.7014616,-0.7741916,3.275114 -421,153,8673,0.6820385,-0.7932195,3.307589 -431.8,152.2,8674,0.7463967,-0.8283114,3.322723 -446,154,8675,0.6459453,-0.792327,3.442383 -72,344,8678,1.230857,-0.2415922,3.169803 -277,388,8679,1.24423,-0.007494892,3.302788 -288,448,8680,0.6966047,-0.7975408,3.317717 -240,197,8683,0.6568694,-0.9787905,3.691913 -595,154.6,8684,1.185963,-0.008511211,3.241787 -345.4,93.4,8687,1.324278,-0.2906832,3.321121 -327,432,8688,0.4696762,-0.9511267,3.70395 -294,215,8691,0.8952075,0.4371677,2.536436 -91,341,8692,0.9105846,-0.9024251,2.840919 -342.28,64.36,8694,-0.3768394,-0.5425309,3.104178 -376.6,65.8,8695,-0.0717237,-0.8027037,3.481227 -482.2,77.8,8696,1.201013,-0.7201304,2.903358 -243,208,8697,1.180647,-0.6809998,2.932301 -249.4,223,8698,0.8940597,0.419602,2.525202 -90.28001,337.96,8699,1.27008,-0.07642127,3.292217 -292,446,8700,-0.6063398,-0.6304358,3.157867 -400.6,41.8,8701,-0.7637479,-0.7285741,3.407143 -456,35,8702,1.092301,-0.9033049,2.838264 -253,101,8703,0.3845619,-0.7578473,3.242178 -242.2,145,8705,1.196645,-0.7038776,3.16197 -346.6,265,8706,1.193949,-0.4108744,2.971131 -227.8,310.6,8707,0.001773495,-0.7987798,3.383736 -459.4,73,8708,0.1581721,-0.6743511,3.262063 -413,104,8709,0.2945761,-0.7659734,3.349728 -446,109,8710,0.4212933,-0.7735221,3.37035 -452,126,8711,0.6802886,-0.7852151,3.3054 -433,152,8712,0.973039,-0.600196,3.012684 -289,227,8714,0.9232694,0.4604862,2.477715 -71.8,344.2,8715,0.5833938,-0.8736743,2.929001 -333,52,8716,0.2603334,-0.7224667,3.339035 -231.4,148.6,8718,1.228991,-0.3959172,2.68087 -112.6,273.4,8719,1.096064,-0.9751894,2.798627 -245,61,8720,0.4020492,-0.7248009,3.243228 -247,69,8722,-0.6641678,-0.5679937,3.21613 -490.6,55.72,8727,1.17833,-0.784873,2.870505 -65.8,304.84,8730,1.110304,-0.9191592,2.834505 -119.08,181,8734,0.6119654,-0.7647901,3.3668 -238.6,195.4,8736,1.180542,-0.6919026,3.164429 -346.6,264.52,8737,0.8881419,0.4318749,2.52843 -283.24,427.24,8739,0.8384404,-0.8779085,2.827761 -494.92,94.60001,8741,0.9472518,-0.8592478,2.828231 -536.6801,70.12001,8743,1.18061,-0.7862782,2.870326 -344.872,191.08,8745,1.200364,-0.6737208,2.893193 -229.096,222.8752,8746,0.4361609,-0.006427262,2.075467 -54.568,140.968,8747,0.1729393,-0.8431062,3.50013 -495.208,94.31201,8748,0.9137226,0.3760987,2.545117 -92.23841,336.9232,8749,1.12477,-0.9218794,2.842675 -54.568,135.784,8751,0.6123731,-0.9776237,3.686451 -397.0576,195.9184,8753,0.7020817,-0.8113371,3.35934 -386.6897,268.4944,8755,0.1204064,-0.8289199,3.508517 -494.5169,94.31201,8756,0.6308303,-0.7223279,3.197731 -525.6208,357.6592,8758,1.009733,-0.8943458,3.468678 -515.2529,214.5808,8759,1.038081,-0.9199842,3.527646 -546.3569,224.9488,8760,1.165856,-0.4721829,2.952277 -233.2432,283.0096,8761,1.10348,-0.7006855,3.191239 -363.8801,245.6848,8762,0.6629143,-0.2567989,2.364561 -102.5235,150.2992,8763,1.043568,-0.6680345,2.741287 -339.4116,259.7853,8765,1.111189,-0.718989,3.178222 -361.8065,239.8788,8766,0.5278226,-0.4060934,3.980899 -544.4492,296.6125,8767,1.007045,-0.9148921,3.534842 -545.9422,219.9722,8768,1.197895,-0.7322703,2.893686 -237.3905,202.554,8769,0.4026794,-0.3106574,4.015582 -532.5053,293.6265,8770,-0.1420702,-0.7796195,3.541222 -493.6875,85.6029,8771,1.080243,-0.7301551,3.226255 -384.2014,237.3905,8772,0.637374,-0.2242363,4.040991 -528.524,351.8532,8773,1.16091,-0.4603916,2.957603 -233.9068,284.0714,8774,1.021024,-0.6799183,2.711022 -187.3255,155.0768,8775,1.077896,-0.4916738,2.752285 -174.1871,221.9629,8776,0.9657056,-0.8751922,3.487462 -516.9782,215.9909,8777,1.040043,-0.9192717,3.515961 -544.4492,224.9489,8778,1.128172,-0.8092882,3.30601 -430.9818,241.0732,8779,1.134227,-0.5577683,3.124079 -309.1536,284.0714,8780,0.7237322,-0.3221211,3.891279 -513.395,341.4023,8781,1.175506,-0.7052211,3.127114 -334.2359,251.8227,8782,1.06435,-0.7901968,3.212211 -391.5668,212.4077,8783,1.088227,-0.733824,3.233677 -387.9836,241.0732,8784,1.0065,-0.9405988,3.531286 -67,241,8787,0.9446104,-0.8577272,2.523025 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0063.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0063.csv deleted file mode 100644 index 3cf9d42f89ea40014bfdb98c50a5733943bf330a..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0063.csv +++ /dev/null @@ -1,206 +0,0 @@ -241,77.8,7728,-0.1366175,-0.4509316,2.702871 -312,79,7747,-0.3718118,-0.5017559,3.007815 -351,43,8301,-0.6124882,-0.5816605,3.091235 -207,248,8422,-0.2440402,-0.6609782,3.039673 -375,193,8509,1.108861,-0.6903895,3.051283 -405,41,8531,-0.8043219,-0.5207329,3.175094 -63.4,191.8,8536,0.6998638,-0.7843211,3.259983 -39,193,8654,0.9389821,-0.3570677,2.438369 -60.04,247.24,8661,0.9781187,-0.6052049,3.013238 -47.08,375.4,8665,1.214869,-0.2498927,3.173201 -399,152,8674,0.7463967,-0.8283114,3.322723 -268.6,381.4,8679,1.24423,-0.007494892,3.302788 -239.8,208.6,8697,1.180647,-0.6809998,2.932301 -372,115,8704,1.168802,-0.8467972,2.858368 -222,307,8707,0.001773495,-0.7987798,3.383736 -241,81,8722,-0.6641678,-0.5679937,3.21613 -88.60001,193,8734,0.6119654,-0.7647901,3.3668 -337,254,8737,0.8881419,0.4318749,2.52843 -126.28,51.4,8789,-0.672182,-0.6640805,3.301843 -516.52,94.60001,8793,-0.3687993,0.2574407,1.812104 -279,137,8795,0.5318076,-0.6674386,3.22339 -354,152,8796,0.7269335,-0.7905109,3.251248 -57,199,8801,0.9636692,-0.2479501,2.421815 -42,225,8802,1.162025,-0.6046034,2.812038 -186.76,221.32,8803,1.093012,-0.3257959,2.498532 -95,266,8805,1.196019,-0.6208848,3.033442 -273,259,8806,1.168528,-0.4140774,2.884472 -491.8,279.4,8808,0.6294432,0.5685835,2.358986 -57.4,321.4,8818,1.253565,0.0890552,2.970155 -165.16,430.12,8819,1.238123,-0.1011631,3.352592 -306,430,8820,0.7367782,-0.3215722,2.561547 -117.4,181,8821,1.124279,-0.4245561,2.716426 -365,48,8823,0.474747,-0.2430022,2.319951 -78,144,8824,0.2842397,-0.5429614,2.987589 -399,128,8826,0.2126266,-0.7277929,3.378767 -397,119,8827,1.169052,-0.8585335,2.829618 -166.6,227.8,8829,1.117419,-0.4962189,2.77376 -271.72,421.48,8831,-0.4670907,0.1915889,1.935655 -76,176,8836,1.201451,-0.6276776,3.029423 -191.8,286.6,8838,0.4293061,-0.357772,4.030305 -524,299,8840,1.228163,-0.2737983,3.156239 -251.56,57.16,8843,-0.1851236,-0.8724363,3.514602 -414,107,8847,0.257769,-0.7241104,3.355975 -392,122,8848,1.082639,-0.6704059,3.068354 -525,114,8851,0.7949086,-0.3494848,2.542386 -270,257,8854,0.979397,-0.3041079,2.460297 -57.16,218.44,8855,1.183294,-0.6665059,2.94812 -39,366,8857,-0.2341402,-0.7346385,3.442388 -404.2,85,8858,0.5169155,-0.7838598,2.997981 -169,104.2,8860,0.760197,-0.3547469,2.581397 -71.8,346.6,8862,-0.4589054,0.1909664,1.93277 -436.6,163,8865,1.089756,-0.8143044,3.093634 -275.8,212.2,8867,1.054119,-0.6179781,3.02281 -248,105,8872,1.166353,-0.5558243,2.88826 -385,208,8875,1.204241,-0.4042169,3.156487 -65.8,130.6,8878,0.2528431,-0.8380803,3.494384 -349.48,235.72,8880,1.216467,-0.266134,3.160755 -412.84,107.56,8882,0.6539273,-0.7311057,3.186309 -352.36,147.88,8883,1.146193,-0.8578956,3.476591 -482.2,243.4,8884,1.193808,-0.4626176,3.118438 -301,416,8887,1.125216,-0.7608148,3.069737 -287.56,346.6,8890,1.167619,-0.7227764,3.253252 -373.96,254.44,8891,1.191341,-0.4103112,2.968027 -35,330,8895,1.181513,-0.4570082,3.11917 -120,257,8902,1.211707,-0.617301,3.054392 -278.92,303.4,8905,1.227592,-0.289277,3.227132 -409,199,8919,1.304236,-0.6600624,2.832442 -339.4,208.6,8926,-0.9122924,-0.7384598,3.488176 -311,257,8369,1.186838,-0.4015829,2.971228 -221.8,307,8370,1.191248,-0.8715144,3.383849 -413.8,109,8450,0.1550514,-0.8377904,3.495916 -32,216,8550,0.5155702,-0.7915664,3.433841 -490,326,8572,0.8469268,-0.8775313,2.818876 -472,322,8580,0.8966355,-0.9100385,2.811383 -299.5985,275.7106,8635,0.7693168,-0.733051,3.135576 -366.7831,227.4372,8640,1.048874,-0.7779492,3.324787 -478.7576,202.554,8642,1.142834,-0.8315461,3.308882 -348.5686,241.0732,8647,0.9838114,-0.8001639,3.224005 -380.2,187,8648,0.8897696,-0.9347018,2.804313 -298,131,8652,1.164303,-0.8430627,2.860305 -241,147,8653,0.9582378,-0.3388951,2.397151 -307,150,8656,0.7665606,-0.2644598,2.477627 -88.84,193.96,8657,0.660271,-0.784349,3.317742 -41.8,224.2,8659,0.7020231,-0.8190518,3.428758 -437,164,8660,1.133973,-0.3379906,2.532496 -115,259,8663,1.191877,-0.6991581,3.161813 -271,375.4,8666,1.222237,-0.05428354,3.265803 -274.6,423.4,8667,-0.2296343,-0.7093304,3.079565 -313,155,8671,0.643749,-0.677797,3.178559 -386,155,8673,0.6820385,-0.7932195,3.307589 -38.2,365.8,8678,1.230857,-0.2415922,3.169803 -279,442,8680,0.6966047,-0.7975408,3.317717 -237,197,8683,0.6568694,-0.9787905,3.691913 -276,213,8691,0.8952075,0.4371677,2.536436 -58,362,8692,0.9105846,-0.9024251,2.840919 -57.16,358.12,8699,1.27008,-0.07642127,3.292217 -405,85,8708,0.1581721,-0.6743511,3.262063 -396,153,8712,0.973039,-0.600196,3.012684 -275,227,8714,0.9232694,0.4604862,2.477715 -368,125,8721,1.068305,-0.9398648,2.807294 -480.52,201.16,8725,0.922897,0.4542736,2.477102 -222.184,220.456,8729,0.6585536,0.6174623,2.306217 -58.02401,358.696,8738,1.246346,-0.1079465,3.246391 -440.2,103.24,8741,0.9472518,-0.8592478,2.828231 -332.776,185.896,8745,1.200364,-0.6737208,2.893193 -439.912,102.952,8748,0.9137226,0.3760987,2.545117 -484.1489,336.9232,8758,1.009733,-0.8943458,3.468678 -431.4795,93.06786,8771,1.080243,-0.7301551,3.226255 -486.2225,336.9233,8773,1.16091,-0.4603916,2.957603 -226.7405,284.0714,8774,1.021024,-0.6799183,2.711022 -172.9927,151.4936,8775,1.077896,-0.4916738,2.752285 -478.7576,201.061,8777,1.040043,-0.9192717,3.515961 -506.1291,205.0423,8778,1.128172,-0.8092882,3.30601 -301.9873,276.905,8780,0.7237322,-0.3221211,3.891279 -472.7856,323.4864,8781,1.175506,-0.7052211,3.127114 -370.0677,230.3236,8784,1.0065,-0.9405988,3.531286 -59.8,247,8786,1.109271,-0.2939057,2.50246 -123,43,8788,0.951289,-0.843492,2.536587 -369,57,8790,0.9382377,-0.7921018,2.590083 -145,79,8791,0.4975484,-0.7771334,2.998638 -308,92,8792,-0.8260613,-0.8120229,4.171363 -33,111,8794,0.9358708,-0.7956992,2.944559 -380.2,151,8797,1.042904,-0.6411966,2.688007 -155.8,164.2,8798,0.7168985,-0.3210295,2.533976 -116,179,8799,0.9407899,-0.3527874,2.375132 -34,187,8800,0.9625176,-0.363801,2.44483 -46,243,8804,1.246871,-0.4462686,2.653996 -192,287,8807,0.4846596,-0.3896505,3.99398 -39,320,8809,0.5506516,0.617813,2.403624 -58,321,8810,1.197802,-0.4467405,2.953426 -218,297,8811,0.8587678,0.4749255,2.521802 -57,359,8812,1.208699,-0.03853991,3.238922 -265,421,8813,1.110872,-0.3894897,4.03649 -543.4,411.4,8814,0.3326468,-0.7539511,3.35438 -396,123,8815,1.083645,-0.4986271,2.766404 -166,228,8816,1.218436,-0.4067419,2.643028 -92.2,268.6,8817,0.69696,0.4566039,2.445179 -136,251,8822,-0.7086825,-0.6850666,3.268624 -285,125,8825,0.5876462,-0.8304749,3.303123 -227.08,136.36,8828,1.085082,-0.5027787,2.766199 -166,241,8830,1.2016,-0.04002148,3.260883 -67,103,8832,-0.817893,-0.7933143,4.182091 -517,95.8,8833,0.2006916,-0.6197031,3.056608 -311,107,8834,1.109682,-0.893567,2.853852 -248,116,8835,0.7230205,-0.2770718,2.413646 -272.2,257.8,8837,1.254606,-0.4958158,2.882581 -492,280,8839,0.5952466,-0.4278798,4.084984 -266.2,371.8,8841,1.222333,-0.2054826,3.27854 -297.4,398.2,8842,0.8304387,-0.9178549,2.805052 -435,68,8844,1.204064,-0.4376721,3.135784 -283,325,8845,-0.09705936,-0.8682936,3.490509 -432,73,8846,0.2394441,-0.806612,3.40606 -298.6,223,8849,1.187237,-0.5193608,3.083597 -277,292.6,8850,-0.5478433,-0.8094347,4.151046 -114,183,8852,-0.180041,-0.6740636,3.299031 -370.6,87.4,8853,1.197482,-0.6242707,3.024515 -247.24,228.52,8856,0.9255976,0.4487881,2.481595 -308.2,92.2,8859,1.016083,-0.7952318,2.673326 -127,183.4,8861,0.8344792,0.4008334,2.556176 -65.8,103.24,8863,0.353778,-0.7467715,3.249465 -370.6,115,8864,0.6811152,-0.8138282,3.438561 -332.2,185.32,8866,0.9618137,-0.5964106,3.019038 -275.8,225.4,8868,1.042203,-0.9180019,3.537046 -508.6,211,8869,1.198676,-0.6695398,3.108256 -309.4,256.6,8870,1.208104,-0.1503067,3.314187 -299.08,407.08,8871,1.110889,-0.9175025,2.845309 -208.36,250.12,8873,1.202459,-0.09852252,3.334453 -301,418.6,8874,1.017088,-0.7731209,3.263961 -285.4,335.8,8876,1.22133,-0.2603628,3.172452 -270.28,375.4,8877,-0.6086232,0.4491867,1.906468 -438.1841,111.592,8879,1.112862,-0.7128994,3.191975 -267.112,370.792,8881,0.03858974,-0.7509078,3.460571 -280.936,313.768,8885,1.17997,-0.3550122,3.176098 -286.12,343.144,8886,1.239212,-0.1569847,3.312561 -312.04,203.176,8888,1.139581,-0.6670341,3.168674 -332.7761,251.9056,8889,1.200226,-0.3650743,3.178584 -220.456,306.856,8892,1.218403,-0.3952482,2.680497 -106.7536,278.8624,8893,0.7582228,0.3745813,2.522236 -75.64961,322.4081,8894,0.6348731,0.6340088,2.355002 -280.936,312.04,8896,1.204733,-0.3813793,3.171136 -287.1568,343.144,8897,1.221437,-0.2856062,3.231799 -293.3777,376.3217,8898,1.180871,-0.5929666,3.114381 -299.5984,274.7152,8899,0.7826425,-0.3856234,3.927035 -492.4433,326.5552,8900,1.185981,-0.6234088,3.035536 -274.7152,256.0529,8901,1.231565,-0.4863468,2.700249 -279.6919,267.2503,8903,1.14103,-0.6836788,3.269544 -371.7598,262.2737,8904,1.205851,-0.5042511,3.097432 -292.1335,376.7364,8906,1.010592,-0.6242064,2.661938 -147.8109,160.2525,8907,0.9735836,-0.465093,2.704511 -153.2852,207.033,8908,1.195821,-0.5731602,2.945953 -232.4138,259.7853,8909,1.141598,-0.6978083,3.262051 -371.7598,257.297,8910,0.6090181,-0.5104394,3.00571 -275.7106,174.1871,8911,1.092537,-0.7443085,3.069352 -309.1536,201.6582,8912,1.161426,-0.7543054,3.178344 -351.8532,232.4138,8913,0.7587691,-0.3048514,3.948394 -481.7436,335.4303,8914,0.2017455,-0.8478292,3.497688 -438.9444,103.0211,8915,1.113553,-0.7903734,3.353895 -423.8155,237.49,8916,0.8915719,-0.8096281,3.259022 -387.9836,172.9927,8917,1.011612,-0.4781246,2.714139 -158.66,215.9909,8918,1.017533,-0.8245742,3.305666 -198.075,237.49,8920,1.063973,-0.7210346,3.217787 -359.3182,226.7405,8921,1.10066,-0.6598483,3.093984 -305.5705,233.9068,8922,1.271003,-0.4994968,2.797793 -156.2712,278.6966,8923,1.120613,-0.6924415,3.289643 -380.2201,257.7947,8924,1.071767,-0.630912,3.164567 -326.4724,245.8508,8925,1.129755,-0.778035,3.132465 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0064.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0064.csv deleted file mode 100644 index 8cdda24326b29365add9f4f338161fb4e0407bbc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0064.csv +++ /dev/null @@ -1,254 +0,0 @@ -306.28,199.72,8274,0.8583706,-0.9233089,2.795352 -304.84,188.2,8276,1.138029,-1.023506,3.697094 -379,253,8279,0.9907996,-0.8115219,2.925377 -61.48001,211.816,8352,0.7296875,-0.8038235,3.14502 -306,371,8365,0.04366633,-0.7412647,3.313775 -284,265,8553,1.117765,-0.7160748,3.180624 -431,73,8567,0.9626843,-0.7966975,2.915217 -321,143,8652,1.164303,-0.8430627,2.860305 -315,442,8680,0.6966047,-0.7975408,3.317717 -423,161,8681,0.5329478,-0.958845,3.740013 -334,91,8694,-0.3768394,-0.5425309,3.104178 -83.08,371.08,8699,1.27008,-0.07642127,3.292217 -392,67,8702,1.092301,-0.9033049,2.838264 -43,343,8730,1.110304,-0.9191592,2.834505 -340,275,8780,0.7237322,-0.3221211,3.891279 -509,106,8793,-0.3687993,0.2574407,1.812104 -75,198,8800,0.9625176,-0.363801,2.44483 -97,207,8801,0.9636692,-0.2479501,2.421815 -97,249,8804,1.246871,-0.4462686,2.653996 -75.4,333.4,8810,1.197802,-0.4467405,2.953426 -263,298,8811,0.8587678,0.4749255,2.521802 -82,373,8812,1.208699,-0.03853991,3.238922 -210,243,8830,1.2016,-0.04002148,3.260883 -317,258,8837,1.254606,-0.4958158,2.882581 -501.4,283,8839,0.5952466,-0.4278798,4.084984 -96.04,228.52,8855,1.183294,-0.6665059,2.94812 -160.6,194.2,8861,0.8344792,0.4008334,2.556176 -454.6,169,8865,1.089756,-0.8143044,3.093634 -448.6,122.2,8879,1.112862,-0.7128994,3.191975 -306.28,369.64,8881,0.03858974,-0.7509078,3.460571 -422.92,119.08,8882,0.6539273,-0.7311057,3.186309 -353.8,206.92,8888,1.139581,-0.6670341,3.168674 -411.4,253,8891,1.191341,-0.4103112,2.968027 -221,89,8928,0.0082812,-0.7953395,3.404274 -98.92001,124.84,8931,0.4222145,-0.7753091,3.347391 -436.6,160.6,8935,0.7592123,-0.3547506,2.583082 -81,197,8938,1.100973,-0.7507131,3.079718 -123,205,8939,0.9982877,-0.6173459,3.024162 -236.2,226.6,8942,1.15146,-0.3565287,2.480992 -84,251,8944,1.124548,-0.8109668,3.851272 -157,302,8945,0.735489,-0.5998744,4.243326 -362.2,411.4,8950,1.239746,-0.04571597,3.414271 -371.08,431.56,8951,0.6108713,-1.291293,3.689372 -97,358.6,8959,0.9468705,0.4640423,2.524189 -339,440,8964,-0.4196475,0.188496,1.89075 -97,207.4,8968,0.2689256,-0.7164368,3.264567 -371,187,8971,1.208189,-0.04062222,3.43241 -594,155,8976,1.112085,-0.8256031,3.087807 -370.6,187,8978,1.219658,-0.0668261,3.435164 -358.6,436.6,8980,0.9735853,-0.8442162,2.657623 -473,97,8983,0.633347,-1.204885,3.734907 -601,227,8990,1.192908,-0.4210514,2.772027 -579.4,179.8,8996,1.190791,-0.4886153,2.863246 -56.2,176.2,9005,1.067169,-0.7633671,3.203349 -505,325,9010,0.8172647,-0.9940808,3.730041 -317.8,257.32,9014,1.224316,-0.3137009,2.738276 -400.6,63.4,9018,0.3665622,-0.9559133,3.873806 -553.96,146.44,9020,0.8151663,-0.3938037,2.589192 -556,161,9021,1.097148,-0.7274951,3.183729 -426,195,9025,0.8736877,-0.4058816,2.661381 -285.4,200.2,9026,1.164432,-0.5270459,2.721573 -179.8,208.6,9027,1.220376,-0.5837578,2.956053 -209.8,235,9028,1.201066,-0.723056,2.91171 -281.8,264.52,9029,-0.7920467,0.3787987,1.80599 -287.56,211.24,9030,1.17045,-0.8438693,2.843021 -582.76,176.68,9033,1.196788,-0.6153688,3.036199 -352.36,255.88,9034,0.618442,-0.518253,4.060896 -316.36,261.64,9035,1.224745,-0.05341385,3.2718 -588.52,179.56,9038,0.9534274,-0.5959678,3.025709 -311.8,217,9040,1.230516,-0.2681917,3.170445 -596.2,229,9041,1.146716,-0.8775807,3.514182 -545.32,150.76,9047,0.3433837,-0.3353167,3.989701 -484.6,271,9049,0.5445516,-0.9644715,3.733619 -541,149,9051,1.080739,-0.6750914,3.298242 -505,98.92001,9055,0.4638157,-0.9585371,3.720778 -310.6,215.56,9059,0.9606361,-0.7756574,3.564552 -179,258,9070,1.100411,-0.363237,2.68564 -353,257,8369,1.186838,-0.4015829,2.971228 -266.2,308.2,8370,1.191248,-0.8715144,3.383849 -423,119,8450,0.1550514,-0.8377904,3.495916 -104.2,201.4,8536,0.6998638,-0.7843211,3.259983 -505,325,8572,0.8469268,-0.8775313,2.818876 -488,322,8580,0.8966355,-0.9100385,2.811383 -81,207,8654,0.9389821,-0.3570677,2.438369 -349,155,8656,0.7665606,-0.2644598,2.477627 -123.4,205.48,8657,0.660271,-0.784349,3.317742 -83.8,235,8659,0.7020231,-0.8190518,3.428758 -456,170,8660,1.133973,-0.3379906,2.532496 -106.12,255.88,8661,0.9781187,-0.6052049,3.013238 -167,263,8663,1.191877,-0.6991581,3.161813 -310.6,424.36,8667,-0.2296343,-0.7093304,3.079565 -419,159,8674,0.7463967,-0.8283114,3.322723 -307,380.2,8679,1.24423,-0.007494892,3.302788 -85,374,8692,0.9105846,-0.9024251,2.840919 -287.8,211,8697,1.180647,-0.6809998,2.932301 -266,308,8707,0.001773495,-0.7987798,3.383736 -83.94401,372.5201,8738,1.246346,-0.1079465,3.246391 -447.4,114.76,8741,0.9472518,-0.8592478,2.828231 -500.7377,336.9232,8758,1.009733,-0.8943458,3.468678 -528.524,207.5306,8778,1.128172,-0.8092882,3.30601 -487.7155,323.4864,8781,1.175506,-0.7052211,3.127114 -172,58,8788,0.951289,-0.843492,2.536587 -370,74,8790,0.9382377,-0.7921018,2.590083 -201.16,172.36,8798,0.7168985,-0.3210295,2.533976 -236,291,8807,0.4846596,-0.3896505,3.99398 -502,282,8808,0.6294432,0.5685835,2.358986 -60,335,8809,0.5506516,0.617813,2.403624 -299.8,422.2,8813,1.110872,-0.3894897,4.03649 -410,134,8815,1.083645,-0.4986271,2.766404 -210,235,8816,1.218436,-0.4067419,2.643028 -79,334.6,8818,1.253565,0.0890552,2.970155 -341,428,8820,0.7367782,-0.3215722,2.561547 -181,257,8822,-0.7086825,-0.6850666,3.268624 -366,66,8823,0.474747,-0.2430022,2.319951 -509,110,8833,0.2006916,-0.6197031,3.056608 -241.48,289,8838,0.4293061,-0.357772,4.030305 -533,299,8840,1.228163,-0.2737983,3.156239 -305.8,370.6,8841,1.222333,-0.2054826,3.27854 -97,359,8862,-0.4589054,0.1909664,1.93277 -371.08,186.76,8866,0.9618137,-0.5964106,3.019038 -255.88,253,8873,1.202459,-0.09852252,3.334453 -309.16,373.96,8877,-0.6086232,0.4491867,1.906468 -512.2,239.8,8884,1.193808,-0.4626176,3.118438 -96.38561,336.9232,8894,0.6348731,0.6340088,2.355002 -56.2,345.4,8895,1.181513,-0.4570082,3.11917 -341.0704,274.7152,8899,0.7826425,-0.3856234,3.927035 -172,261,8902,1.211707,-0.617301,3.054392 -350.3602,204.047,8912,1.161426,-0.7543054,3.178344 -498.6641,336.9233,8914,0.2017455,-0.8478292,3.497688 -454.8697,236.8928,8916,0.8915719,-0.8096281,3.259022 -194.4918,219.5741,8918,1.017533,-0.8245742,3.305666 -242.8648,245.8508,8920,1.063973,-0.7210346,3.217787 -395.15,227.9348,8921,1.10066,-0.6598483,3.093984 -379,211,8926,-0.9122924,-0.7384598,3.488176 -401,64,8927,-0.0263218,-0.7219418,3.275301 -380,102,8929,-0.8055379,0.3328202,1.970322 -415,101,8930,-0.4477822,0.3461205,1.792838 -43,138,8932,0.3671702,-0.1559699,2.286551 -413.8,137.8,8933,0.6368194,-0.796598,3.390977 -100,157,8934,0.6861482,-0.9793479,3.728822 -557,163,8936,0.9257647,-0.3539257,2.387934 -161,195,8937,0.9036962,-0.3648906,2.503417 -354,207,8940,1.167249,-0.6076348,2.817762 -314,219,8941,1.119022,-0.9790088,3.689783 -604,228,8943,1.209002,-0.3231428,2.702271 -609,295,8946,1.269416,-0.3338726,2.755449 -607,305,8947,0.959555,-0.5323155,4.184282 -172,321,8948,1.306149,-0.2720446,3.337323 -608,355,8949,1.367469,-0.2739819,3.359984 -351,446,8952,1.127024,-0.8203584,2.709228 -603,62,8953,0.4242774,-0.7893075,3.324304 -225.4,129.4,8954,-0.5007888,0.3907695,1.776725 -410,132,8955,0.6502258,0.4107434,2.551652 -43,140,8956,0.7935721,-0.4685135,3.973894 -111,327,8957,0.9425755,0.2722326,2.569462 -532,316,8958,0.9831623,-0.5033175,4.1696 -602,365,8960,1.145301,-0.4061211,4.088974 -74,389,8961,1.2429,-0.0141953,3.303564 -583,412,8962,1.216319,-0.02025268,3.388056 -314,440,8963,0.9463353,-0.8159795,2.687848 -228,101,8965,0.7094089,-1.063566,3.792355 -64,122,8966,0.7778723,-0.2318553,2.40749 -592.6,151,8967,1.125875,-0.6560134,3.948895 -599,344,8969,1.090189,-0.8156138,3.095965 -383,127,8970,0.7463037,-0.3433872,2.562164 -154,193,8972,0.7166744,-1.208502,3.711536 -354,438,8973,0.8932586,-0.7097121,2.742796 -605,100,8974,0.7523444,-1.062371,3.776654 -237,137,8975,0.6836483,-0.8119588,3.362731 -434,161,8977,0.6178634,0.5842908,2.356649 -59.8,335.8,8979,1.228706,-0.04031182,3.379514 -339.4,439,8981,-0.3980835,-0.8461661,3.781127 -219,92,8982,-0.127118,-0.7109442,3.30412 -382.6,99.4,8984,0.2236088,-0.2492474,2.455683 -598.6,95.8,8985,0.6969563,-0.8129967,3.367149 -157,142,8986,0.9731887,-0.3851167,2.454329 -436,163,8987,1.09976,-0.7522209,3.078429 -100,205,8988,1.064029,-0.9612569,3.724832 -353.8,206.2,8989,1.204655,-0.7110297,3.164796 -379,253,8991,1.206838,-0.453898,2.953142 -196,281,8992,0.8808734,0.4349942,2.53017 -262.6,298.6,8993,0.9492756,0.4458233,2.509275 -83.8,371.8,8994,0.8025375,-0.9871712,3.75771 -70.60001,385,8995,1.191493,-0.7455752,2.897621 -286,199,8997,0.7738983,-0.3751675,3.926952 -236,275,8998,0.8561073,0.3868718,2.550651 -505,325,8999,1.164422,-0.4285713,4.055329 -94,360,9000,1.036626,-0.6549488,2.704737 -581.8,410.2,9001,1.217303,-0.2798182,2.752883 -206,171,9002,1.201104,-0.6204204,3.037996 -170.2,321.4,9003,-0.3539656,0.4871793,1.925722 -317.8,261.4,9004,0.8089135,-0.9923686,3.746444 -578.44,178.12,9006,1.191553,-0.66536,3.114506 -397,215.8,9007,1.138808,-0.4433473,2.86761 -352.6,256.6,9008,0.7746195,-0.3779362,3.925925 -233.8,275.8,9009,1.167027,-0.4284137,4.053382 -581.32,409.96,9011,1.194857,-0.7478353,2.895539 -575.56,176.68,9012,1.201214,-0.6318931,3.032752 -285.4,197.8,9013,1.210227,-0.7401537,3.248373 -414.28,257.32,9015,1.156705,-0.3972509,4.025079 -167.8,313,9016,-0.7960066,-0.7622111,3.456968 -566.92,411.4,9017,-0.4227978,-0.7870112,4.121298 -519.4,132.04,9019,0.6496759,-0.9749687,3.744502 -160.84,193.96,9022,1.203983,-0.2569074,3.188652 -385,227.8,9023,1.041641,-0.8348369,3.254059 -313,371.8,9024,1.19886,-0.7427953,2.898541 -69.42881,121.2688,9031,0.8311576,-1.006527,3.740389 -280.936,148.2256,9032,1.178072,-0.6577954,3.118157 -543.592,284.392,9036,0.8955613,-1.020916,3.717433 -310.312,426.088,9037,1.050159,-0.9284613,3.52493 -531.496,206.632,9039,1.159668,-0.9786762,3.640342 -308.584,374.248,9042,1.199972,-0.4433229,2.955331 -527.6945,239.464,9043,1.172896,-0.4308323,4.042789 -261.928,299.944,9044,0.1822866,-0.8600037,3.473627 -579.8801,410.536,9045,0.5255155,-0.9614401,3.762553 -443.368,111.592,9046,1.137016,-0.9146005,3.548491 -546.3569,231.1696,9048,-0.8780448,-0.947204,4.167903 -519.4001,81.87041,9050,1.167075,-0.8628372,3.466267 -511.1057,241.5376,9052,0.7950398,-0.3579221,3.931535 -411.5728,253.9792,9053,-1.034011,-0.8042313,4.218734 -504.8849,332.7761,9054,0.9490706,-0.8059456,3.302291 -430.2353,193.8448,9056,0.962626,-0.9266405,3.525609 -529.7681,139.9312,9057,1.014892,-0.6326352,3.007166 -521.4737,191.7712,9058,1.179345,-0.796124,2.87225 -284.6685,175.1824,9060,1.183673,-0.7272472,3.26544 -501.1524,237.3905,9061,0.3453722,-0.9545112,3.857359 -416.0519,257.7947,9062,0.2313776,-0.8728317,3.396272 -548.4305,142.8343,9063,1.183999,-0.8794657,2.766645 -427.9958,99.5375,9064,1.006167,-0.6880721,2.691947 -254.8087,126.4114,9065,0.9003239,-0.5722136,2.755773 -210.0189,152.7876,9066,1.158585,-0.7347882,3.159493 -224.9489,180.1591,9067,1.123809,-0.8431523,3.514155 -380.2201,236.8928,9068,1.160621,-0.4487226,2.714643 -516.9782,244.6564,9069,1.184436,-0.5781128,2.931889 -273.3218,255.4059,9071,0.3453677,-0.2831013,4.055177 -165.2292,264.762,9072,0.5652383,-0.5021745,4.083829 -490.7015,284.6685,9073,1.156032,-0.7167256,3.195873 -541.4633,281.6826,9074,0.6701626,-0.4480892,4.138213 -389.178,244.8554,9075,0.7566119,-0.7692367,3.276777 -553.4072,312.0401,9076,0.9208897,-0.7209826,3.215113 -405.8995,169.4095,9077,1.111859,-0.5803326,2.763861 -387.9836,201.6582,9078,1.137226,-0.6433424,3.165817 -215.9909,215.9909,9079,1.151772,-0.5029736,2.935161 -365.2902,257.7947,9080,0.6888846,-0.301815,3.926859 -263.7667,269.7386,9081,0.7074236,-0.2844881,3.984886 -488.3127,323.4864,9082,0.8674049,-0.3781331,2.611774 -499.0623,334.2359,9083,1.07527,-0.8281763,3.313273 -162.2432,208.8246,9084,1.051955,-0.7827211,3.34637 -445.9117,210.0189,9085,0.9664759,-0.6862506,3.311333 -445.3145,223.1573,9086,0.9744129,-0.8794054,3.501741 -413.0659,233.9068,9087,1.097056,-0.792833,3.330104 -505.6314,204.047,9088,-0.8750889,-0.7710028,3.478156 -444.7505,229.096,9089,0.9308715,-0.8992778,2.681217 -403,59.8,9090,-0.7452379,-0.03316838,2.301768 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0065.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0065.csv deleted file mode 100644 index 9284d7531359d97b283eec0c78e3ea984cb8e7bd..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0065.csv +++ /dev/null @@ -1,264 +0,0 @@ -270,268,8368,1.192131,-0.6628835,3.103323 -186.76,327.88,8437,-0.4031135,-0.7265928,3.301608 -336,436,8680,0.6966047,-0.7975408,3.317717 -317,71,8701,-0.7637479,-0.7285741,3.407143 -224,236,8816,1.218436,-0.4067419,2.643028 -148.6,203.8,8821,1.124279,-0.4245561,2.716426 -327,365,8841,1.222333,-0.2054826,3.27854 -487,111,8851,0.7949086,-0.3494848,2.542386 -355,397,8871,1.110889,-0.9175025,2.845309 -283,305,8892,1.218403,-0.3952482,2.680497 -429,107,8915,1.113553,-0.7903734,3.353895 -83.94401,173.8,8934,0.6861482,-0.9793479,3.728822 -595,332.2,8960,1.145301,-0.4061211,4.088974 -212,285,8992,0.8808734,0.4349942,2.53017 -500.2,305.8,8999,1.164422,-0.4285713,4.055329 -406.6,201.4,9007,1.138808,-0.4433473,2.86761 -183.88,214.12,9027,1.220376,-0.5837578,2.956053 -303.4,261.64,9029,-0.7920467,0.3787987,1.80599 -308,206,9030,1.17045,-0.8438693,2.843021 -300.52,150.76,9032,1.178072,-0.6577954,3.118157 -592.84,205.48,9041,1.146716,-0.8775807,3.514182 -582.76,378.28,9045,0.5255155,-0.9614401,3.762553 -433,182.44,9056,0.962626,-0.9266405,3.525609 -408,204,9103,1.055133,-0.90617,3.73864 -584.2,218.44,9105,1.195164,-0.3294781,2.756561 -199,316.6,9108,1.340346,-0.2606238,3.599435 -460.36,427.24,9110,0.6684473,-1.299778,3.657442 -124.6,76.60001,9113,0.7047102,-0.7622612,3.17618 -573,131,9114,0.8491879,-1.059003,3.747298 -372.52,147.88,9115,1.018394,-0.8849266,3.49014 -507,191,9117,1.188807,-0.572567,2.896575 -121.96,261.64,9120,1.033788,-0.7521566,3.852777 -535.2401,250.12,9121,1.206848,-0.0341218,3.258709 -577,264.52,9122,1.303714,-0.2326529,3.652153 -410,428,9125,0.7580206,-0.1617775,2.279959 -364,429,9129,1.186979,-0.4413342,2.969619 -401.8,67,9132,0.7214185,-0.2403284,2.477885 -135.784,338.9969,9137,1.244435,-0.01546457,3.306948 -242.2,117.4,9141,-0.002684025,-0.1780688,2.422958 -585.4,169,9146,1.130564,-0.9447801,3.694357 -479.8,383.8,9150,-0.699728,-0.05118834,2.303136 -337,251.8,9155,0.9758935,-0.4998198,4.184188 -255.016,225.64,9166,1.21518,-0.3195134,2.426609 -123.3424,326.5552,9169,0.634918,-0.45417,4.048272 -356,228,9170,0.7231954,0.3879203,2.522574 -96.04001,353.512,9172,0.6601287,-1.02325,2.956339 -344.2,40.6,9174,-0.914691,-0.7628617,4.031117 -445,89,9176,1.083307,-0.9230488,3.721222 -587.8,215.8,9178,0.5890498,0.6149963,2.353758 -244.36,116.2,9183,-0.7679416,-0.1192719,2.273859 -100.6,218.2,9184,0.9451793,-0.9203866,3.541325 -133.48,87.4,9185,1.180872,-0.5816122,2.84166 -517.96,175.24,9186,1.262625,-0.4739418,2.681718 -258.76,240.04,9187,1.202489,-0.5786141,3.059922 -180.712,272.296,9188,1.171998,-0.9922269,2.757555 -481.96,74.44,9191,1.004314,-0.9085311,3.563509 -335.08,254.44,9196,0.996585,-0.8798594,3.499429 -337.96,257.32,9197,0.9574541,-0.8683693,2.600561 -115.048,270.568,9207,1.174489,-0.9788887,2.76525 -283.24,294.76,9208,1.17839,-0.9470617,2.784472 -289,80.2,9209,1.091083,-0.7830619,3.417191 -371,247,8369,1.186838,-0.4015829,2.971228 -285.4,305.8,8370,1.191248,-0.8715144,3.383849 -405,113,8450,0.1550514,-0.8377904,3.495916 -107,209,8536,0.6998638,-0.7843211,3.259983 -304,261,8553,1.117765,-0.7160748,3.180624 -401,67,8567,0.9626843,-0.7966975,2.915217 -500,305,8572,0.8469268,-0.8775313,2.818876 -448.6,157,8660,1.133973,-0.3379906,2.532496 -119.8,266.2,8661,0.9781187,-0.6052049,3.013238 -188,269,8663,1.191877,-0.6991581,3.161813 -330.76,418.6,8667,-0.2296343,-0.7093304,3.079565 -87.4,393.4,8692,0.9105846,-0.9024251,2.840919 -307,206.2,8697,1.180647,-0.6809998,2.932301 -286,306,8707,0.001773495,-0.7987798,3.383736 -85.672,389.8,8738,1.246346,-0.1079465,3.246391 -529.5193,186.1311,8778,1.128172,-0.8092882,3.30601 -102,219,8801,0.9636692,-0.2479501,2.421815 -108,261,8804,1.246871,-0.4462686,2.653996 -52,355,8809,0.5506516,0.617813,2.403624 -67,352,8810,1.197802,-0.4467405,2.953426 -283,295,8811,0.8587678,0.4749255,2.521802 -319.24,415.72,8813,1.110872,-0.3894897,4.03649 -361,418,8820,0.7367782,-0.3215722,2.561547 -488,265,8839,0.5952466,-0.4278798,4.084984 -522,279,8840,1.228163,-0.2737983,3.156239 -101.8,240.04,8855,1.183294,-0.6665059,2.94812 -159.4,201.4,8861,0.8344792,0.4008334,2.556176 -98,375,8862,-0.4589054,0.1909664,1.93277 -329.32,366.76,8877,-0.6086232,0.4491867,1.906468 -326.44,363.88,8881,0.03858974,-0.7509078,3.460571 -400.6,111.4,8882,0.6539273,-0.7311057,3.186309 -425.8,240.04,8891,1.191341,-0.4103112,2.968027 -47.8,367,8895,1.181513,-0.4570082,3.11917 -362.3042,195.089,8912,1.161426,-0.7543054,3.178344 -493.6875,317.0167,8914,0.2017455,-0.8478292,3.497688 -463.8276,218.9769,8916,0.8915719,-0.8096281,3.259022 -205.2414,223.1573,8918,1.017533,-0.8245742,3.305666 -269.7386,237.49,8920,1.063973,-0.7210346,3.217787 -404.1079,215.9909,8921,1.10066,-0.6598483,3.093984 -393,202,8926,-0.9122924,-0.7384598,3.488176 -393,97,8930,-0.4477822,0.3461205,1.792838 -401,130,8933,0.6368194,-0.796598,3.390977 -428.68,153.64,8935,0.7592123,-0.3547506,2.583082 -542,144,8936,0.9257647,-0.3539257,2.387934 -159,201,8937,0.9036962,-0.3648906,2.503417 -83,209,8938,1.100973,-0.7507131,3.079718 -254.44,225.64,8942,1.15146,-0.3565287,2.480992 -606,268,8946,1.269416,-0.3338726,2.755449 -600,324,8949,1.367469,-0.2739819,3.359984 -371,434,8952,1.127024,-0.8203584,2.709228 -398,125,8955,0.6502258,0.4107434,2.551652 -107,343,8957,0.9425755,0.2722326,2.569462 -584,380,8962,1.216319,-0.02025268,3.388056 -335,434,8963,0.9463353,-0.8159795,2.687848 -235,101.8,8965,0.7094089,-1.063566,3.792355 -153,201,8972,0.7166744,-1.208502,3.711536 -585,84,8974,0.7523444,-1.062371,3.776654 -383.8,177.4,8978,1.219658,-0.0668261,3.435164 -51.4,355,8979,1.228706,-0.04031182,3.379514 -227,91,8982,-0.127118,-0.7109442,3.30412 -141,150,8986,0.9731887,-0.3851167,2.454329 -367,197.8,8989,1.204655,-0.7110297,3.164796 -283,295,8993,0.9492756,0.4458233,2.509275 -85.96001,389.8,8994,0.8025375,-0.9871712,3.75771 -74,405,8995,1.191493,-0.7455752,2.897621 -306,195,8997,0.7738983,-0.3751675,3.926952 -255.4,271,8998,0.8561073,0.3868718,2.550651 -217,174,9002,1.201104,-0.6204204,3.037996 -565.48,157.96,9006,1.191553,-0.66536,3.114506 -370.6,247,9008,0.7746195,-0.3779362,3.925925 -252,272,9009,1.167027,-0.4284137,4.053382 -500.68,304.84,9010,0.8172647,-0.9940808,3.730041 -305.8,195.4,9013,1.210227,-0.7401537,3.248373 -188.2,317.8,9016,-0.7960066,-0.7622111,3.456968 -540,143,9021,1.097148,-0.7274951,3.183729 -332.2,364.6,9024,1.19886,-0.7427953,2.898541 -432,183,9025,0.8736877,-0.4058816,2.661381 -223,236.2,9028,1.201066,-0.723056,2.91171 -369.64,247.24,9034,0.618442,-0.518253,4.060896 -329.32,367.336,9042,1.199972,-0.4433229,2.955331 -282.664,296.488,9044,0.1822866,-0.8600037,3.473627 -472,256,9049,0.5445516,-0.9644715,3.733619 -482.0753,73.57601,9050,1.167075,-0.8628372,3.466267 -421.9409,241.5376,9053,-1.034011,-0.8042313,4.218734 -430.9818,242.8648,9062,0.2313776,-0.8728317,3.396272 -526.0356,127.9044,9063,1.183999,-0.8794657,2.766645 -416.0519,99.5375,9064,1.006167,-0.6880721,2.691947 -219.9722,155.2759,9066,1.158585,-0.7347882,3.159493 -395.15,221.9629,9068,1.160621,-0.4487226,2.714643 -541.4633,290.6405,9076,0.9208897,-0.7209826,3.215113 -405.8995,158.66,9077,1.111859,-0.5803326,2.763861 -284.6685,266.7527,9081,0.7074236,-0.2844881,3.984886 -451.8837,198.075,9085,0.9664759,-0.6862506,3.311333 -452.4809,212.4077,9086,0.9744129,-0.8794054,3.501741 -416.6491,215.9909,9087,1.097056,-0.792833,3.330104 -455.1185,212.5072,9089,0.9308715,-0.8992778,2.681217 -242,70,9091,-0.3794044,0.1510001,1.919617 -134,105,9092,0.6879466,-1.072033,3.784058 -36,136,9093,0.728827,-1.07855,3.765765 -570,127,9094,0.3479836,-0.2182124,2.406461 -573,128,9095,1.039762,-0.7030336,2.790023 -120,166,9096,0.9423436,-1.009316,3.7332 -256,169,9097,0.9899282,-0.5344046,2.675151 -585,170,9098,0.9360837,-0.3245005,2.357596 -196,199,9099,0.8651404,-0.4016045,2.668393 -69,216,9100,0.7739133,-0.1488888,2.259256 -184.6,214.6,9101,1.02363,-0.7494226,3.23146 -41,226,9102,1.086752,-0.9238886,3.718016 -588,216,9104,1.230614,-0.4254313,2.655339 -167,279,9106,1.194925,-0.3036447,2.77112 -196,307,9107,0.9490432,0.4154219,2.488982 -69,398,9109,0.09722346,-0.6634437,2.557208 -195.4,50.2,9111,-0.9514084,-0.09854604,2.196708 -581,46,9112,0.6901249,-1.06661,3.799907 -583,145,9116,1.121024,-0.5348006,2.904421 -274,249,9118,1.145922,-0.3724455,2.541128 -278,251,9119,0.6206326,-0.5744014,4.046485 -319,416,9123,1.333048,-0.1981135,3.462002 -465.4,428.2,9124,0.9210786,-0.3731694,2.421504 -96,209,9126,0.87436,-0.2341371,2.300908 -50,222,9127,1.251115,-0.07348695,3.382474 -49,224.2,9128,0.6221122,0.6033952,2.301667 -36,356,9130,-0.608308,-0.8355623,3.593715 -286,297,9131,0.3105324,-0.1364652,2.301893 -92.2,170.2,9133,1.009685,-0.8824013,3.49517 -120,215,9134,1.205253,-0.5758693,2.965173 -506.2,190.6,9135,0.6441006,0.3495044,2.642016 -303.4,261.4,9136,0.6375058,0.562068,2.308827 -38.2,352.6,9138,0.891935,-0.7757694,2.723517 -334.6,433,9139,0.9711341,-0.7976894,2.717688 -242,114,9140,0.915338,-0.7763627,2.726727 -243,117,9142,0.3070503,-0.1946307,2.401274 -133.48,142.12,9143,0.3184575,-0.1427946,2.332362 -119.8,166.6,9144,0.9532357,-1.014763,3.722869 -98.2,172.6,9145,0.9362721,-0.9184683,3.548275 -518.2,175,9147,1.196539,-0.6074569,3.112974 -594.28,215.56,9148,1.301409,-0.4139834,3.58436 -359,265,9149,1.262101,-0.07750607,3.381239 -364.6,428.2,9151,-0.3857598,0.1363278,1.974908 -133,104.2,9152,1.124078,-0.5170147,2.771297 -48,136,9153,1.197273,-0.6267151,3.039216 -225.4,244.6,9154,0.7921027,0.3132403,2.767935 -160.6,363.4,9156,-0.693345,0.02003737,2.177723 -595,333,9157,0.8347292,-0.999868,3.72404 -107.8,109,9158,0.8603723,-0.3230796,2.405617 -563.8,157,9159,1.145339,-0.2830976,2.469743 -92,208,9160,1.230567,-0.03372326,3.386692 -87.4,279.4,9161,0.9328879,-0.3623138,2.39274 -358.6,430.6,9162,0.939393,-0.3506845,2.37665 -83.8,208.6,9163,0.2297136,-0.2311929,2.450606 -76.60001,211,9164,1.094175,-0.5749475,2.843955 -137.8,155.08,9165,1.092562,-0.5077415,2.770206 -222.76,235.72,9167,0.5804277,0.3503717,2.604367 -87.4,278.92,9168,1.093204,-0.6580337,3.096042 -520.84,277.48,9171,0.5818173,0.6996753,2.346331 -47.08,368.2,9173,-0.04131513,-0.8691463,3.48232 -412.6,86.2,9175,0.3215438,-0.1179903,2.23136 -70.12,169.48,9177,0.4858443,-0.3915291,3.995041 -489.16,264.52,9179,-0.3785721,0.1306105,1.975315 -51.4,355.24,9180,0.6010746,0.4153502,2.51985 -47.8,135.4,9181,1.034816,-0.8240914,2.715539 -101.8,333.64,9182,0.8543481,-0.2948109,2.434738 -336.9232,270.568,9189,-0.9410741,-0.9368851,4.20382 -287.848,71.84801,9190,0.9588478,-0.3179013,2.360971 -65.28161,222.8752,9192,1.176066,-0.5664814,2.893703 -529.7681,189.352,9193,0.6526496,0.369711,2.521813 -275.752,249.832,9194,1.181964,-0.6107648,3.043278 -101.224,332.776,9195,1.165685,-0.5922127,3.062683 -505.576,189.352,9198,1.040815,-0.6823467,2.751021 -206.2864,71.50241,9199,1.087032,-0.7531524,3.082165 -239.464,173.1088,9200,1.128711,-0.7619635,3.213473 -365.9536,195.9184,9201,1.141878,-0.3799176,2.763803 -411.5728,214.5808,9202,0.6689854,0.3389376,2.518704 -206.2864,283.0096,9203,0.9777694,0.3729492,2.490742 -100.5328,330.7025,9204,1.179451,-0.7545444,3.266347 -69.42881,397.0576,9205,1.065343,-0.28582,2.523645 -434.3824,235.3168,9206,1.204691,-0.4555466,2.954577 -292.1335,100.5328,9210,0.3617576,0.4613579,2.55941 -475.7716,224.9489,9211,0.424078,-0.9583001,3.74697 -120.4394,307.0634,9212,0.9991301,-0.5011125,2.762803 -511.1057,122.9277,9213,1.056077,-0.7191418,3.233996 -222.4605,219.9722,9214,1.127226,-0.8070456,3.315398 -406.5963,217.4839,9215,0.3698302,-0.9523467,3.779651 -453.8744,212.5072,9216,1.189717,-0.8256122,2.857691 -511.6034,123.4254,9217,1.038847,-0.5123076,2.732989 -302.0868,162.7408,9218,1.093319,-0.7860152,3.329521 -212.4077,219.5741,9219,1.155891,-0.5419987,2.767432 -448.8977,215.9909,9220,0.5862145,0.4263983,2.500037 -227.9348,236.8928,9221,1.066874,-0.5423657,2.768296 -96.55151,332.4443,9222,0.4250279,0.4044193,2.613504 -226.7405,219.5741,9223,0.8256639,0.3057773,2.523513 -133.5777,312.7368,9224,1.089074,-0.6217574,2.906371 -93.56553,353.3462,9225,1.137567,-0.8114868,3.347409 -284.0714,219.5741,9226,1.213162,-0.6470242,2.920511 -466.8136,219.5741,9227,1.218573,-0.8201041,3.312568 -298.4041,237.49,9228,1.241151,-0.7018579,3.058933 -466.8136,226.7405,9229,0.09972796,-0.1871129,4.266928 -359.3182,241.0732,9230,1.159004,-0.7266026,3.201598 -481.1464,266.1555,9231,0.4742055,0.6293853,2.614816 -405.8995,230.3236,9232,0.7880825,-0.8292021,3.326441 -119.245,352.1518,9233,0.6377052,-0.6088558,4.027833 -427.9958,156.2712,9234,-0.1408902,-0.7703413,2.714362 -539,247,9235,0.5466688,-1.283945,3.740198 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0066.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0066.csv deleted file mode 100644 index fe2198a7b99c1e4d21204ddc247e605e551651f9..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0066.csv +++ /dev/null @@ -1,242 +0,0 @@ -41.8,247,8453,1.010334,-0.9960554,2.771497 -242,259,8645,1.173303,-0.6148656,3.026262 -87,233,8657,0.660271,-0.784349,3.317742 -309,361,8679,1.24423,-0.007494892,3.302788 -55.72,415.72,8699,1.27008,-0.07642127,3.292217 -267,299,8707,0.001773495,-0.7987798,3.383736 -87.4,232.6,8734,0.6119654,-0.7647901,3.3668 -212.68,178.12,8764,1.187098,-0.7006119,3.144139 -307,352.6,8841,1.222333,-0.2054826,3.27854 -112,219,8852,-0.180041,-0.6740636,3.299031 -255.4,247,8873,1.202459,-0.09852252,3.334453 -164,291,8893,0.7582228,0.3745813,2.522236 -61.48001,381.16,8894,0.6348731,0.6340088,2.355002 -204,113,8965,0.7094089,-1.063566,3.792355 -529,342,9011,1.194857,-0.7478353,2.895539 -284,195,9026,1.164432,-0.5270459,2.721573 -469,249.4,9036,0.8955613,-1.020916,3.717433 -64.60001,133,9092,0.6879466,-1.072033,3.784058 -437,396,9124,0.9210786,-0.3731694,2.421504 -265,289,9131,0.3105324,-0.1364652,2.301893 -100.6,361,9137,1.244435,-0.01546457,3.306948 -317.8,421,9139,0.9711341,-0.7976894,2.717688 -70,189,9144,0.9532357,-1.014763,3.722869 -37,138,9158,0.8603723,-0.3230796,2.405617 -202.6,241,9167,0.5804277,0.3503717,2.604367 -85.672,351.784,9169,0.634918,-0.45417,4.048272 -60.04,379.72,9172,0.6601287,-1.02325,2.956339 -39.4,242.2,9192,1.176066,-0.5664814,2.893703 -63.20801,360.424,9195,1.165685,-0.5922127,3.062683 -181,51.4,9236,-0.7012258,-0.1434349,2.277372 -490.6,54.28,9237,-0.6629485,-0.09697425,2.212903 -63,116,9238,-0.274947,-0.222686,2.489331 -104.2,145,9241,-0.4363795,-0.03381752,2.262839 -127.72,165.16,9245,1.008522,-0.7128468,2.744668 -153.64,224.2,9251,1.121575,-0.5871043,2.831368 -213.4,440.2,9258,0.9724561,-0.8204403,2.692739 -509.8,57.4,9259,-0.3465557,-0.05853011,2.281387 -169.48,163.72,9262,0.9528283,-1.06159,3.747999 -92,222,9266,1.059882,-0.3527192,2.523454 -236,227,9267,1.209053,-0.6261467,3.040438 -98,260,9268,1.240927,-0.4221821,2.648823 -313,243,9269,0.01158471,-0.197808,2.455919 -124.84,217,9272,1.195214,-0.4047955,2.660381 -154.6,283,9274,0.08784927,-0.219322,2.409722 -78,164,9276,0.64989,-1.300118,3.748628 -388.36,225.64,9282,-0.08706024,-0.7460082,2.728527 -213,442,9283,-0.7229303,-0.1378594,2.279378 -494,148,9291,0.6007549,-0.4320628,4.087051 -363.4,115,9297,1.108156,-0.348842,2.539737 -310.6,355,9300,0.2465533,-0.2224996,2.496338 -509,101,9304,1.228733,-0.05506914,3.400352 -519.4,195.4,9305,1.281052,-0.08788637,3.325341 -339.4,412.84,9307,0.01360382,-0.9096059,3.60076 -159.4,109,9310,0.8041724,-0.3658436,2.590084 -51.4,229.96,9313,1.167519,-0.6180568,3.05227 -313,242.2,9315,-0.6430625,-0.08104414,2.306552 -73,231.4,9320,1.226357,-0.4523722,2.764372 -61.48,264.52,9321,1.215349,-0.6428032,3.895686 -199,281,9322,0.04846729,-0.64661,2.554278 -535,295,9323,0.6297643,0.4720042,2.529796 -61,376.6,9325,-0.2920473,-0.09079801,2.316962 -208,83,9326,0.1511655,-0.8357801,3.526398 -59.8,154.6,9327,1.219552,-0.7421243,2.883562 -362.44,116.2,9328,1.155083,-0.7522736,3.167458 -284.68,198.28,9329,-0.03773028,-0.9034238,3.623014 -372,99,9331,0.07245453,-0.9443303,3.985416 -160,109,9332,-0.5293925,0.006982657,2.273499 -52.84,153.64,9334,1.19843,-0.7366799,2.900229 -97.48,182.44,9335,1.173558,-0.6201732,3.049876 -312.04,241.48,9337,1.152425,-0.4172076,4.068332 -526.6,342.28,9339,0.7894468,-0.826551,3.33498 -359.56,111.88,9340,0.9993664,-0.5429576,2.684623 -376.6,154.6,9341,0.9984139,-0.2878753,2.432504 -348.04,172.36,9344,1.205608,-0.4745604,2.713807 -182,267,9346,1.202002,-0.04306296,3.248981 -368.2,149.8,9349,0.5367114,-0.4051066,2.531759 -114,174,9351,0.8843187,-0.7193373,3.106277 -451.72,129.16,9352,1.274315,-0.5221208,2.703773 -431.8,287.8,9355,1.013331,-0.492265,2.690936 -101,361,9373,0.3055871,-0.9522005,3.879331 -503.8,99.4,9380,-0.05667788,-0.7808033,2.457092 -343,236.2,8369,1.186838,-0.4015829,2.971228 -342,121,8450,0.1550514,-0.8377904,3.495916 -328,79,8567,0.9626843,-0.7966975,2.915217 -393,156,8660,1.133973,-0.3379906,2.532496 -101.8,279.4,8661,0.9781187,-0.6052049,3.013238 -285,199,8697,1.180647,-0.6809998,2.932301 -56.29601,415.72,8738,1.246346,-0.1079465,3.246391 -468.8043,172.6941,8778,1.128172,-0.8092882,3.30601 -113.8,220.6,8821,1.124279,-0.4245561,2.716426 -429,255,8839,0.5952466,-0.4278798,4.084984 -124.6,217,8861,0.8344792,0.4008334,2.556176 -334.6,383.8,8871,1.110889,-0.9175025,2.845309 -329.4583,192.103,8912,1.161426,-0.7543054,3.178344 -364,115,8915,1.113553,-0.7903734,3.353895 -366.7831,207.5306,8921,1.10066,-0.6598483,3.093984 -124,217,8937,0.9036962,-0.3648906,2.503417 -235.72,225.64,8942,1.15146,-0.3565287,2.480992 -350,416,8952,1.127024,-0.8203584,2.709228 -529,344,8962,1.216319,-0.02025268,3.388056 -318,421,8963,0.9463353,-0.8159795,2.687848 -347.8,171.4,8978,1.219658,-0.0668261,3.435164 -196.6,100.6,8982,-0.127118,-0.7109442,3.30412 -55,416.2,8994,0.8025375,-0.9871712,3.75771 -193,180,9002,1.201104,-0.6204204,3.037996 -469,137.8,9021,1.097148,-0.7274951,3.183729 -389,175,9025,0.8736877,-0.4058816,2.661381 -527.8,181,9041,1.146716,-0.8775807,3.514182 -263.656,291.304,9044,0.1822866,-0.8600037,3.473627 -527.8,341.8,9045,0.5255155,-0.9614401,3.762553 -347.3742,102.5235,9064,1.006167,-0.6880721,2.691947 -478.7576,269.7386,9076,0.9208897,-0.7209826,3.215113 -356.3322,168.2151,9077,1.111859,-0.5803326,2.763861 -260.7807,263.7667,9081,0.7074236,-0.2844881,3.984886 -409.0846,187.624,9085,0.9664759,-0.6862506,3.311333 -409.4993,202.1392,9089,0.9308715,-0.8992778,2.681217 -39,235,9100,0.7739133,-0.1488888,2.259256 -155,225,9101,1.02363,-0.7494226,3.23146 -520,195,9104,1.230614,-0.4254313,2.655339 -515.8,196.6,9105,1.195164,-0.3294781,2.756561 -155,283,9106,1.194925,-0.3036447,2.77112 -182,310,9107,0.9490432,0.4154219,2.488982 -508,137,9116,1.121024,-0.5348006,2.904421 -251.8,245.8,9118,1.145922,-0.3724455,2.541128 -258,247,9119,0.6206326,-0.5744014,4.046485 -301,406,9123,1.333048,-0.1981135,3.462002 -344,411,9129,1.186979,-0.4413342,2.969619 -41.8,195.4,9133,1.009685,-0.8824013,3.49517 -451,179,9135,0.6441006,0.3495044,2.642016 -77.32,165.16,9143,0.3184575,-0.1427946,2.332362 -65,133,9152,1.124078,-0.5170147,2.771297 -47.8,230.2,9164,1.094175,-0.5749475,2.843955 -234.28,225.64,9166,1.21518,-0.3195134,2.426609 -323.8,220.6,9170,0.7231954,0.3879203,2.522574 -292.6,52.6,9174,-0.914691,-0.7628617,4.031117 -345.16,96.04,9175,0.3215438,-0.1179903,2.23136 -62.92,116.2,9185,1.180872,-0.5816122,2.84166 -398.44,85.96001,9191,1.004314,-0.9085311,3.563509 -309.4,243.4,9196,0.996585,-0.8798594,3.499429 -177.256,86.01761,9199,1.087032,-0.7531524,3.082165 -378.3953,208.36,9202,0.6689854,0.3389376,2.518704 -265,289,9208,1.17839,-0.9470617,2.784472 -407.0939,201.061,9220,0.5862145,0.4263983,2.500037 -207.5306,242.3671,9221,1.066874,-0.5423657,2.768296 -205.2414,223.1573,9223,0.8256639,0.3057773,2.523513 -262.5723,215.9909,9226,1.213162,-0.6470242,2.920511 -420.2323,201.6582,9227,1.218573,-0.8201041,3.312568 -422.0239,257.7947,9231,0.4742055,0.6293853,2.614816 -47,122,9239,-0.2172024,-0.2231287,2.500206 -101.8,141.4,9240,0.9319087,-0.7409832,2.645352 -178.6,131.8,9242,0.05542697,-0.1958164,2.40838 -49,150,9243,0.1633663,-0.2934849,2.59547 -77,166,9244,0.702656,-0.7962645,3.312765 -360,153,9246,0.3867466,-0.1805331,2.318827 -206,162,9247,0.8822802,-0.9978739,3.80588 -42,194,9248,1.038386,-0.7996629,3.228395 -514,158,9249,0.8788816,-0.4131069,2.663902 -374,183,9250,0.9740396,-0.333546,2.369699 -40,243,9252,0.9858117,-0.2749438,2.434561 -235,226.6,9253,1.193537,-0.3682426,2.629921 -62.2,265,9254,1.241827,-0.300579,2.75449 -139,291,9255,1.339816,-0.3079328,3.322966 -179,329,9256,1.226286,0.1139469,2.984264 -367,375,9257,0.6006062,-1.305599,3.781062 -205,115,9260,0.9908725,-0.6660832,2.63942 -51.4,154.6,9261,0.7383494,-1.007051,3.830266 -496,146,9263,1.134537,-0.8371425,3.081726 -524,145,9264,0.8423347,-0.3600842,2.4873 -348,171,9265,1.072552,-0.5709767,2.869409 -152,286,9270,0.7899588,-0.366877,2.585696 -91,165,9271,1.33936,-0.2241284,3.585376 -423,402,9273,1.218086,-0.2596987,3.187009 -311,355,9275,0.9550325,-0.2834423,2.464851 -75,259,9277,0.8454829,-0.819732,3.157636 -510,58,9278,0.8240746,-0.34409,2.551042 -337,147,9279,1.08709,-0.7570741,3.176875 -111,223,9280,1.098248,-0.6999011,3.307279 -359,197,9281,1.244367,0.1143285,2.982393 -183,60,9284,0.883936,-0.8379041,2.759329 -63.4,116.2,9285,-0.4161125,-0.2032399,2.483815 -226,108,9286,-0.05012378,-0.2893494,2.554531 -101.8,133.48,9287,0.09510599,-0.2188636,2.410448 -117.64,147.88,9288,1.015805,-0.7141782,2.737132 -77.8,164.2,9289,0.800065,-0.9975182,3.761633 -205,161.8,9290,0.3901666,-0.3430736,4.074821 -429.4,255.4,9292,1.240015,-0.3012919,2.756418 -460.6,263.8,9293,1.344699,-0.4241561,3.559419 -179.8,328.6,9294,0.9014417,0.4175049,2.531287 -447,357,9295,0.2137932,-0.851125,3.499229 -55,417,9296,1.021871,-0.6984454,2.691273 -191.08,162.28,9298,1.230493,-0.2694497,3.177363 -104,274,9299,0.9750001,-0.3001104,2.483982 -74.2,259,9301,0.7111682,-1.312734,3.672317 -97,183.4,9302,0.7111449,-1.162333,3.788623 -506.44,51.4,9303,1.028066,-0.9089777,3.777136 -343.72,409.96,9306,1.224237,-0.0004539835,3.312178 -314.92,418.6,9308,0.9267478,-0.783829,2.574013 -371.8,98.2,9309,0.2396353,-0.1513239,2.31251 -45.64,188.2,9311,0.9358448,-0.3526736,2.386089 -126.28,221.32,9312,1.197009,-0.5814347,2.885193 -257.32,245.8,9314,0.7397074,-0.9051372,3.094687 -322.12,109,9316,0.9014972,-1.013626,3.771193 -64.36,132.04,9317,1.173476,-0.713537,2.980525 -513.4,154.6,9318,0.9204959,-0.3539849,2.442336 -303.4,208.6,9319,0.9691681,-0.2737705,2.428388 -137.8,77.32,9324,0.9098568,-0.8894792,2.687733 -363.88,208.36,9330,0.8684161,-0.7712243,2.586599 -441.64,118.504,9333,0.2580335,-0.2308326,2.497656 -280.936,196.264,9336,1.168219,-0.3108456,2.471272 -71.84801,293.032,9338,0.1760916,-0.8481562,3.494962 -173.8,206.632,9342,1.092983,-0.8223966,3.103929 -61.48001,263.656,9343,0.8373297,0.2117306,2.794265 -144.0784,370.1009,9345,0.7864689,-0.5588659,4.119819 -502.8113,264.3472,9347,0.3753101,-0.7458071,3.509706 -301.672,403.2784,9348,0.8247433,0.3298287,2.790884 -135.784,390.8369,9350,0.5342921,-0.9717233,3.742709 -314.5284,170.2058,9353,0.7122616,-0.3304793,3.912978 -185.1357,264.762,9354,0.6625948,-0.7958705,3.392766 -374.2481,155.2759,9356,0.8452489,0.2266754,2.779977 -172.6941,227.4372,9357,0.9737847,-0.8242388,2.632248 -138.3553,371.2621,9358,0.4356581,-0.9689257,3.799111 -183.1451,105.5095,9359,0.5778782,-0.8082918,3.455864 -451.386,127.9044,9360,1.228905,-0.7290372,3.109529 -380.2201,147.3133,9361,0.8814436,-0.792348,2.77076 -352.1518,223.1573,9362,1.184922,-0.624063,2.930574 -223.1573,119.245,9363,0.7881323,-0.3738123,3.856125 -275.7106,233.9068,9364,0.8324291,-0.8132556,3.032802 -433.9678,287.1569,9365,1.043494,-0.6829473,2.644297 -301.9873,137.1609,9366,0.5758244,-0.2856232,2.539257 -174.1871,162.2432,9367,1.018904,-0.5087368,2.712063 -108.4955,210.0189,9368,1.096634,-0.6840068,3.084582 -180.1591,223.1573,9369,1.265408,-0.7566023,3.142367 -323.4864,212.4077,9370,0.42523,-0.3790028,3.952097 -368.2761,218.9769,9371,0.5065491,0.4784808,2.68015 -416.6491,248.2395,9372,0.8476731,0.2590539,2.740866 -126.4114,380.2201,9374,1.075532,-0.7095831,2.829209 -448.8977,126.4114,9375,0.3205075,0.3771304,2.73727 -245.8508,180.1591,9376,0.7663627,-0.3621626,3.874317 -122.8282,323.4864,9377,0.6735104,-1.163553,3.794057 -433.9678,287.6545,9378,0.7156503,-1.170658,3.760733 -504,99,9379,0.6895852,-1.273205,3.645426 -492,57,9381,-0.9313499,-0.562622,2.336684 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0067.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0067.csv deleted file mode 100644 index 67587af76d92e3c41d99b18e78fcdb912e5bdf80..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0067.csv +++ /dev/null @@ -1,236 +0,0 @@ -90.85601,426.088,8737,0.8881419,0.4318749,2.52843 -286.12,221.32,8872,1.166353,-0.5558243,2.88826 -238.6,263.8,8991,1.206838,-0.453898,2.953142 -266.2,254.2,9008,0.7746195,-0.3779362,3.925925 -178,217,9100,0.7739133,-0.1488888,2.259256 -125,74,9110,0.6684473,-1.299778,3.657442 -238.6,224.2,9153,1.197273,-0.6267151,3.039216 -233.8,223,9166,1.21518,-0.3195134,2.426609 -382.6,176.68,9214,1.127226,-0.8070456,3.315398 -73,245.8,9251,1.121575,-0.5871043,2.831368 -34,166,9260,0.9908725,-0.6660832,2.63942 -485.8,109,9262,0.9528283,-1.06159,3.747999 -267.4,208.36,9266,1.059882,-0.3527192,2.523454 -80,171,9270,0.7899588,-0.366877,2.585696 -143.56,214.12,9271,1.33936,-0.2241284,3.585376 -108,153,9287,0.09510599,-0.2188636,2.410448 -490.6,65.8,9303,1.028066,-0.9089777,3.777136 -40.6,142.6,9316,0.9014972,-1.013626,3.771193 -503.8,115,9317,1.173476,-0.713537,2.980525 -313.48,172.36,9328,1.155083,-0.7522736,3.167458 -488,61,9379,0.6895852,-1.273205,3.645426 -547,50,9387,-0.4435667,-0.3361845,2.456808 -78.76,114.76,9388,0.7844349,-1.205025,3.995243 -247,103,9391,-0.4555578,-0.1804245,2.467191 -139.24,156.52,9394,0.7477102,-0.8330119,3.40916 -63.4,193,9399,0.3380642,-0.150903,2.283217 -389,195,9401,1.115405,-0.3462829,2.513591 -99.4,38.2,9407,0.7039742,-1.202313,3.73474 -484,51,9408,0.9496326,-1.038811,3.745002 -194,165,9411,0.972793,-0.9009293,3.606922 -529.48,97.48,9427,1.019725,-0.673049,2.633425 -195.4,151,9428,1.005345,-0.6276264,2.640171 -355,165.4,9430,-0.1110653,-0.7181547,2.450624 -435.4,98.2,9432,0.8094708,-0.9968094,3.756858 -483.4,111.4,9433,0.4340552,-0.2021812,2.339817 -385,377.8,9436,0.3952312,-0.9637623,3.851374 -323.8,77.8,9443,0.9354197,-0.4928817,2.683637 -191.8,201.4,9444,0.8717961,-0.8719951,2.74566 -237.16,78.76,9445,0.4165774,-0.9622726,3.750163 -463.24,352.36,9449,0.5996355,-0.9980549,3.831915 -464.68,342.28,9452,0.8160361,-1.044767,2.93079 -302,33,9453,0.7675257,-0.9935423,3.790942 -51.4,199,9455,1.176636,-0.7342249,2.91469 -83.94401,227.368,9457,1.225388,-0.5498123,2.91047 -298,236,9458,1.264815,-0.4501618,2.649205 -346.6,323.8,9461,0.9754945,-0.8207234,2.694794 -224.2,103.24,9463,0.9119036,-1.010759,3.763551 -353.8,165.16,9465,0.8224164,0.3451549,2.794524 -165.16,389.8,9466,0.6271912,-0.2357271,2.401239 -74.44,222.76,9467,0.8129039,-0.3679888,2.584003 -146.44,217,9468,0.7220588,0.2875125,2.650398 -513.64,77.32,9471,0.7755809,0.3725438,2.84513 -224.2,100.36,9473,1.031137,-0.931625,3.543143 -403,334.6,9477,0.8440462,0.3061524,2.802914 -170.344,391.528,9478,1.223333,-0.262523,3.182325 -532.36,290.44,9482,0.7039481,-1.13948,3.79661 -193,95,9484,1.175946,-0.7515769,3.275691 -339.4,212.68,9487,1.330416,-0.3551691,3.587591 -349,148.6,9492,1.087867,-0.7239439,3.228512 -385,177.4,9493,-0.7828217,-0.8467249,4.101854 -356.2,80.2,9494,0.9701941,-0.2922389,2.461357 -104.68,258.472,9495,1.207716,-0.453065,2.957331 -300.52,264.52,9496,1.008281,-0.9923323,3.806415 -333,181,9500,0.5617453,-0.6097572,4.113309 -369.4,202.6,8368,1.192131,-0.6628835,3.103323 -143.8,272.2,8660,1.133973,-0.3379906,2.532496 -135,219,8820,0.7367782,-0.3215722,2.561547 -423,225,8838,0.4293061,-0.357772,4.030305 -343,321,8840,1.228163,-0.2737983,3.156239 -132,215,8851,0.7949086,-0.3494848,2.542386 -143.8,213.4,8860,0.760197,-0.3547469,2.581397 -350.3602,162.2432,8911,1.092537,-0.7443085,3.069352 -144,214,8936,0.9257647,-0.3539257,2.387934 -385,379,8951,0.6108713,-1.291293,3.689372 -217,86,8981,-0.3980835,-0.8461661,3.781127 -221,165,9001,1.217303,-0.2798182,2.752883 -456,105,9020,0.8151663,-0.3938037,2.589192 -293.6265,239.8788,9080,0.6888846,-0.301815,3.926859 -39.4,146.2,9091,-0.3794044,0.1510001,1.919617 -67,238.6,9099,0.8651404,-0.4016045,2.668393 -379,376,9128,0.6221122,0.6033952,2.301667 -40.6,206.2,9132,0.7214185,-0.2403284,2.477885 -70.12,173.8,9142,0.3070503,-0.1946307,2.401274 -40,146,9151,-0.3857598,0.1363278,1.974908 -263.656,206.632,9165,1.092562,-0.5077415,2.770206 -346,192,9169,0.634918,-0.45417,4.048272 -85.672,370.792,9194,1.181964,-0.6107648,3.043278 -301,263.8,9207,1.174489,-0.9788887,2.76525 -230.3236,208.8246,9222,0.4250279,0.4044193,2.613504 -36,128,9237,-0.6629485,-0.09697425,2.212903 -69.4,173.8,9243,0.1633663,-0.2934849,2.59547 -123.4,168.04,9244,0.702656,-0.7962645,3.312765 -231,145,9246,0.3867466,-0.1805331,2.318827 -265,206.2,9252,0.9858117,-0.2749438,2.434561 -260.2,421,9257,0.6006062,-1.305599,3.781062 -225,100,9259,-0.3465557,-0.05853011,2.281387 -195.4,150.76,9261,0.7383494,-1.007051,3.830266 -514,102,9263,1.134537,-0.8371425,3.081726 -343,213,9268,1.240927,-0.4221821,2.648823 -453,357,9272,1.195214,-0.4047955,2.660381 -132,219,9279,1.08709,-0.7570741,3.176875 -483,111,9290,0.3901666,-0.3430736,4.074821 -454.6,229,9292,1.240015,-0.3012919,2.756418 -90,426,9295,0.2137932,-0.851125,3.499229 -217,147.4,9297,1.108156,-0.348842,2.539737 -106,259,9300,0.2465533,-0.2224996,2.496338 -374.2,379,9306,1.224237,-0.0004539835,3.312178 -352,80,9308,0.9267478,-0.783829,2.574013 -146.2,217,9311,0.9358448,-0.3526736,2.386089 -291.88,221.32,9313,1.167519,-0.6180568,3.05227 -533.8,290.2,9338,0.1760916,-0.8481562,3.494962 -344.2,94.60001,9339,0.7894468,-0.826551,3.33498 -94.31201,262.2737,9342,1.092983,-0.8223966,3.103929 -164.8144,388.7632,9349,0.5367114,-0.4051066,2.531759 -171.2011,371.2621,9357,0.9737847,-0.8242388,2.632248 -204.047,156.2712,9366,0.5758244,-0.2856232,2.539257 -208.8246,208.8246,9368,1.096634,-0.6840068,3.084582 -269.7386,158.66,9375,0.3205075,0.3771304,2.73727 -436.4561,252.3204,9377,0.6735104,-1.163553,3.794057 -486,65,9378,0.7156503,-1.170658,3.760733 -102,33,9381,-0.9313499,-0.562622,2.336684 -58.6,44.2,9382,-0.0480694,-0.8367568,2.672293 -157,34,9383,-0.1827261,-0.745701,2.548476 -116,42,9384,0.8548424,-1.280369,3.728125 -519,37,9385,0.8573263,-0.8130647,2.536358 -162,78,9386,0.7992867,-1.282752,3.949085 -543,73,9389,0.8085601,-1.164601,3.860068 -520,75,9390,0.9827482,-0.8265101,2.755806 -77.8,142.6,9392,-0.03152855,-0.2869518,2.578258 -112.6,154.6,9393,0.0504881,-0.3300098,2.674972 -390,129,9395,0.9021795,-1.014115,3.772091 -504,115,9396,0.3356824,-0.1877698,2.273359 -32,196,9397,0.4540071,-0.2775809,2.375585 -67,194,9398,0.4192206,-0.2454027,2.373088 -32,207,9400,1.192926,-0.7062378,3.179724 -133,268.6,9402,1.295452,-0.3624097,2.547012 -157,299,9403,1.2724,-0.2926095,2.430922 -102,316,9404,1.393425,-0.2602952,3.41485 -428,357,9405,-0.8280616,-0.5790799,2.349729 -62,45,9406,-0.307089,-0.720387,2.47684 -510,108,9409,-0.03389595,-0.1266031,2.272865 -32,176,9410,1.015209,-0.6326628,2.639556 -472,140,9412,0.9934224,-0.3893483,2.445337 -105,231,9413,1.084933,-0.5042379,2.777117 -234,223,9414,1.196364,-0.4705168,2.824843 -259,253,9415,1.071973,-0.2986409,2.47879 -115,275,9416,1.219911,-0.316157,2.745717 -221,303,9417,0.4391966,0.3496029,2.806206 -152,334,9418,-0.07701038,-0.8167979,2.68634 -159,39,9419,1.183052,-0.5698543,2.990895 -316,227,9420,1.338019,-0.2864265,3.617718 -468,339,9421,1.058709,-0.7467743,3.138963 -355,165,9422,1.2252,-0.0484482,3.390968 -375,379,9423,-0.5278468,-0.2723693,2.410768 -68.2,117.4,9424,0.983645,-0.6064046,2.64259 -190.6,170.2,9425,0.6770217,-1.199256,3.75863 -483.4,51.4,9426,0.7751566,-1.097548,3.999917 -193,165.4,9429,1.100551,-0.7510191,3.087002 -101,44,9431,0.3873573,-0.9702734,3.837977 -52.84,206.92,9434,0.4290307,0.3170232,2.86877 -167,327,9435,1.239129,-0.04626853,3.425817 -437,99,9437,0.657568,-1.00298,3.78639 -465,102,9438,1.196309,-0.7088394,3.175568 -388.6,195.4,9439,1.212055,-0.426686,2.976461 -303.4,273.4,9440,0.4283598,0.3577212,2.807267 -152.2,333.4,9441,1.235509,-0.2488161,3.181523 -345,330,9442,-0.0666564,-0.86997,3.493941 -422.2,95.8,9446,1.082407,-0.8255836,2.978865 -328.6,131.8,9447,1.209838,-0.576401,2.964051 -314.92,227.08,9448,1.326929,-0.2254782,3.64204 -464.2,101.8,9450,1.238386,-0.2831279,3.151953 -343,320.2,9451,1.316526,-0.2734366,3.63127 -481.96,110.44,9454,0.4934594,-0.2515901,2.330417 -313,169,9456,0.7444665,-0.2636427,2.431216 -202.6,266.2,9459,1.144068,-0.3880019,4.057444 -526.6,293.8,9460,1.247948,-0.2809394,3.168396 -226.6,99.4,9462,0.9455268,-0.8062592,2.702386 -503.56,114.76,9464,1.110764,-0.7512657,3.079113 -125.416,363.88,9469,1.261436,-0.03559483,3.287204 -353.5121,386.6897,9470,0.8122438,-1.149761,3.83167 -165.16,389.8,9472,0.9966544,-0.8274591,2.679448 -472.744,132.328,9474,1.215413,-0.5815997,2.962759 -315.496,227.368,9475,0.6522524,-0.4530705,4.010446 -453.0449,229.096,9476,1.345067,-0.3108275,3.320185 -344.872,324.136,9479,1.08777,-0.8177357,3.023385 -341.0704,135.784,9480,1.098798,-0.7518485,3.084301 -353.512,165.16,9481,1.159544,-0.4150646,4.069826 -488.2961,71.50241,9483,0.9540133,-0.8110306,2.617731 -415.7201,183.4768,9485,1.095998,-0.5075116,2.788107 -239.464,222.8752,9486,1.194054,-0.6267967,3.030413 -467.5601,324.4817,9488,0.8732361,-0.7565386,2.575352 -171.0352,102.6064,9489,0.68874,-1.069064,3.815051 -482.0753,90.16481,9490,1.056965,-0.9338522,3.525851 -473.7809,131.6368,9491,0.6368368,-0.6954412,3.340725 -528.524,132.881,9497,0.4601121,-0.2885345,2.481412 -98.0445,192.6007,9498,1.118351,-0.8514684,3.527976 -476.2692,162.7408,9499,0.957574,-0.6490124,3.121423 -468.8043,192.6007,9501,0.6037412,0.3437622,2.59627 -105.5095,356.8298,9502,0.752547,0.2923109,2.809352 -167.7175,369.2715,9503,0.852963,0.3047974,2.784338 -165.2292,389.178,9504,1.180428,-0.6041306,3.13009 -361.8065,222.4605,9505,1.096948,-0.7925208,3.336656 -421.5262,165.2292,9506,1.101999,-0.5860068,2.833003 -262.2737,202.554,9507,0.4734155,-0.4726033,4.198476 -458.851,212.5072,9508,1.195048,-0.5692015,2.971343 -314.5284,227.4372,9509,0.3622382,0.4080338,2.642022 -105.5095,334.435,9510,-0.1066064,-0.1189112,2.562371 -102.5235,186.1311,9511,1.000916,-0.786819,2.591452 -187.624,103.0211,9512,0.2869046,-0.7829987,3.420334 -335.4303,108.4955,9513,1.00096,-0.9204694,3.566381 -471.2926,135.3693,9514,1.114371,-0.5600078,2.971319 -301.9873,215.9909,9515,0.4766116,0.3249379,2.788066 -150.2992,335.4303,9516,0.5851847,0.3933232,2.682358 -126.4114,362.3042,9517,1.016006,-0.6768404,3.092203 -335.4303,177.1731,9518,0.505502,-0.4779941,4.161775 -457.8557,213.0049,9519,1.340513,-0.4589548,3.529027 -469.7996,299.5985,9520,1.073291,-0.5764207,2.833332 -258.9891,201.6582,9521,1.053221,-0.7862892,3.401108 -427.9958,165.2292,9522,1.121387,-0.8080676,3.304533 -420.2323,162.2432,9523,1.066947,-0.7014147,3.213994 -377.2341,183.7423,9524,1.156917,-0.6128751,2.949399 -308.5564,210.0189,9525,1.168395,-0.5887754,2.877658 -284.0714,212.4077,9526,0.3567307,-0.326207,4.133563 -425.0098,224.9489,9527,1.16938,-0.4982297,2.946266 -294.8209,241.0732,9528,1.2708,-0.3913209,3.624022 -469.7996,308.5564,9529,0.9752589,-0.8915331,3.525601 -454.8697,138.3553,9530,1.077081,-0.8121111,3.12919 -368.2761,144.3273,9531,1.021474,-0.7780966,3.207973 -377.2341,156.2712,9532,1.058215,-0.7626145,3.251891 -391.5668,165.8264,9533,0.9524417,-0.7146612,3.953529 -511.6034,201.061,9534,0.6693183,-0.5802323,4.139286 -484.7296,208.8246,9535,0.8195976,-0.5058845,3.999745 -477.5632,233.9068,9536,0.6778123,-0.6475176,4.001399 -470.3968,190.9086,9537,0.6669058,-1.161144,3.796464 -484.84,65.8,9538,0.6567874,0.3701813,2.528067 -87,371,9539,0.03558095,-0.8201831,2.572501 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0068.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0068.csv deleted file mode 100644 index 1a1132ef207c5cdb493ddd32f9c50d498051f597..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0068.csv +++ /dev/null @@ -1,277 +0,0 @@ -242.2,176.2,8797,1.042904,-0.6411966,2.688007 -148,233,8851,0.7949086,-0.3494848,2.542386 -258.76,229.96,9027,1.220376,-0.5837578,2.956053 -120,96,9110,0.6684473,-1.299778,3.657442 -357,378,9122,1.303714,-0.2326529,3.652153 -117.1216,239.464,9125,0.7580206,-0.1617775,2.279959 -68,219,9143,0.3184575,-0.1427946,2.332362 -96.04,411.4,9171,0.5818173,0.6996753,2.346331 -325,266.2,9207,1.174489,-0.9788887,2.76525 -104.68,367.336,9223,0.8256639,0.3057773,2.523513 -70.12,170.92,9239,-0.2172024,-0.2231287,2.500206 -116.2,189.64,9244,0.702656,-0.7962645,3.312765 -45.64,228.52,9247,0.8822802,-0.9978739,3.80588 -291.4,214.6,9266,1.059882,-0.3527192,2.523454 -153,79,9283,-0.7229303,-0.1378594,2.279378 -96.04,173.8,9287,0.09510599,-0.2188636,2.410448 -199,111,9309,0.2396353,-0.1513239,2.31251 -359,215,9314,0.7397074,-0.9051372,3.094687 -129.5632,347.2913,9376,0.7663627,-0.3621626,3.874317 -146.44,55.72,9383,-0.1827261,-0.745701,2.548476 -101.8,63.4,9384,0.8548424,-1.280369,3.728125 -61.48001,135.784,9388,0.7844349,-1.205025,3.995243 -465,62,9408,0.9496326,-1.038811,3.745002 -476,334,9421,1.058709,-0.7467743,3.138963 -390,379,9423,-0.5278468,-0.2723693,2.410768 -89.12801,66.66401,9431,0.3873573,-0.9702734,3.837977 -398.2,377.8,9436,0.3952312,-0.9637623,3.851374 -403,195.4,9439,1.212055,-0.426686,2.976461 -101.224,249.832,9457,1.225388,-0.5498123,2.91047 -368.2,169.48,9465,0.8224164,0.3451549,2.794524 -177.4,410.2,9466,0.6271912,-0.2357271,2.401239 -178.984,410.536,9472,0.9966544,-0.8274591,2.679448 -245.8,109,9473,1.031137,-0.931625,3.543143 -340.6,229,9475,0.6522524,-0.4530705,4.010446 -265,231.4,9486,1.194054,-0.6267967,3.030413 -512,78,9544,1.051144,-0.8801001,2.572091 -221.32,84.52,9545,0.8947561,-0.8819951,2.73867 -253,88.84,9546,0.8572608,-0.7437686,2.583649 -189.64,120.52,9547,1.094253,-0.8875158,3.059733 -140.68,183.88,9551,0.1011956,-0.2162054,2.407571 -61,196.6,9552,0.909476,-0.5314733,2.664853 -205,197.8,9553,1.199469,-0.6730987,3.12678 -289,212,9555,0.6830626,-0.223496,2.303711 -47.8,279.4,9559,1.227023,-0.4309766,2.669015 -239,273,9560,1.116655,-0.338899,2.509681 -249,110,9566,0.8062095,-1.025545,3.908134 -74.2,173.8,9575,0.7976199,-0.2247054,2.328535 -112.6,107.8,9585,0.8967054,-0.780799,2.58998 -107.8,244.6,9590,1.002411,-0.3606074,2.355294 -95.8,254.2,9591,1.064011,-0.5093786,4.023147 -238,288,9593,1.228794,-0.3245498,2.749711 -257.8,316.6,9595,0.8741029,-1.261336,3.728133 -465.4,74.2,9598,-0.7335078,-0.4386548,2.417961 -171.0352,266.4208,9604,1.314027,-0.2426943,3.673998 -473.8,345.4,9607,0.8547433,-1.273024,3.892184 -509,78,9610,0.863461,-0.4784185,2.690524 -147.88,173.8,9621,1.100765,-0.5811551,2.845344 -508,103,9625,1.090107,-0.8421074,3.320026 -290.2,261.4,9628,1.235294,-0.04326328,3.390336 -389.8,379,9629,0.7135618,-1.204914,3.721665 -265,169,9632,0.3841749,-0.343059,2.547245 -116.776,194.536,9633,0.9082261,-0.4481497,2.719551 -215,225,9634,0.9673768,-0.3776131,2.393971 -109,244.36,9635,1.224433,-0.3843835,2.678402 -286,268,9639,0.8269854,-0.3395357,3.897626 -437,265,9640,1.207766,-0.4304224,2.978791 -327.4,275.8,9641,1.101211,-0.4001789,4.125726 -104.68,246.376,9646,0.9467794,-0.8515798,2.672123 -237.4,97,9647,1.026937,-0.5029987,2.677983 -389.8,378.28,9649,0.6941683,0.4390739,2.54189 -392.68,137.8,9651,1.198233,-0.5792422,2.894244 -310.6,264.52,9653,0.8888482,-0.7373051,2.573592 -146.152,305.8192,9659,1.315007,-0.2678684,3.644675 -414.28,107.56,9661,0.8724164,-0.755601,2.575883 -362.44,320.68,9663,1.054341,-0.6432521,2.623468 -218.44,175.24,9664,1.042205,-0.6920651,2.754539 -104.68,206.632,9675,1.236169,-0.3229901,2.748745 -90.16481,394.9841,9679,1.207457,-0.02878504,3.417169 -195.4,225.64,9683,0.794115,0.3051797,2.751206 -155.08,342.28,9689,1.069392,-0.928013,3.50491 -166.888,348.328,9700,1.087735,-0.6612474,2.630138 -243,159,9715,0.6663005,-1.28605,3.662495 -385.48,204.04,8368,1.192131,-0.6628835,3.103323 -178.12,283.24,8660,1.133973,-0.3379906,2.532496 -147.4,233.8,8820,0.7367782,-0.3215722,2.561547 -365.2902,168.2151,8911,1.092537,-0.7443085,3.069352 -399,378,8951,0.6108713,-1.291293,3.689372 -246,174,9001,1.217303,-0.2798182,2.752883 -37,231,9132,0.7214185,-0.2403284,2.477885 -265.96,231.4,9153,1.197273,-0.6267151,3.039216 -287.848,211.816,9165,1.092562,-0.5077415,2.770206 -260.2,230.2,9166,1.21518,-0.3195134,2.426609 -258.9891,215.9909,9222,0.4250279,0.4044193,2.613504 -256,154,9246,0.3867466,-0.1805331,2.318827 -99,259,9251,1.121575,-0.5871043,2.831368 -289,211,9252,0.9858117,-0.2749438,2.434561 -468,113,9262,0.9528283,-1.06159,3.747999 -364.6,217,9268,1.240927,-0.4221821,2.648823 -160.6,229,9271,1.33936,-0.2241284,3.585376 -468,117,9290,0.3901666,-0.3430736,4.074821 -440.2,232.84,9292,1.240015,-0.3012919,2.756418 -241,155.8,9297,1.108156,-0.348842,2.539737 -133,274,9300,0.2465533,-0.2224996,2.496338 -316.36,224.2,9313,1.167519,-0.6180568,3.05227 -489.4,118.6,9317,1.173476,-0.713537,2.980525 -337,175,9328,1.155083,-0.7522736,3.167458 -523,284,9338,0.1760916,-0.8481562,3.494962 -179.3296,409.4993,9349,0.5367114,-0.4051066,2.531759 -182.6474,389.178,9357,0.9737847,-0.8242388,2.632248 -466,74,9378,0.7156503,-1.170658,3.760733 -489,119,9396,0.3356824,-0.1877698,2.273359 -32,230,9400,1.192926,-0.7062378,3.179724 -403,196,9401,1.115405,-0.3462829,2.513591 -35,69,9406,-0.307089,-0.720387,2.47684 -260,231,9414,1.196364,-0.4705168,2.824843 -153,356,9418,-0.07701038,-0.8167979,2.68634 -341,229,9420,1.338019,-0.2864265,3.617718 -369,169,9422,1.2252,-0.0484482,3.390968 -46.6,143.8,9424,0.983645,-0.6064046,2.64259 -464.2,61,9426,0.7751566,-1.097548,3.999917 -368.2,169,9430,-0.1110653,-0.7181547,2.450624 -415,108,9432,0.8094708,-0.9968094,3.756858 -167.8,347.8,9435,1.239129,-0.04626853,3.425817 -448.6,110.2,9438,1.196309,-0.7088394,3.175568 -152.2,356.2,9441,1.235509,-0.2488161,3.181523 -405,106,9446,1.082407,-0.8255836,2.978865 -345.4,137.8,9447,1.209838,-0.576401,2.964051 -339.4,229.96,9448,1.326929,-0.2254782,3.64204 -471.88,346.6,9449,0.5996355,-0.9980549,3.831915 -362.2,321.4,9451,1.316526,-0.2734366,3.63127 -517,288,9460,1.247948,-0.2809394,3.168396 -247,111,9462,0.9455268,-0.8062592,2.702386 -160.6,232.6,9468,0.7220588,0.2875125,2.650398 -494.2,85,9471,0.7755809,0.3725438,2.84513 -467.5601,135.784,9474,1.215413,-0.5815997,2.962759 -438.5297,233.2432,9476,1.345067,-0.3108275,3.320185 -184.168,408.808,9478,1.223333,-0.262523,3.182325 -367.336,168.616,9481,1.159544,-0.4150646,4.069826 -218,106,9484,1.175946,-0.7515769,3.275691 -358.6,214.6,9487,1.330416,-0.3551691,3.587591 -395.56,182.44,9493,-0.7828217,-0.8467249,4.101854 -325,267.4,9496,1.008281,-0.9923323,3.806415 -107.9978,359.3182,9510,-0.1066064,-0.1189112,2.562371 -130.3927,386.6897,9517,1.016006,-0.6768404,3.092203 -439.9398,215.9909,9519,1.340513,-0.4589548,3.529027 -281.6826,218.9769,9521,1.053221,-0.7862892,3.401108 -319.9032,248.2395,9528,1.2708,-0.3913209,3.624022 -464.68,74.44,9538,0.6567874,0.3701813,2.528067 -125,57,9540,-0.08639203,-0.7650045,2.518322 -103,62,9541,0.9384212,-0.8724598,2.575482 -201.4,79,9542,0.8662248,-0.8900326,2.708927 -241,82,9543,0.7901545,-1.199932,3.964913 -373,125,9548,1.036925,-0.7571856,2.67277 -242,137,9549,0.171681,-0.4830615,2.620225 -128.2,147.4,9550,0.443197,-0.4143686,2.608949 -387,205,9554,1.10173,-0.579708,2.850382 -52,251,9556,0.6263455,-0.1751079,2.281339 -40,257,9557,1.152345,-0.4433504,2.880635 -292,257,9558,0.7735493,-0.1678277,2.288675 -162,282,9561,1.308216,-0.2414913,3.681338 -475,340,9562,0.6082366,0.5904086,2.365963 -36,441,9563,-0.5609055,-0.4732878,2.374359 -41.8,101.8,9564,0.7191074,-1.07686,3.799261 -465,97,9565,0.9918814,-0.8287519,2.695315 -493,120,9567,1.025411,-0.6993779,2.690808 -241,157,9568,0.3340726,-0.2031537,2.293479 -36,218,9569,0.4040627,-0.224523,2.314024 -47.8,217,9570,1.07489,-0.6039677,2.843095 -285,201,9571,0.420593,-0.2288456,2.292429 -39,219,9572,1.233609,-0.3278405,2.748385 -256,308,9573,1.238299,-0.3038931,2.760375 -258,317,9574,-0.2240005,-0.2282726,2.505387 -66,267,9576,0.6563168,0.4273208,2.646093 -123,406,9577,0.8364376,-0.3242815,2.501961 -133,246,9578,1.206681,-0.4574689,2.961402 -325,266,9579,1.123041,-0.3551013,2.517483 -167,279,9580,1.068936,-0.6870965,2.751841 -265,169,9581,0.103776,-0.2427553,2.426535 -68,194,9582,0.8501715,-1.26784,3.734599 -496,51,9583,0.9693736,-0.8899613,2.589787 -217,77.32,9584,0.1138384,-0.6175466,2.541003 -199,111.4,9586,0.2251104,-0.4898496,2.75629 -165.16,155.08,9587,1.055249,-0.6606349,2.703551 -245.8,173.8,9588,1.179063,-0.6486779,2.898541 -322,201,9589,0.9566579,-0.3722109,2.393831 -508,257,9592,1.217666,-0.3804884,2.684272 -255.4,308.2,9594,1.241597,-0.3089261,2.754775 -499,53,9596,0.9058189,-1.265791,3.729806 -506,53,9597,0.6637706,-1.168172,3.811202 -46.6,103,9599,0.909082,-0.8801772,2.732436 -253,89.8,9600,1.021568,-0.7552956,2.677019 -241,136.6,9601,0.3010215,-0.3604577,2.642982 -137.8,186.76,9602,1.165061,-0.7176001,3.297532 -423,195,9603,1.037554,-0.3527476,2.556093 -475,340.6,9605,1.308889,-0.2174193,3.693624 -474,345,9606,1.350078,-0.2386504,3.637021 -520,59,9608,-0.07882152,-0.7726864,2.718471 -151,73,9609,0.7960765,-1.204061,3.930977 -203.8,209.8,9611,1.168373,-0.5732929,2.924725 -320,225,9612,0.9531009,-0.6644295,2.63103 -209.8,158.2,9613,0.1010312,-0.2490643,2.437162 -70,190,9614,1.001272,-0.5264078,2.665369 -215.56,209.8,9615,0.5243906,-0.2164314,2.348649 -60,235,9616,0.8877051,-0.4192209,2.667758 -195.4,229,9617,0.9778628,-0.3725798,2.3741 -102,247,9618,-0.4707041,-0.274837,2.431361 -51.4,147.4,9619,0.2972957,-0.5452464,2.637783 -145,141.4,9620,0.08523835,-0.3632705,2.742105 -287.56,211.24,9622,1.271325,-0.07263838,3.370721 -398.44,376.84,9623,0.957632,-0.8744228,2.551771 -201.16,78.76,9624,0.7386188,-1.114588,4.055886 -425.8,153.64,9626,0.9882357,-0.3408562,2.370509 -99.4,259,9627,1.179357,-0.4467847,2.84853 -463.24,61.48,9630,0.3585238,-0.9725496,3.875064 -415,107.8,9631,1.030438,-0.6791545,2.775469 -237.4,287.8,9636,0.7808723,-1.196017,3.957309 -508.6,77.8,9637,1.024989,-0.8916673,3.48521 -450.28,143.56,9638,1.199522,-0.4408581,2.830955 -517.96,281.8,9642,0.5942289,-1.220765,3.79484 -456.04,58.6,9643,0.9470753,-0.820916,2.715934 -248.2,110.2,9644,0.7001889,-0.5280625,4.221054 -476.2,224.2,9645,1.012815,-0.3895488,2.371453 -220.8016,220.8016,9648,1.217808,-0.02974405,3.411263 -96.04001,417.448,9650,1.178146,-0.8672433,3.082775 -317.224,225.64,9652,1.190355,-0.458755,2.915505 -192.808,123.688,9654,1.090944,-1.00256,3.778851 -524.584,134.056,9655,1.010774,-0.8879167,3.502071 -450.28,144.424,9656,1.225702,-0.6242335,3.032737 -363.88,220.456,9657,0.7789621,-0.308614,3.934329 -431.272,267.112,9658,1.17412,-0.297083,2.459365 -472.744,337.96,9660,0.3663319,-0.9725797,3.86287 -189.6976,117.1216,9662,1.224532,-0.2780225,3.17579 -262.2737,164.8144,9665,1.111662,-0.6924114,3.098054 -365.9536,189.6976,9666,0.7209814,-1.006722,3.733354 -450.9713,108.8272,9667,0.9632888,-0.7561207,2.774324 -262.2737,137.8576,9668,1.005041,-0.8965043,3.507221 -450.9713,142.0048,9669,0.2947639,-0.1693192,2.418614 -69.42881,224.9488,9670,0.6266863,-0.5706247,4.191368 -465.4865,210.4336,9671,0.6134301,0.3254585,2.593233 -110.9008,378.3953,9672,0.8856539,-0.89099,2.722588 -247.7584,83.94402,9673,0.03122138,-0.3560971,2.722182 -139.9312,171.0352,9674,0.4805418,-0.3221034,2.487653 -256.0529,309.9664,9676,0.990807,-0.8423174,3.795258 -491.1992,167.7175,9677,0.3896635,-0.3418674,2.470731 -107.9978,190.1124,9678,0.6409849,0.3746149,2.520043 -389.178,376.7364,9680,0.9895586,-0.9297674,3.5215 -453.8744,132.881,9681,0.9695173,-0.7289255,3.970163 -502.6454,198.075,9682,0.8424776,-0.4179311,2.682612 -165.2292,399.1313,9684,1.290776,-0.08445301,3.739261 -466.3159,371.7598,9685,0.8071734,-1.174777,3.854553 -498.6641,88.09122,9686,1.19806,-0.5860041,2.695599 -257.7947,215.9909,9687,1.161551,-0.7337304,3.18365 -399.1313,185.1357,9688,0.2617399,0.3915228,2.879142 -466.3159,137.8576,9690,1.098485,-0.9429315,3.704966 -508.6174,152.7876,9691,0.9487396,-0.6955082,3.157151 -351.8532,175.1824,9692,0.8730878,-0.6368743,3.915525 -470.3968,208.8246,9693,1.00727,-0.3125838,2.452604 -129.3973,272.7246,9694,1.317734,-0.134746,3.701505 -469.7996,365.2902,9695,1.036188,-0.7936059,3.076 -356.8298,150.2992,9696,1.205098,-0.9137153,3.473031 -487.7155,150.2992,9697,1.110016,-0.7969198,3.319828 -425.0098,168.2151,9698,1.024522,-0.5166442,2.76889 -248.2395,212.4077,9699,0.586153,0.2160587,2.801265 -226.7405,172.9927,9701,0.9617706,-0.6316397,4.015889 -499.0623,219.5741,9702,0.9975165,-0.2881548,2.434392 -120.4394,278.6966,9703,0.9934946,-0.9325764,3.521337 -454.8697,132.3833,9704,0.9232889,-0.8924657,3.582878 -448.8977,141.3413,9705,1.079313,-0.7973337,3.053012 -359.3182,151.4936,9706,1.263744,-0.8622063,3.315282 -463.8276,162.2432,9707,1.110905,-0.6415676,2.780876 -275.7106,189.117,9708,1.00782,-0.626415,3.875918 -484.7296,223.1573,9709,0.2758085,0.4666578,2.897935 -153.2852,356.3322,9710,0.5994874,0.379999,2.689278 -132.3833,386.192,9711,0.5288858,-0.6342605,4.166405 -453.4,191.8,9712,1.18264,-0.7159848,2.820398 -307,175,9713,1.113551,-0.8284516,3.106218 -381.713,147.8109,9714,1.043759,-0.6984725,2.689212 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0069.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0069.csv deleted file mode 100644 index 5d0a5e1eb5dddbe45a0b31661590bdcd4862ca5d..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0069.csv +++ /dev/null @@ -1,224 +0,0 @@ -317.8,209.8,9001,1.217303,-0.2798182,2.752883 -364.6,152.2,9045,0.5255155,-0.9614401,3.762553 -260,263,9100,0.7739133,-0.1488888,2.259256 -170.2,422.2,9136,0.6375058,0.562068,2.308827 -111.592,232.552,9142,0.3070503,-0.1946307,2.401274 -225.64,332.2,9160,1.230567,-0.03372326,3.386692 -155.08,414.28,9168,1.093204,-0.6580337,3.096042 -132.04,430.12,9181,1.034816,-0.8240914,2.715539 -223,263,9271,1.33936,-0.2241284,3.585376 -215.56,271.72,9279,1.08709,-0.7570741,3.176875 -208.36,299.5984,9300,0.2465533,-0.2224996,2.496338 -437.8,411.4,9306,1.224237,-0.0004539835,3.312178 -189.352,306.856,9320,1.226357,-0.4523722,2.764372 -343,299,9321,1.215349,-0.6428032,3.895686 -258,134,9386,0.7992867,-1.282752,3.949085 -326.2,265,9414,1.196364,-0.4705168,2.824843 -446,158,9432,0.8094708,-0.9968094,3.756858 -355.24,291.88,9558,0.7735493,-0.1678277,2.288675 -523,170.2,9567,1.025411,-0.6993779,2.690808 -94.60001,248.68,9569,0.4040627,-0.224523,2.314024 -326,347,9574,-0.2240005,-0.2282726,2.505387 -386.2,301,9579,1.123041,-0.3551013,2.517483 -515.8,386.2,9606,1.350078,-0.2386504,3.637021 -387.4,309.4,9641,1.101211,-0.4001789,4.125726 -424.36,257.32,9657,0.7789621,-0.308614,3.934329 -225.64,332.776,9659,1.315007,-0.2678684,3.644675 -216,155,9720,0.9531521,-0.7506581,2.623312 -182,186,9723,1.172733,-0.7333434,3.169261 -110.44,250.12,9728,0.4254981,-0.2347242,2.347719 -116.2,251.56,9729,0.9064421,-0.363817,2.4993 -210,274,9730,0.9005068,-0.4896993,4.197065 -528,292,9731,1.17173,-0.457523,2.859684 -251,297,9733,1.15466,-0.3876204,2.781055 -325,309,9734,1.20296,-0.4267773,2.990709 -388,310,9735,1.121883,-0.3563711,2.509482 -240,306,9736,1.203151,-0.3536555,2.431057 -470.44,366.76,9739,0.5925557,0.3912785,2.681416 -555.4,97,9747,-0.4322541,-0.3515226,2.460457 -172,225,9751,0.9480123,-0.5088915,2.692264 -428,214,9756,0.8655142,-1.108828,3.899807 -98.92001,204.04,9759,0.2393554,-0.3307396,2.59369 -332.2,175,9770,1.222427,-0.6796594,3.10476 -444,244,9771,1.219524,-0.4260723,2.673742 -311.8,303.4,9772,1.254153,-0.2804413,3.159024 -420,428,9774,0.082637,-0.6597905,2.547025 -238.6,208.36,9778,0.8848665,-0.4999109,4.060442 -314.92,193.96,9785,1.027882,-0.6790754,2.775575 -554.2,327.4,9789,0.814283,0.2526261,2.805988 -325,338.2,9795,1.168487,-0.4621091,2.8651 -417.4,359.8,9799,1.264005,-0.02432907,3.293817 -260.2,137.8,9801,0.6029133,-0.4385102,4.085463 -405.64,412.84,9805,1.108572,-0.8750963,2.98787 -417.4,169,9806,0.0279717,-0.1914447,2.42036 -111.88,231.4,9807,0.5158667,-0.4843165,4.190852 -319.24,132.04,9809,1.100323,-0.680085,2.741589 -336.52,211.24,9810,1.186911,-0.4263419,4.023278 -553.96,327.88,9811,1.410228,-0.1898589,3.57943 -516,407,9812,1.200514,-0.6288791,3.032348 -418.6,253,9813,1.206381,-0.5781805,2.973414 -401.32,265.96,9814,1.247612,-0.01076289,3.312374 -451.72,182.44,9816,1.231569,-0.3277751,2.75097 -323.56,337.96,9817,0.918602,-0.3596713,2.409457 -183.88,273.16,9818,0.6533396,-0.4555813,4.181208 -538.12,153.64,9820,1.033109,-0.9312796,3.557631 -385,276,9822,1.283986,-0.2045843,2.285726 -166.888,384.616,9823,0.5826984,0.3966921,2.686871 -170.92,421.48,9824,1.35487,-0.1447969,3.682482 -168.616,391.528,9829,0.9772479,-0.2782927,2.440598 -388,298,9845,1.196881,-0.8663154,2.88438 -209.8,267.4,8820,0.7367782,-0.3215722,2.561547 -330.76,264.52,9027,1.220376,-0.5837578,2.956053 -406,414,9122,1.303714,-0.2326529,3.652153 -327,192,9246,0.3867466,-0.1805331,2.318827 -502,165,9262,0.9528283,-1.06159,3.747999 -353.8,248.2,9266,1.059882,-0.3527192,2.523454 -467.56,278.92,9292,1.240015,-0.3012919,2.756418 -314,194,9297,1.108156,-0.348842,2.539737 -276,151,9309,0.2396353,-0.1513239,2.31251 -524,170,9317,1.173476,-0.713537,2.980525 -405,212,9328,1.155083,-0.7522736,3.167458 -555,327,9338,0.1760916,-0.8481562,3.494962 -158,107,9384,0.8548424,-1.280369,3.728125 -106.408,175.528,9388,0.7844349,-1.205025,3.995243 -401.8,266.2,9420,1.338019,-0.2864265,3.617718 -427,211,9422,1.2252,-0.0484482,3.390968 -497.8,118.6,9426,0.7751566,-1.097548,3.999917 -443.8,415,9436,0.3952312,-0.9637623,3.851374 -481.96,160.84,9438,1.196309,-0.7088394,3.175568 -416,357,9451,1.316526,-0.2734366,3.63127 -222,446,9466,0.6271912,-0.2357271,2.401239 -225,265,9468,0.7220588,0.2875125,2.650398 -467.5601,278.8624,9476,1.345067,-0.3108275,3.320185 -424.36,210.088,9481,1.159544,-0.4150646,4.069826 -419,253,9487,1.330416,-0.3551691,3.587591 -466.8136,263.7667,9519,1.340513,-0.4589548,3.529027 -344.3882,254.8087,9521,1.053221,-0.7862892,3.401108 -183,101,9540,-0.08639203,-0.7650045,2.518322 -542,136,9544,1.051144,-0.8801001,2.572091 -182.44,186.76,9550,0.443197,-0.4143686,2.608949 -313,303,9560,1.116655,-0.338899,2.509681 -238,311,9561,1.308216,-0.2414913,3.681338 -90.28001,140.68,9564,0.7191074,-1.07686,3.799261 -136,295,9576,0.6563168,0.4273208,2.646093 -165,440,9577,0.8364376,-0.3242815,2.501961 -243,307,9580,1.068936,-0.6870965,2.751841 -119,226,9582,0.8501715,-1.26784,3.734599 -215.8,194.2,9587,1.055249,-0.6606349,2.703551 -539,299,9592,1.217666,-0.3804884,2.684272 -326.2,346.6,9595,0.8741029,-1.261336,3.728133 -189.4,224.2,9602,1.165061,-0.7176001,3.297532 -518,385,9607,0.8547433,-1.273024,3.892184 -552,118,9608,-0.07882152,-0.7726864,2.718471 -267.4,244.6,9611,1.168373,-0.5732929,2.924725 -383,261,9612,0.9531009,-0.6644295,2.63103 -353,296,9628,1.235294,-0.04326328,3.390336 -435,416,9629,0.7135618,-1.204914,3.721665 -333.4,207.4,9632,0.3841749,-0.343059,2.547245 -278,259,9634,0.9673768,-0.3776131,2.393971 -539,135,9637,1.024989,-0.8916673,3.48521 -319,153,9644,0.7001889,-0.5280625,4.221054 -503.56,270.28,9645,1.012815,-0.3895488,2.371453 -434.2,416.2,9649,0.6941683,0.4390739,2.54189 -452.2,183.4,9651,1.198233,-0.5792422,2.894244 -373,298.6,9653,0.8888482,-0.7373051,2.573592 -264.3472,164.8144,9654,1.090944,-1.00256,3.778851 -464.104,310.312,9658,1.17412,-0.297083,2.459365 -416.2,356.2,9663,1.054341,-0.6432521,2.623468 -421.9409,229.096,9666,0.7209814,-1.006722,3.733354 -484.1489,160.6672,9667,0.9632888,-0.7561207,2.774324 -165.2292,224.9489,9678,0.6409849,0.3746149,2.520043 -257.32,258.76,9683,0.794115,0.3051797,2.751206 -529.5193,135.3693,9686,1.19806,-0.5860041,2.695599 -545.9422,195.089,9691,0.9487396,-0.6955082,3.157151 -344.9855,226.7405,9708,1.00782,-0.626415,3.875918 -520.5613,266.1555,9709,0.2758085,0.4666578,2.897935 -190.1124,394.1547,9710,0.5994874,0.379999,2.689278 -488,94,9716,0.8812781,-1.351714,3.831879 -556,97,9717,0.6847679,-1.304275,3.747368 -504,96,9718,0.9264734,-0.8761934,2.579364 -284,123,9719,0.1346254,-0.6473007,2.74617 -288,168,9721,0.0232748,-0.488273,2.723929 -193,182,9722,0.180782,-0.4862888,2.615927 -452,227,9724,0.3205821,-0.3331975,2.592078 -177,229,9725,1.005612,-0.5440196,2.701756 -296.2,241,9726,0.8784392,-0.4816782,2.686138 -268,245,9727,0.3988615,-0.228325,2.333966 -355,293,9732,1.054159,-0.3605474,2.576821 -226,318,9737,1.220478,-0.2430365,3.201097 -416,365,9738,1.338521,-0.3075529,3.327036 -170,422,9740,-0.0463033,-0.6551526,2.358236 -118,119,9741,0.07554781,-0.666877,2.564402 -174,137,9742,1.05386,-0.9177573,3.793848 -545,201,9743,1.061663,-0.6563041,2.694888 -315,212,9744,-0.015631,-0.1736706,2.43334 -110.2,232.6,9745,1.211583,-0.3826623,2.790646 -337,319,9746,0.7858215,-1.381174,3.960379 -106.6,173.8,9748,1.216322,-0.4604389,2.913602 -376.6,299.8,9749,0.6821243,0.426027,2.552421 -141,447,9750,0.2370585,-0.3229235,2.600593 -281,245,9752,1.289446,-0.2796995,3.400656 -470.2,367,9753,0.2114626,-0.2884201,2.608597 -169,227,9754,0.8593768,-0.4741841,2.690286 -263.8,245.8,9755,1.149544,-0.7510037,3.063336 -539,155,9757,1.006567,-0.7819682,2.714761 -327,170,9758,-0.5574536,-0.1603866,2.49163 -170.92,221.32,9760,0.9780399,-0.516996,2.668026 -280.6,244.6,9761,0.4741285,-0.279182,2.382416 -131.8,247,9762,1.161705,-0.5653191,2.88591 -370.6,260.2,9763,-0.1158097,-0.8438372,2.697118 -199,101,9764,-0.06520913,-0.8054034,2.592617 -178.6,103,9765,-0.1237262,-0.6877988,2.801893 -210,143,9766,-0.44959,-0.4907108,2.407686 -101.8,143.56,9767,1.047104,-0.8607477,2.784023 -357,153,9768,1.132825,-1.015424,3.726671 -562.6,181,9769,1.036165,-0.7747065,2.729827 -418,360,9773,1.301773,-0.04421504,3.2461 -170.2,137.8,9775,0.9953106,-0.7807207,2.7428 -329,171,9776,0.2479403,-0.4248348,2.671968 -194.2,205,9777,0.3716169,-0.4820448,2.806242 -509.8,285.4,9779,1.169924,-0.3919978,2.526608 -256.6,301,9780,1.13668,-0.3471462,2.501449 -238.6,310.6,9781,0.813646,-0.1697762,2.259749 -110,311,9782,0.7748123,0.2793944,2.845263 -229,423.4,9783,0.1858184,-0.516069,2.785398 -219.88,188.2,9784,1.020276,-0.7045979,2.701663 -332.2,206.92,9786,0.9295053,-0.6851074,2.627095 -278.92,186.76,9787,-0.4520391,-0.1875289,2.497467 -105.4,205,9788,1.173315,-0.4158472,4.058428 -228.52,422.92,9790,1.127021,-0.8607599,2.724196 -357.4,153.4,9791,0.9946809,-0.8093809,2.848867 -357.4,170.2,9792,0.9856095,-0.6675752,2.650364 -291.88,198.28,9793,0.34291,-0.2128979,2.35241 -111.4,249.4,9794,1.223579,-0.3245769,2.763397 -356.2,291.4,9796,0.9219218,-0.8259526,2.728409 -317.8,151,9797,1.133444,-0.3891845,4.089038 -548.2,330.76,9798,1.255013,-0.281552,3.154635 -420.04,425.8,9800,0.8506276,-0.8074048,2.556079 -467.5601,279.208,9802,1.0033,-0.5052205,4.084295 -533.9153,295.4512,9803,0.7384868,0.1795846,2.497077 -149.608,396.712,9804,1.224516,-0.04219979,3.250359 -469.6337,264.3472,9808,0.9109399,-0.8832156,2.718263 -419.176,426.088,9815,1.197818,-0.870732,3.061646 -486.2225,280.936,9819,0.7749615,-1.127017,4.017967 -509.0321,185.5504,9821,1.223267,-0.5421401,2.90482 -515.2529,405.3521,9825,0.630492,-1.149216,3.82941 -493.6875,132.3833,9826,1.076028,-0.9004655,3.138379 -443.9211,170.2058,9827,0.7600345,-0.5475477,4.163121 -506.1291,269.7386,9828,1.269323,-0.1764321,2.302478 -192.6007,307.0634,9830,1.062184,-0.7576347,3.114955 -421.5262,207.5306,9831,0.9976103,-0.832109,2.626911 -304.5751,145.3226,9832,1.161848,-0.6580186,2.8878 -381.713,232.4138,9833,1.38664,-0.4282183,3.511972 -526.0356,344.3882,9834,0.7977003,0.1411724,2.472839 -150.2992,396.643,9835,1.337904,-0.2672862,3.39904 -478.7576,377.2341,9836,1.014687,-0.8161519,2.666161 -316.32,155.0768,9837,1.024544,-0.8867016,3.814561 -538.4773,207.033,9838,1.161105,-0.7643496,3.024539 -423.8155,208.8246,9839,0.6111727,-0.5147789,2.62204 -223.1573,208.8246,9840,1.373989,-0.4468805,3.505495 -524.1445,337.8191,9841,0.9787595,-0.8996926,3.547791 -493.6875,189.117,9842,0.8310489,-0.6733325,4.167425 -527.7277,251.8227,9843,0.2444139,-0.5922031,2.555641 -179.8,161.8,9844,1.197026,-0.4685233,2.974528 -412.264,170.344,9846,0.05653282,-0.6564816,2.570578 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0070.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0070.csv deleted file mode 100644 index bbfc151a8126b2ecfdfff70d82c35d737d0539b0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0070.csv +++ /dev/null @@ -1,198 +0,0 @@ -409,382,9122,1.303714,-0.2326529,3.652153 -443.08,376.84,9150,-0.699728,-0.05118834,2.303136 -360,219,9165,1.092562,-0.5077415,2.770206 -251.56,306.856,9167,0.5804277,0.3503717,2.604367 -349.48,430.12,9257,0.6006062,-1.305599,3.781062 -332.2,163,9289,0.800065,-0.9975182,3.761633 -227.08,427.24,9472,0.9966544,-0.8274591,2.679448 -441.64,245.8,9476,1.345067,-0.3108275,3.320185 -231.4,422.92,9478,1.223333,-0.262523,3.182325 -301,119,9484,1.175946,-0.7515769,3.275691 -289,92.2,9542,0.8662248,-0.8900326,2.708927 -430,139,9548,1.036925,-0.7571856,2.67277 -160.84,165.16,9550,0.443197,-0.4143686,2.608949 -89.8,235,9570,1.07489,-0.6039677,2.843095 -356,209,9571,0.420593,-0.2288456,2.292429 -343,318,9574,-0.2240005,-0.2282726,2.505387 -343,317.8,9595,0.8741029,-1.261336,3.728133 -503.8,346.6,9606,1.350078,-0.2386504,3.637021 -440.2,380.2,9623,0.957632,-0.8744228,2.551771 -387.4,182.2,9713,1.113551,-0.8284516,3.106218 -395,279,9735,1.121883,-0.3563711,2.509482 -267.4,221.8,9755,1.149544,-0.7510037,3.063336 -113.32,296.2,9782,0.7748123,0.2793944,2.845263 -341.8,309.4,9795,1.168487,-0.4621091,2.8651 -439,247,9802,1.0033,-0.5052205,4.084295 -83.94401,217,9807,0.5158667,-0.4843165,4.190852 -175.24,201.16,9849,0.08366187,-0.2094459,2.401175 -84.52,215.56,9850,0.312714,-0.1698011,2.262857 -168.616,265.384,9853,1.200943,-0.4526615,2.977863 -395,271,9854,1.236607,-0.437237,3.599312 -509,344,9856,0.3467276,0.5131412,2.514438 -59.8,190.6,9861,1.000467,-0.6243176,2.67962 -301.96,186.76,9862,0.285034,-0.3537655,2.657154 -248.104,149.608,9868,0.05730911,-0.641036,2.765766 -185.8,149.8,9871,-0.4392522,-0.1876426,2.464466 -142.696,225.64,9874,1.128122,-0.353999,2.520554 -422.2,221.8,9889,0.4921193,-0.660648,2.793836 -248.68,149.32,9890,0.5348819,-0.09471796,2.254294 -322.6,165.4,9893,1.132695,-0.8671377,3.522705 -137.512,220.456,9897,1.236643,-0.4247839,2.665772 -332.2,277,9898,0.172298,-0.6123482,2.573904 -87.40001,211.816,9901,1.221482,-0.02609319,3.413662 -432,382,9902,1.111164,-1.011869,3.753224 -537.4,149.8,9903,1.035892,-0.6617756,2.724764 -326.44,181,9904,0.3503046,-0.1522425,2.234981 -330.76,274.6,9906,0.03623386,-0.6305314,2.78828 -419,153,9908,1.154146,-0.8443128,3.500824 -503,180,9909,0.3780003,-0.356849,2.583903 -435.88,375.4,9918,0.1935851,-0.6195372,2.703162 -189.4,139,9919,1.183207,-0.6784261,3.020938 -421.48,204.04,9920,0.9679375,-0.4956771,2.648275 -433,379.72,9923,0.8016677,0.2615596,2.811458 -268.84,220.456,9925,1.183479,-0.6228777,3.057874 -529,291.4,9927,0.6613573,-1.17258,3.862049 -502.12,173.8,9929,0.3400823,-0.4823305,2.855694 -229.096,185.896,9930,0.4436374,-0.4079157,2.582559 -61.48001,365.608,9933,0.5820266,0.3389337,2.606596 -97,367,9936,0.3232659,-0.4533167,2.82195 -218.728,191.08,9937,1.111618,-0.5177568,2.780376 -341.416,237.736,9938,0.6745309,-1.173623,3.852934 -56.29601,248.104,9940,1.267708,-0.6282287,2.850619 -528.04,291.88,9942,0.6055966,-0.1280131,2.263602 -457,219,9952,0.8376452,-0.7900556,2.658396 -502.6,179.8,9963,0.2833547,-0.6178095,2.533735 -160.84,133.48,9964,1.228957,0.02144769,3.333641 -417.4,395.8,9965,0.6381504,-0.557437,4.184205 -326.2,181,9001,1.217303,-0.2798182,2.752883 -260.2,241,9100,0.7739133,-0.1488888,2.259256 -166.6,408.52,9136,0.6375058,0.562068,2.308827 -83.94402,216.6544,9142,0.3070503,-0.1946307,2.401274 -150.76,401.32,9168,1.093204,-0.6580337,3.096042 -333,164,9246,0.3867466,-0.1805331,2.318827 -475,138,9262,0.9528283,-1.06159,3.747999 -224,241,9271,1.33936,-0.2241284,3.585376 -322,166,9297,1.108156,-0.348842,2.539737 -220.8016,278.8624,9300,0.2465533,-0.2224996,2.496338 -439,377.8,9306,1.224237,-0.0004539835,3.312178 -128,85,9384,0.8548424,-1.280369,3.728125 -423,181,9422,1.2252,-0.0484482,3.390968 -441,380,9436,0.3952312,-0.9637623,3.851374 -423,221,9487,1.330416,-0.3551691,3.587591 -352.1518,215.9909,9521,1.053221,-0.7862892,3.401108 -364.6,266.2,9558,0.7735493,-0.1678277,2.288675 -196.6,173.8,9587,1.055249,-0.6606349,2.703551 -172.36,204.04,9602,1.165061,-0.7176001,3.297532 -508,347,9607,0.8547433,-1.273024,3.892184 -364,267,9628,1.235294,-0.04326328,3.390336 -339.4,178.6,9632,0.3841749,-0.343059,2.547245 -508,108,9637,1.024989,-0.8916673,3.48521 -473.32,240.04,9645,1.012815,-0.3895488,2.371453 -268.4944,135.784,9654,1.090944,-1.00256,3.778851 -419,324,9663,1.054341,-0.6432521,2.623468 -141.3413,215.9909,9678,0.6409849,0.3746149,2.520043 -290,93,9719,0.1346254,-0.6473007,2.74617 -160.6,165.4,9723,1.172733,-0.7333434,3.169261 -251,293,9737,1.220478,-0.2430365,3.201097 -165,410,9740,-0.0463033,-0.6551526,2.358236 -521,171,9743,1.061663,-0.6563041,2.694888 -141,436,9750,0.2370585,-0.3229235,2.600593 -153,207,9751,0.9480123,-0.5088915,2.692264 -287,219,9752,1.289446,-0.2796995,3.400656 -329,140,9758,-0.5574536,-0.1603866,2.49163 -119.8,229,9762,1.161705,-0.5653191,2.88591 -379,231,9763,-0.1158097,-0.8438372,2.697118 -169,76,9764,-0.06520913,-0.8054034,2.592617 -277,274.6,9780,1.13668,-0.3471462,2.501449 -257.8,286.6,9781,0.813646,-0.1697762,2.259749 -231.4,405.4,9783,0.1858184,-0.516069,2.785398 -322.12,165.16,9785,1.027882,-0.6790754,2.775575 -530,292,9789,0.814283,0.2526261,2.805988 -229.96,405.64,9790,1.127021,-0.8607599,2.724196 -299.08,170.92,9793,0.34291,-0.2128979,2.35241 -94,234,9794,1.223579,-0.3245769,2.763397 -340.84,309.16,9817,0.918602,-0.3596713,2.409457 -504.8849,368.0273,9825,0.630492,-1.149216,3.82941 -463.8276,105.5095,9826,1.076028,-0.9004655,3.138379 -389.178,202.554,9833,1.38664,-0.4282183,3.511972 -514.5894,177.1731,9838,1.161105,-0.7643496,3.024539 -148,116,9847,1.007369,-0.6988321,2.697321 -317.8,165.4,9848,0.2586568,-0.3757678,2.670845 -63.4,239.8,9851,0.8355311,-0.4121714,2.692283 -259,236.2,9852,0.7381037,-0.2529965,2.44815 -496,288,9855,1.393265,-0.2755402,3.542655 -94.60001,407.8,9857,1.238649,0.01525722,3.321502 -418,396,9858,-0.2370721,-0.8430123,2.629539 -143.8,68.2,9859,0.7366238,-1.047101,3.868929 -479,132,9860,-0.5601356,-0.1597784,2.4952 -173,205,9863,0.8335022,-0.4472052,2.689793 -261,226,9864,1.294268,-0.2655888,2.427322 -260,339,9865,0.6802983,-0.3277751,2.639333 -216,243,9866,0.8117654,-0.2301288,2.335959 -143,278,9867,0.4818327,-0.6584182,2.798707 -189,132,9869,0.9353471,-0.7908137,2.625318 -291.88,127.72,9870,0.2058871,-0.5740757,2.693099 -61.48,189.64,9872,-0.1128121,-0.2767514,2.589314 -116.2,194.2,9873,0.3080346,-0.2582075,2.5418 -261.4,281.8,9875,-0.09706405,-0.8389863,2.688451 -169,76.60001,9876,0.9853305,-0.8930657,2.578898 -303.4,88.60001,9877,0.06586935,-0.6665807,2.566278 -148.6,113.8,9878,1.103069,-0.8314851,3.118819 -435.4,159.4,9879,0.1796494,-0.4752846,2.766546 -192.52,175.24,9880,0.3683419,-0.4589005,2.786432 -217,190.6,9881,0.9855843,-0.3694872,2.45114 -217,257.8,9882,1.215767,-0.3586288,2.6735 -322.12,296.2,9883,0.5610266,0.4539672,2.547944 -126.28,422.92,9884,0.6336076,0.4201553,2.57322 -142,426,9885,0.8055876,-1.112178,3.984831 -508,127,9886,1.16987,-0.8345865,2.734697 -377.8,135.4,9887,0.06312315,-0.383104,2.744967 -170.92,189.64,9888,1.192061,-0.6253516,3.042326 -75.88,283.24,9891,1.231263,0.003801151,3.338973 -419.8,393.4,9892,1.021111,-0.702958,2.703375 -503,174,9894,1.208808,-0.4348751,2.994616 -398,277,9895,0.03843285,-0.2111825,2.433375 -89,213,9896,0.2908771,-0.2715654,2.524274 -157.96,132.04,9899,-0.04691851,-0.5561525,2.680839 -156.52,140.68,9900,0.04703073,-0.2173194,2.422741 -57.16,247.24,9905,1.23324,-0.4314924,2.663833 -190.6,134.2,9907,1.176666,-0.8214617,2.937337 -166.6,208.6,9910,1.198682,-0.4282585,2.991986 -394.6,278.2,9911,1.229614,-0.3019269,2.770782 -342.28,316.36,9912,1.221323,-0.2612604,3.197805 -419.8,327.4,9913,0.9787622,-0.8921349,2.578907 -301.96,88.84,9914,1.22596,-0.2768614,3.176238 -418.6,323.8,9915,0.8795334,-0.4760738,2.673595 -267.4,221.32,9916,0.9990028,-0.8085688,2.649413 -315.496,125.416,9917,1.221537,-0.05905457,3.420269 -278.8624,222.8752,9921,0.1532987,-0.6101829,2.584391 -158.248,132.328,9922,1.221061,-0.03565845,3.414635 -229.096,405.3521,9924,0.8666397,-0.4760305,2.675581 -422.632,222.184,9926,1.158224,-0.4102097,4.079084 -474.472,102.952,9928,1.113523,-0.8682234,3.554167 -177.256,200.0656,9931,0.4530609,-0.2981132,2.467386 -142.0048,224.9488,9932,0.5850224,0.1773563,2.250438 -150.2992,399.1313,9934,1.237838,-0.8651409,2.836441 -419.8672,135.784,9935,0.8463667,0.03964662,2.247753 -475.8545,102.6064,9939,0.2566848,-0.1185033,2.264459 -404.1079,219.9722,9941,1.236792,-0.4331018,3.890393 -88.09122,282.1802,9943,0.928498,-0.3519826,2.395803 -189.117,254.8087,9944,0.8530404,-0.3220257,2.437969 -187.624,257.297,9945,0.835587,-1.16201,3.727246 -490.7015,102.5235,9946,1.234859,-0.5266333,2.869654 -389.178,252.3204,9947,0.5397195,-0.1390407,2.307141 -95.55618,272.227,9948,0.8377989,-0.8455607,2.550558 -262.2737,95.55618,9949,0.7438956,-1.147245,3.926003 -493.6875,114.4674,9950,0.9362794,-0.8188155,2.708436 -317.5144,123.4254,9951,1.140251,-0.6562228,3.313399 -284.0714,122.8282,9953,0.7768648,-1.13782,3.892428 -495.4791,115.6618,9954,1.057475,-0.7978969,3.391881 -463.2305,180.1591,9955,1.194873,-0.6255256,2.826239 -380.8173,212.4077,9956,1.209141,-0.5587611,2.959983 -404.1079,239.8788,9957,1.173712,-0.3724089,3.366685 -445.9117,296.6125,9958,0.9453221,-0.8414627,2.716908 -323.4864,117.4534,9959,0.9574838,-0.3726803,2.363551 -190.9086,255.4059,9960,1.200189,-0.3269443,2.433353 -248.2395,301.9873,9961,1.144452,-0.8400171,2.770354 -379,135,9962,1.048318,-0.8528534,3.683855 -461.8,229.96,9966,-0.1709196,-0.8473464,2.611769 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0071.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0071.csv deleted file mode 100644 index 48e8c9a8ad819db9804d416026cceabf53667229..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0071.csv +++ /dev/null @@ -1,265 +0,0 @@ -121.96,224.2,8823,0.474747,-0.2430022,2.319951 -287.56,276.04,9167,0.5804277,0.3503717,2.604367 -243.6112,403.2784,9349,0.5367114,-0.4051066,2.531759 -108.136,83.94401,9431,0.3873573,-0.9702734,3.837977 -242.92,405.3521,9472,0.9966544,-0.8274591,2.679448 -444,345,9623,0.957632,-0.8744228,2.551771 -392.2,239.8,9653,0.8888482,-0.7373051,2.573592 -303.4,79,9719,0.1346254,-0.6473007,2.74617 -155.08,205.48,9754,0.8593768,-0.4741841,2.690286 -174,112,9766,-0.44959,-0.4907108,2.407686 -467,233,9779,1.169924,-0.3919978,2.526608 -247.24,384.04,9790,1.127021,-0.8607599,2.724196 -361,279.4,9795,1.168487,-0.4621091,2.8651 -415,350.2,9805,1.108572,-0.8750963,2.98787 -87.4,211.24,9807,0.5158667,-0.4843165,4.190852 -439,231,9819,0.7749615,-1.127017,4.017967 -403,239,9845,1.196881,-0.8663154,2.88438 -178.12,188.2,9849,0.08366187,-0.2094459,2.401175 -503,308,9856,0.3467276,0.5131412,2.514438 -186,125,9869,0.9353471,-0.7908137,2.625318 -305.8,112.6,9870,0.2058871,-0.5740757,2.693099 -291.4,257.8,9875,-0.09706405,-0.8389863,2.688451 -220.6,181,9881,0.9855843,-0.3694872,2.45114 -143.56,409.96,9884,0.6336076,0.4201553,2.57322 -170,180,9888,1.192061,-0.6253516,3.042326 -355,245,9906,0.03623386,-0.6305314,2.78828 -362.2,286.6,9912,1.221323,-0.2612604,3.197805 -424,297,9913,0.9787622,-0.8921349,2.578907 -316.36,75.88,9914,1.22596,-0.2768614,3.176238 -437.32,340.84,9918,0.1935851,-0.6195372,2.703162 -434.44,348.04,9923,0.8016677,0.2615596,2.811458 -427,119,9935,0.8463667,0.03964662,2.247753 -211.816,237.736,9945,0.835587,-1.16201,3.727246 -400,222,9947,0.5397195,-0.1390407,2.307141 -391,116,9962,1.048318,-0.8528534,3.683855 -190,137,9969,0.3164588,-0.6398134,2.758996 -118.6,189.4,9977,-0.3564425,-0.1217623,2.400946 -191,249,9985,1.203948,-0.3497094,2.692636 -193,366,9990,0.579742,0.4460448,2.548325 -145,410,9991,0.6947398,-1.296001,3.747108 -141.4,75.4,9993,0.9038531,-0.8538101,2.547518 -51,122,9996,0.984545,-0.6684431,2.674413 -107,226,9999,0.8332115,-0.3999907,2.709663 -273,221,10000,0.8812885,-0.4884354,4.260277 -215.56,244.36,10002,1.102876,-0.3108889,2.458811 -263,269,10003,-0.07187269,-0.5963634,2.406616 -147.4,111.4,10005,1.184679,-0.7335183,3.28201 -70,240,10007,0.2998989,-0.1291582,2.266238 -271,177,10013,1.199327,-0.6875913,3.007166 -424.36,181,10014,0.8815438,-0.4779364,2.681566 -282,203,10015,1.196417,-0.4026581,2.773367 -361,253,10016,0.6114293,0.3344888,2.601147 -214,136,10021,0.6333184,-1.417908,3.87177 -311.8,153.4,10028,1.151814,-0.8656034,3.508028 -215.8,241,10031,0.9002689,-0.4908237,4.210079 -375.4,127,10035,0.3022805,-0.5722947,2.800288 -178.6,196.6,10037,0.008733741,-0.1920379,2.43415 -369,196,10039,0.2704973,-0.1297111,2.264795 -467.8,297.4,10043,1.376873,-0.2449235,3.601746 -500,313,10044,0.4316264,0.3591382,2.835021 -212.68,237.16,10048,1.207585,-0.4532966,2.974134 -401.8,243.4,10049,0.6220212,0.1516454,2.242166 -89,351,10050,0.5448389,-0.6839903,2.786547 -258,137,10051,-0.5714322,-0.1837735,2.487124 -47.8,184.6,10052,0.9483852,-0.3876136,2.470018 -449.8,55,10060,1.063077,-0.9291536,3.508751 -473.32,134.92,10061,1.150351,-0.7338293,3.343211 -472.6,206.2,10063,1.190366,-0.5982268,2.937761 -271,177.4,10069,1.141375,-0.6749502,2.829824 -90.28001,206.92,10076,1.105872,-0.5794982,2.84842 -435.4,136.6,10083,0.1996181,-0.6385563,2.788788 -200.2,159.4,10085,0.8673885,-0.4618481,2.694489 -379.72,152.2,10087,1.142007,-0.3618372,2.531792 -294.76,255.88,10088,1.239736,-0.03993465,3.400535 -303.4,110.44,10090,0.700777,-0.637867,4.428677 -473.32,208.36,10091,1.253332,-0.4344449,2.943423 -405.4,250.6,10092,-0.2117202,-0.8338202,2.668988 -335.8,147.4,10094,0.3267228,-0.3652737,2.63838 -178.12,195.4,10095,1.109441,-0.5646661,2.85286 -368.2,196.84,10096,1.361204,-0.2992758,3.302637 -343.72,267.4,10099,0.9730685,-0.8164812,2.656154 -322.12,107.56,10100,1.156962,-0.752975,2.776433 -192.52,312.04,10109,1.238808,-0.8893716,2.948168 -164,124,10112,0.7574,0.2919874,2.864308 -481.96,241.48,10127,1.131361,-0.3357764,2.456871 -310,194,10134,1.101475,-0.5228565,3.786263 -276,222,9100,0.7739133,-0.1488888,2.259256 -415,350,9122,1.303714,-0.2326529,3.652153 -167.8,385,9168,1.093204,-0.6580337,3.096042 -345,145,9289,0.800065,-0.9975182,3.761633 -123,82,9384,0.8548424,-1.280369,3.728125 -314.2,104.2,9484,1.175946,-0.7515769,3.275691 -362.9014,194.4918,9521,1.053221,-0.7862892,3.401108 -304,79,9542,0.8662248,-0.8900326,2.708927 -163.72,157.96,9550,0.443197,-0.4143686,2.608949 -106.6,225.4,9570,1.07489,-0.6039677,2.843095 -147.9105,190.9086,9678,0.6409849,0.3746149,2.520043 -163,419,9750,0.2370585,-0.3229235,2.600593 -281.8,202.6,9755,1.149544,-0.7510037,3.063336 -343,124,9758,-0.5574536,-0.1603866,2.49163 -389,206,9763,-0.1158097,-0.8438372,2.697118 -304,249,9780,1.13668,-0.3471462,2.501449 -247,385,9783,0.1858184,-0.516069,2.785398 -361,278.92,9817,0.918602,-0.3596713,2.409457 -148,111,9847,1.007369,-0.6988321,2.697321 -189.6976,247.7584,9853,1.200943,-0.4526615,2.977863 -403,243,9854,1.236607,-0.437237,3.599312 -458,118,9860,-0.5601356,-0.1597784,2.4952 -51.4,188.2,9861,1.000467,-0.6243176,2.67962 -316.6,167.8,9862,0.285034,-0.3537655,2.657154 -178,196,9863,0.8335022,-0.4472052,2.689793 -55.72,188.2,9872,-0.1128121,-0.2767514,2.589314 -163,74,9876,0.9853305,-0.8930657,2.578898 -318,76,9877,0.06586935,-0.6665807,2.566278 -432,140,9879,0.1796494,-0.4752846,2.766546 -192.52,166.6,9880,0.3683419,-0.4589005,2.786432 -162,410,9885,0.8055876,-1.112178,3.984831 -388,115,9887,0.06312315,-0.383104,2.744967 -425,197,9889,0.4921193,-0.660648,2.793836 -425,360,9892,1.021111,-0.702958,2.703375 -335,147,9893,1.132695,-0.8671377,3.522705 -354,248,9898,0.172298,-0.6123482,2.573904 -153.4,136.6,9900,0.04703073,-0.2173194,2.422741 -339.4,161.8,9904,0.3503046,-0.1522425,2.234981 -423,135,9908,1.154146,-0.8443128,3.500824 -403,250,9911,1.229614,-0.3019269,2.770782 -424.6,182.2,9920,0.9679375,-0.4956771,2.648275 -246.376,384.616,9924,0.8666397,-0.4760305,2.675581 -488.2,153.4,9929,0.3400823,-0.4823305,2.855694 -230.824,177.256,9930,0.4436374,-0.4079157,2.582559 -166.888,382.5424,9934,1.237838,-0.8651409,2.836441 -220.456,180.712,9937,1.111618,-0.5177568,2.780376 -217.4839,234.9021,9944,0.8530404,-0.3220257,2.437969 -219.5741,233.9068,9960,1.200189,-0.3269443,2.433353 -138,65,9967,-0.1848431,-0.8110492,2.632767 -139,73,9968,0.2014142,-0.6063449,2.715147 -215.8,135.4,9970,0.06055867,-0.4855609,2.649809 -154,155,9971,0.3455678,-0.5748453,2.782585 -221,153,9972,0.1885092,-0.5051194,2.751107 -190,161,9973,1.048267,-0.6622226,2.721221 -339,162,9974,0.9390754,-0.5936802,2.651988 -296,172,9975,0.3097253,-0.4540132,2.835803 -219,181,9976,-0.05753247,-0.2891358,2.590178 -44,206,9978,0.1946328,-0.3279832,2.626486 -156,197,9979,0.07446115,-0.2335769,2.494478 -110,207,9980,0.03747594,-0.1986945,2.423778 -88,211,9981,0.9861071,-0.5320885,2.691936 -310,196,9982,0.6934451,-0.3731998,2.591315 -223,217,9983,1.074194,-0.4822036,2.755202 -336,219,9984,0.7509718,-0.2571244,2.450033 -343,269,9986,1.232501,-0.3273606,2.763012 -361,279,9987,1.317923,-0.2976217,3.373003 -468,297,9988,-0.3253087,0.600366,2.464295 -32,352,9989,0.4703889,0.3416943,2.811352 -452,61,9992,-0.1632444,-0.8103865,2.635116 -288,83,9994,0.0417506,-0.6714234,2.58652 -148,108,9995,-0.4864346,-0.4931206,2.414023 -313,153,9997,1.006847,-0.624629,2.666666 -316,168,9998,0.4792003,-0.2459366,2.285675 -480,237,10001,0.9473261,-0.330187,2.388939 -92,112,10004,0.1650972,-0.661709,2.515213 -461,181,10006,0.3085342,-0.1403788,2.250413 -73,242.2,10008,0.7156557,0.3972891,2.59598 -178,414,10009,-0.7225667,-0.7496122,2.605681 -81.4,76.60001,10010,-0.1299036,-0.815277,2.629799 -144,76,10011,1.06805,-0.8035381,2.815706 -373,128,10012,0.707089,-0.5493739,2.753672 -168,385,10017,0.8053236,0.2684699,2.830825 -248,386,10018,0.3784143,0.5099171,2.526303 -112,401,10019,0.9808937,-0.3884174,2.455572 -244,231,10020,0.3309776,-0.6354335,2.738222 -459.4,44.2,10022,-0.1458058,-0.7814378,2.486917 -111.4,71.8,10023,-0.6587322,-0.4704644,2.415026 -37,122,10024,-0.5026563,-0.4911865,2.422429 -51.4,122.2,10025,0.9604865,-0.7906562,2.756731 -336.52,120.52,10026,0.565294,-0.666392,2.758006 -255.4,139,10027,0.9886841,-0.6653208,2.653286 -488,154,10029,1.052323,-0.615859,2.892421 -368,184,10030,0.8546114,-0.3171009,2.460696 -478.6,236.2,10032,1.256701,-0.04957698,3.365156 -435,349,10033,0.2646911,-0.6354473,2.783851 -213.4,135.4,10034,1.128584,-0.7923239,2.761531 -217,152.2,10036,0.3148102,-0.3609057,2.64846 -87.4,211,10038,1.09724,-0.5794747,2.864319 -69.4,239.8,10040,0.7650528,-0.2612493,2.440699 -190.6,248.2,10041,1.125335,-0.3600184,2.522732 -287.8,255.4,10042,1.324825,-0.2970256,3.362804 -191.8,365.8,10045,0.8731768,-0.5655596,2.657468 -283,178.6,10046,0.6828334,-0.5385947,2.767678 -267.4,176.68,10047,0.8648249,-0.3288603,2.438585 -241,227.8,10053,1.108127,-0.3554647,2.547472 -290.2,255.4,10054,-0.1578387,-0.8362861,2.59712 -136,67,10055,0.9471222,-0.9005653,2.687805 -330,83,10056,1.193895,-0.6780772,3.020976 -425,182,10057,1.200449,-0.3537365,2.437504 -284.68,263.08,10058,-0.1123937,-0.8827127,2.481537 -119.08,49.96,10059,0.7140079,-1.307314,3.687351 -460.36,179.56,10062,0.7457987,-0.6468778,4.322005 -404.2,200.2,10064,1.194336,-0.5706751,3.001615 -412.84,211.24,10065,1.386538,-0.2734456,3.578184 -502.12,307.72,10066,1.038113,-0.9380454,3.549929 -473.8,135.4,10067,1.060344,-0.684044,2.7527 -349.48,157.96,10068,0.6671107,-0.5397072,2.799272 -379.72,170.92,10070,1.388865,-0.2480174,3.569391 -500.2,313,10071,0.7236625,0.3919455,2.589468 -178.12,414.28,10072,1.174894,-0.8383702,2.734926 -387.4,115,10073,1.134025,-0.7965826,2.74479 -375.4,126.28,10074,0.1596021,-0.5214775,2.816985 -199.72,157.96,10075,0.02013504,-0.2145384,2.439512 -368.2,196.6,10077,1.182364,-0.6278962,3.071935 -424.6,196.6,10078,1.234719,-0.2690774,3.182857 -423.4,296.2,10079,0.3289376,-0.4767115,2.834406 -222.76,176.68,10080,1.224564,-0.2791581,3.183234 -422.2,292.6,10081,0.8732187,-0.6201096,2.664215 -287.56,160.84,10082,0.9272132,-0.8850764,3.434676 -206.632,135.784,10084,0.2706366,-0.5262814,2.740382 -280.936,206.632,10086,1.15447,-0.7258971,2.77783 -434.728,348.328,10089,0.9275117,-0.78548,2.627354 -144.424,71.84801,10093,1.033874,-0.7029623,2.701878 -469.6337,297.5248,10097,0.5487275,0.4626983,2.558678 -142.696,410.536,10098,1.204981,-0.3535285,2.694861 -382.5424,144.0784,10101,0.8419573,-0.6437988,2.719221 -295.4512,158.5936,10102,0.3454633,-0.4666719,3.019389 -256.0529,185.5504,10103,-0.2000259,-0.166043,2.436727 -67.35521,206.2864,10104,0.9334273,-0.3924964,2.517687 -249.832,227.0224,10105,0.9809393,-0.8914071,2.618309 -322.4081,79.79681,10106,0.4529002,-0.4931264,2.789033 -231.1696,177.256,10107,1.142373,-0.5027475,2.777764 -357.6592,218.728,10108,1.03914,-0.1477197,2.296514 -442.6768,117.1216,10110,1.232838,-0.04321779,3.420654 -436.4561,347.2913,10111,0.2914402,-0.6270768,2.526963 -245.6848,384.6161,10113,1.146754,-0.7526224,3.210544 -445.9117,171.2011,10114,1.345856,-0.1171281,3.703138 -493.6875,336.9233,10115,0.7868786,-0.7537191,2.626921 -272.7246,114.4674,10116,0.9406254,-0.9467796,4.071862 -312.0401,78.13794,10117,0.9858801,-0.2864673,2.432625 -501.1524,152.7876,10118,1.418331,-0.4136724,3.460371 -229.9255,262.2737,10119,0.5257567,0.3164116,2.492298 -508.6174,277.2036,10120,0.9039711,-0.7950859,2.527372 -132.881,374.2481,10121,0.859321,-1.12788,3.87559 -278.6966,102.5235,10122,0.8664078,-0.7327116,2.596461 -481.7436,105.5095,10123,1.080317,-0.6075182,2.785352 -280.4882,122.8282,10124,1.13231,-0.5011646,2.782279 -354.3415,185.1357,10125,0.8625433,-0.4685614,4.341854 -356.8298,219.9722,10126,0.6888058,-0.1512229,2.293326 -132.881,269.7386,10128,0.8966833,-0.1973615,2.179482 -272.7246,263.7667,10129,1.342298,-0.09734382,3.634194 -133.5777,276.905,10130,1.086655,-1.006148,3.757148 -484.7296,341.4023,10131,0.7219174,-0.2567632,2.38799 -511.6034,135.3693,10132,0.9920218,-0.534097,2.685204 -170.2058,244.8554,10133,0.8841368,-0.4496289,2.714859 -287.6545,213.0049,10135,1.375237,-0.1561889,3.633106 -481.7436,236.8928,10136,1.137581,-0.8721103,2.730447 -496.6735,332.4443,10137,1.049955,-0.5523084,2.795178 -380.2201,102.5235,10138,0.9724138,-0.2942618,2.38445 -344.9855,201.6582,10139,0.8538325,-0.1771608,2.257661 -215.9909,262.5723,10140,1.382011,-0.1649343,3.643119 -151.4936,280.4882,10141,0.1561079,-0.3769279,2.674606 -499.0623,330.6527,10142,1.197425,-0.5071063,2.933088 -165.2292,186.1311,10143,1.165037,-0.3436147,2.533221 -398.136,227.9348,10144,1.169932,-0.8697584,3.057014 -299.5985,263.7667,10145,0.9783719,-0.3933225,2.43628 -439.9398,129.3973,10146,1.133064,-0.7925006,2.751881 -236.8928,227.9348,10147,1.13038,-0.8621609,2.735826 -376,128,10148,0.8364778,-0.7299013,2.600256 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0072.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0072.csv deleted file mode 100644 index 798625f4e638d7bcf153b0e2375973d57e47b4f0..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0072.csv +++ /dev/null @@ -1,276 +0,0 @@ -257.8,237.4,9300,0.2465533,-0.2224996,2.496338 -382.6,217,9628,1.235294,-0.04326328,3.390336 -416.2,39.4,9716,0.8812781,-1.351714,3.831879 -67.24001,78.76,9741,0.07554781,-0.666877,2.564402 -309,177,9761,0.4741285,-0.279182,2.382416 -167.8,164.2,9777,0.3716169,-0.4820448,2.806242 -381.4,81.4,9791,0.9946809,-0.8093809,2.848867 -371.08,254.44,9817,0.918602,-0.3596713,2.409457 -365,221,9906,0.03623386,-0.6305314,2.78828 -166.888,183.4768,9910,1.198682,-0.4282585,2.991986 -431,317,9918,0.1935851,-0.6195372,2.703162 -422.2,173.8,9926,1.158224,-0.4102097,4.079084 -359,187,9938,0.6745309,-1.173623,3.852934 -389.8,91,9962,1.048318,-0.8528534,3.683855 -115,60,9968,0.2014142,-0.6063449,2.715147 -461,270,9988,-0.3253087,0.600366,2.464295 -118,58,9993,0.9038531,-0.8538101,2.547518 -290,61,9994,0.0417506,-0.6714234,2.58652 -454.6,214.6,10001,0.9473261,-0.330187,2.388939 -280.6,244.6,10003,-0.07187269,-0.5963634,2.406616 -112,399,10019,0.9808937,-0.3884174,2.455572 -367,165,10030,0.8546114,-0.3171009,2.460696 -196.6,232.6,10041,1.125335,-0.3600184,2.522732 -304,233,10054,-0.1578387,-0.8362861,2.59712 -422,159,10057,1.200449,-0.3537365,2.437504 -489,285,10071,0.7236625,0.3919455,2.589468 -371,174,10077,1.182364,-0.6278962,3.071935 -339.4,124.6,10094,0.3267228,-0.3652737,2.63838 -258.76,206.92,10105,0.9809393,-0.8914071,2.618309 -379,105,10148,0.8364778,-0.7299013,2.600256 -250,121,10154,0.9060818,-0.6215577,2.640763 -279.4,127,10155,0.897692,-0.6096398,2.689511 -299.08,145,10157,0.1757895,-0.07378508,2.223804 -64.936,279.208,10161,0.665929,0.2069287,2.499285 -203.8,118.6,10168,-0.03094088,-0.4544676,2.466669 -301.96,124.84,10169,0.5712665,-0.6200454,2.73999 -290,159,10172,-0.196107,-0.2299168,2.378022 -372,262,10175,0.6311135,0.3818858,2.529796 -65.8,278.92,10176,0.8965203,-0.7561087,2.588046 -287.56,93.16,10178,1.06493,-0.8862379,3.70315 -470.2,133,10180,-0.03537419,-0.5371965,2.430986 -149.32,191.08,10181,0.02798716,-0.5773819,2.709997 -246.376,121.96,10184,0.8546515,-0.6160985,2.682085 -275.8,63.4,10189,0.9137897,-0.602969,2.660431 -261,159,10190,0.285092,-0.1517819,2.262626 -371,164,10194,-0.1637453,-0.202584,2.642933 -94.60001,195.4,10196,0.7805853,-0.1739926,2.27705 -141.4,57.4,10201,0.7954515,-0.1669693,2.273847 -95.8,341.8,10204,1.136827,-0.7054936,2.823434 -104.2,394.6,10205,0.8340441,-0.4726193,2.709661 -279.4,182.2,10207,1.235073,-0.03966008,3.463727 -54.568,284.392,10215,0.8071805,-0.659996,2.650575 -274.6,124.84,10217,0.4792093,-0.2628975,2.324414 -419.8,267.4,10226,0.5380411,-0.6665269,2.788957 -147.88,201.448,10231,1.139541,-0.8515274,3.009272 -419,104,10233,0.8245586,-0.1950076,2.255724 -299.08,235.72,10234,0.7907343,-0.1688383,2.276004 -166.888,408.808,10238,0.7953589,-0.1744886,2.257004 -461,84,10242,0.2451732,-0.4715424,2.706428 -383.8,139,10243,-0.07738935,-0.1903016,2.466972 -83.08,58.6,10247,1.079377,-0.9841551,3.811432 -321.4,57.4,10248,1.116598,-0.8336684,3.123272 -486.28,117.64,10249,0.8299879,-0.6620384,2.650688 -425.8,117.64,10250,1.028872,-0.7144537,2.738338 -345.16,123.4,10252,0.6513916,-0.8876575,2.773345 -73.576,196.264,10253,-0.02301812,-0.352363,2.531552 -94.31201,162.7408,10255,0.3015714,-0.1410522,2.254383 -61.48,228.52,10257,0.648904,0.2190303,2.222673 -88.84,366.76,10259,1.099778,-0.5753778,2.854611 -308.2,56.2,10260,0.1995596,-0.2793916,2.636352 -369.64,173.8,10262,0.3669168,-0.1394166,2.2517 -144.424,196.264,10263,0.01958767,-0.5803195,2.70791 -43,188.2,10267,0.9960787,-0.8222232,2.63293 -420.04,271.72,10268,1.189356,-0.3891821,2.806144 -326.44,81.64,10270,1.147627,-0.3795271,2.526938 -371.08,232.84,10271,0.6412555,0.01881278,2.139666 -184.168,403.624,10275,0.3039149,-0.1441154,2.251434 -61.48001,229.096,10278,0.8205526,0.3202548,2.832656 -254.44,240.04,10279,0.8657289,-0.4837401,2.700323 -183.88,342.28,10280,1.047396,-0.9187876,3.520937 -309,233,10284,1.352263,-0.1376195,3.724199 -477.64,54.28,10311,0.8148988,-0.7275071,2.63262 -362.44,195.4,10312,0.0361449,-0.6314892,2.827658 -347,123,9289,0.800065,-0.9975182,3.761633 -247.7584,388.7632,9349,0.5367114,-0.4051066,2.531759 -85.672,66.66401,9431,0.3873573,-0.9702734,3.837977 -318,81,9484,1.175946,-0.7515769,3.275691 -309,57,9542,0.8662248,-0.8900326,2.708927 -100.6,213.4,9570,1.07489,-0.6039677,2.843095 -438,319,9623,0.957632,-0.8744228,2.551771 -284.2,182.2,9755,1.149544,-0.7510037,3.063336 -342,101,9758,-0.5574536,-0.1603866,2.49163 -320.2,226.6,9780,1.13668,-0.3471462,2.501449 -251.56,369.64,9790,1.127021,-0.8607599,2.724196 -370.6,254.2,9795,1.168487,-0.4621091,2.8651 -71.56001,201.16,9807,0.5158667,-0.4843165,4.190852 -166.6,175.24,9849,0.08366187,-0.2094459,2.401175 -433,99.4,9860,-0.5601356,-0.1597784,2.4952 -321.4,146.2,9862,0.285034,-0.3537655,2.657154 -307,91,9870,0.2058871,-0.5740757,2.693099 -141,56,9876,0.9853305,-0.8930657,2.578898 -147.88,402.76,9884,0.6336076,0.4201553,2.57322 -153,167,9888,1.192061,-0.6253516,3.042326 -422,335,9892,1.021111,-0.702958,2.703375 -339,125,9893,1.132695,-0.8671377,3.522705 -366,223,9898,0.172298,-0.6123482,2.573904 -404,226,9911,1.229614,-0.3019269,2.770782 -371.8,261.4,9912,1.221323,-0.2612604,3.197805 -429.4,321.4,9923,0.8016677,0.2615596,2.811458 -249.832,369.064,9924,0.8666397,-0.4760305,2.675581 -470,133,9929,0.3400823,-0.4823305,2.855694 -233.9068,215.9909,9960,1.200189,-0.3269443,2.433353 -176,121,9969,0.3164588,-0.6398134,2.758996 -176,146,9973,1.048267,-0.6622226,2.721221 -343,140,9974,0.9390754,-0.5936802,2.651988 -301,151,9975,0.3097253,-0.4540132,2.835803 -207,166,9976,-0.05753247,-0.2891358,2.590178 -101,180,9977,-0.3564425,-0.1217623,2.400946 -72,201,9981,0.9861071,-0.5320885,2.691936 -342,196,9984,0.7509718,-0.2571244,2.450033 -371,254,9987,1.317923,-0.2976217,3.373003 -190,358,9990,0.579742,0.4460448,2.548325 -149,403,9991,0.6947398,-1.296001,3.747108 -426,43,9992,-0.1632444,-0.8103865,2.635116 -317,131,9997,1.006847,-0.624629,2.666666 -71,98,10004,0.1650972,-0.661709,2.515213 -450,157,10006,0.3085342,-0.1403788,2.250413 -62,229,10007,0.2998989,-0.1291582,2.266238 -45.64,60.04,10010,-0.1299036,-0.815277,2.629799 -122,58,10011,1.06805,-0.8035381,2.815706 -252,371,10018,0.3784143,0.5099171,2.526303 -256,210,10020,0.3309776,-0.6354335,2.738222 -201.4,118.6,10021,0.6333184,-1.417908,3.87177 -247,121,10027,0.9886841,-0.6653208,2.653286 -455,215,10032,1.256701,-0.04957698,3.365156 -379,104.2,10035,0.3022805,-0.5722947,2.800288 -205,136.6,10036,0.3148102,-0.3609057,2.64846 -303.4,232.6,10042,1.324825,-0.2970256,3.362804 -251.8,117.4,10051,-0.5714322,-0.1837735,2.487124 -330,61,10056,1.193895,-0.6780772,3.020976 -449.8,157,10062,0.7457987,-0.6468778,4.322005 -405,177,10064,1.194336,-0.5706751,3.001615 -382.6,147.88,10070,1.388865,-0.2480174,3.569391 -391,90,10073,1.134025,-0.7965826,2.74479 -378.28,103.24,10074,0.1596021,-0.5214775,2.816985 -74.44,196.84,10076,1.105872,-0.5794982,2.84842 -420,268,10081,0.8732187,-0.6201096,2.664215 -370.6,173.8,10096,1.361204,-0.2992758,3.302637 -146.152,403.624,10098,1.204981,-0.3535285,2.694861 -325,85,10100,1.156962,-0.752975,2.776433 -224.9488,162.7408,10107,1.142373,-0.5027475,2.777764 -363.8801,195.9184,10108,1.03914,-0.1477197,2.296514 -244.8554,242.3671,10119,0.5257567,0.3164116,2.492298 -361.8065,195.089,10126,0.6888058,-0.1512229,2.293326 -138.3553,260.7807,10128,0.8966833,-0.1973615,2.179482 -290.6405,239.8788,10129,1.342298,-0.09734382,3.634194 -483.7342,110.4861,10132,0.9920218,-0.534097,2.685204 -314,173,10134,1.101475,-0.5228565,3.786263 -290.6405,195.089,10135,1.375237,-0.1561889,3.633106 -484.7296,302.5845,10137,1.049955,-0.5523084,2.795178 -344.9855,180.1591,10139,0.8538325,-0.1771608,2.257661 -227.9348,233.9068,10140,1.382011,-0.1649343,3.643119 -162.2432,266.1555,10141,0.1561079,-0.3769279,2.674606 -314.5284,242.3671,10145,0.9783719,-0.3933225,2.43628 -252.3204,207.5306,10147,1.13038,-0.8621609,2.735826 -381,81,10149,1.031241,-0.8410386,2.90494 -275,104,10150,0.9385825,-0.7416183,2.63073 -379,98,10151,0.2057498,-0.6447905,2.786138 -306,104,10152,0.6090688,-0.6642248,2.730994 -191,115,10153,0.8173056,-0.6573483,2.664139 -292,140,10156,0.614756,-0.5634156,2.849951 -266,153,10158,1.128187,-0.3492936,2.502475 -32,237,10159,0.7580905,-0.1029141,2.031116 -299,236,10160,0.7441732,0.1066608,2.317657 -139,341,10162,0.4031089,0.4830648,2.485856 -164,353,10163,0.6449699,0.5250137,2.448878 -106,396,10164,0.9130468,-1.261907,3.728127 -132,437,10165,1.158509,-0.8676435,2.734092 -463,49,10166,0.3344519,-0.6392209,2.748237 -389,81,10167,0.891883,-0.6803627,2.691243 -83,135,10170,0.9031966,-0.5594044,2.656338 -241,134,10171,0.528977,-0.4852485,2.852367 -247,169,10173,1.247496,-0.3036692,2.756253 -33,180,10174,0.7057559,-0.09074903,2.062528 -156,394,10177,0.5490165,-0.6539527,2.7531 -242,123,10179,0.3174874,-0.3210759,2.56533 -78,114,10182,0.605325,-0.6585883,2.716225 -148,122,10183,-0.0004259587,-0.4413721,2.470865 -88,142,10185,1.173943,-0.7371632,3.294287 -287.8,141.4,10186,0.8595445,-0.5624393,2.687827 -450,153,10187,0.8601327,-0.8332601,2.537723 -286.6,158.2,10188,0.6426595,-0.5397238,2.799075 -296.2,147.4,10191,0.6423658,-0.5346229,2.800464 -62,225,10192,1.076956,-0.6101421,2.886022 -261.4,161.8,10193,-0.07437726,-0.2104228,2.463628 -67,193,10195,1.011723,-0.2999059,2.454408 -256,241,10197,0.6072925,0.377532,2.6719 -152.2,259,10198,0.7155238,0.4034835,2.526473 -182.2,382.6,10199,-0.05629047,-0.8350769,2.67904 -168.04,408.52,10200,0.1736549,-0.4884034,2.636075 -150,143,10202,0.674404,0.1252389,2.21364 -153.4,262.6,10203,0.2989596,0.5357944,2.547455 -383.8,136.6,10206,1.220464,-0.4309215,2.70063 -365.8,220.6,10208,0.4590725,0.300723,2.859008 -435,320,10209,-0.01695111,-0.4176216,2.492308 -198,345,10210,0.6748239,-0.5388695,2.767775 -89.8,148.6,10211,1.225834,-0.08356915,3.391733 -261.64,157.96,10212,0.2494979,-0.3269812,2.590651 -429,311,10213,0.6367111,-0.05248076,2.072589 -143.8,184.6,10214,1.119561,-0.3502305,2.510272 -298.6,233.8,10216,0.4029911,-0.312572,2.51138 -150.76,193.96,10218,0.775032,-0.2589146,2.430577 -114.76,208.36,10219,1.20042,-0.3091678,2.449065 -195.4,232.84,10220,1.144939,-0.7049314,2.811131 -303.4,254.44,10221,1.182747,-0.715441,2.836485 -384.04,136.36,10222,0.3071384,-0.4552391,2.84164 -398.2,136.6,10223,0.3132564,-0.1445978,2.249548 -206.92,165.16,10224,1.207319,-0.2677203,3.22493 -62.2,229,10225,1.125995,-0.8631982,2.743315 -381.16,81.64,10227,0.8746597,-0.4763055,2.688226 -247.24,120.52,10228,0.6527088,-0.638891,4.518043 -283.24,182.44,10229,0.4374959,-0.2914095,2.482112 -443.8,187,10230,0.8470032,0.3269561,2.788738 -248.68,389.8,10232,1.124186,-0.3515635,2.497205 -156.52,255.88,10235,1.370915,-0.235554,3.611375 -153.64,261.64,10236,0.7010744,0.4105764,2.533314 -488.2,285.4,10237,1.203734,-0.452619,2.977882 -402.76,218.44,10239,1.235973,-0.04695394,3.447618 -149.32,260.2,10240,0.9120958,-1.123627,3.800626 -434.2,319,10241,1.139697,-0.6986657,2.816906 -175.528,156.52,10244,0.742023,-0.1085186,2.038613 -66.66401,197.992,10245,-0.1239585,-0.7582905,2.462344 -65.28161,276.7888,10246,0.9364805,-0.8971449,2.657624 -279.208,125.416,10251,0.07208709,-0.2230561,2.409693 -278.8624,65.28161,10254,1.133335,-0.499807,2.787203 -362.152,196.264,10256,0.780234,-0.2604681,2.423814 -194.536,232.552,10258,0.8046463,-1.171218,3.890294 -450.28,77.03201,10261,0.07104582,-0.2011547,2.407196 -71.84801,201.448,10264,-0.1607538,-0.2041583,2.407094 -70.12001,232.552,10265,1.217145,-0.2578631,3.213024 -146.152,119.1952,10266,1.009638,-0.2988975,2.452474 -255.016,241.192,10269,0.9110342,-0.6602267,2.722655 -309.9664,131.6368,10272,0.6947024,0.4112174,2.618232 -312.04,227.0224,10273,1.041557,-0.7209352,2.714529 -73.57601,307.8929,10274,0.7123804,-0.191668,2.263713 -343.144,123.3424,10276,0.9912853,-0.2992157,2.46875 -135.784,245.6848,10277,0.3934326,0.3113381,2.836905 -251.9056,384.6161,10281,1.137036,-0.3557712,2.540094 -285.0833,181.4032,10282,1.182479,-0.4335578,3.85606 -453.8744,115.4627,10283,1.058264,-0.3058553,2.387646 -478.7576,234.9021,10285,0.8265202,-1.192524,3.933333 -252.3204,242.3671,10286,0.3978063,-0.5395706,2.931875 -486.2225,304.5751,10287,0.5760563,0.2274488,2.692123 -458.851,78.13794,10288,1.088151,-0.8650639,3.707074 -237.49,151.4936,10289,1.082662,-0.5590166,2.857255 -189.117,344.3882,10290,1.028208,-0.4833291,2.619917 -473.7809,137.8576,10291,0.4725457,-0.207589,2.373547 -365.2902,180.1591,10292,1.22178,-0.3640321,3.274741 -305.5704,189.117,10293,0.5077659,0.3058146,2.80286 -123.4254,224.9489,10294,0.9992517,-0.3168686,2.485102 -433.9678,244.8554,10295,1.081104,-0.8785722,3.112851 -195.089,351.8532,10296,1.085072,-0.6003699,2.776428 -260.7807,233.9068,10297,1.231233,-0.6213481,2.773038 -419.0379,102.5235,10298,1.148663,-0.5466691,2.970191 -355.735,162.2432,10299,1.153368,-0.4321525,3.023056 -395.15,165.8264,10300,0.9606249,-0.2868282,2.464363 -395.15,189.117,10301,0.7273823,-0.1691255,2.288017 -395.15,221.9629,10302,0.8441806,0.0237961,2.24744 -244.6564,241.0732,10303,0.8556324,-0.9110819,3.667665 -144.3273,255.4059,10304,1.233181,-0.689799,2.973995 -144.3273,330.6527,10305,1.339313,-0.454311,3.538875 -427.9958,117.4534,10306,1.347481,-0.3972337,3.649634 -427.3987,155.0768,10307,-1.516063,-2.802105,9.043586 -488.3127,230.3236,10308,-1.142809,-2.647839,8.633654 -495.4791,248.2395,10309,1.139041,-0.5005348,2.779899 -467.8,51.4,10310,0.9020734,-0.8339713,2.592103 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0073.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0073.csv deleted file mode 100644 index 857eb25df83301cb23f720c2a9af7611df9ea22e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0073.csv +++ /dev/null @@ -1,211 +0,0 @@ -49,230.2,9398,0.4192206,-0.2454027,2.373088 -51.4,168.04,9550,0.443197,-0.4143686,2.608949 -132.04,415.72,9740,-0.0463033,-0.6551526,2.358236 -55,209.8,9760,0.9780399,-0.516996,2.668026 -321.4,172.6,9763,-0.1158097,-0.8438372,2.697118 -75.4,185.8,9777,0.3716169,-0.4820448,2.806242 -257.8,232.6,9875,-0.09706405,-0.8389863,2.688451 -339,104,9908,1.154146,-0.8443128,3.500824 -319,250.6,9912,1.221323,-0.2612604,3.197805 -51,209,9979,0.07446115,-0.2335769,2.494478 -389,249,9988,-0.3253087,0.600366,2.464295 -176.68,234.28,10002,1.102876,-0.3108889,2.458811 -188.2,162.28,10013,1.199327,-0.6875913,3.007166 -247,130.6,10028,1.151814,-0.8656034,3.508028 -90.28001,132.04,10084,0.2706366,-0.5262814,2.740382 -199,105,10150,0.9385825,-0.7416183,2.63073 -213.4,97,10178,1.06493,-0.8862379,3.70315 -155.8,131.8,10179,0.3174874,-0.3210759,2.56533 -182.44,166.888,10193,-0.07437726,-0.2104228,2.463628 -100.6,286.6,10203,0.2989596,0.5357944,2.547455 -251.8,231.4,10216,0.4029911,-0.312572,2.51138 -67,220.6,10218,0.775032,-0.2589146,2.430577 -263.656,251.56,10221,1.182747,-0.715441,2.836485 -206.632,407.08,10232,1.124186,-0.3515635,2.497205 -250.12,234.28,10234,0.7907343,-0.1688383,2.276004 -410.2,260.2,10237,1.203734,-0.452619,2.977882 -96.04001,284.392,10240,0.9120958,-1.123627,3.800626 -310.6,129.16,10243,-0.07738935,-0.1903016,2.466972 -345.4,68.2,10288,1.088151,-0.8650639,3.707074 -65.8,134.2,10315,0.3505611,-0.5340543,2.826345 -106.12,133.48,10316,0.933952,-0.6006256,2.642914 -71.56001,147.88,10317,0.2313497,-0.4563473,2.712757 -123.4,163.72,10318,0.1762545,-0.4334905,2.652281 -298.6,188.2,10332,0.6909991,0.1613763,2.193487 -267.4,219.88,10333,0.6075897,0.3895347,2.678658 -413,254,10334,0.1617409,-0.5778099,2.743645 -111.4,152.2,10341,0.2123704,-0.5160055,2.689867 -142.12,434.44,10347,0.1481026,-0.5849106,2.73488 -217,143.56,10351,0.918762,-0.3677675,2.437254 -117.4,183.4,10353,1.348556,-0.2996572,3.309722 -178.12,221.32,10354,0.5316444,-0.8559887,2.757561 -389.8,249.4,10356,0.6365137,-0.5406717,2.813817 -271,119.8,10358,0.5667507,-0.6687341,2.776345 -181,166.6,10359,0.9118741,-0.610917,2.704128 -229,147.4,10362,0.8684219,-1.316,3.870975 -361,224,10363,0.9711466,-0.8175196,2.630026 -59.75201,218.728,10364,0.9328037,-0.833006,2.743108 -195.4,110.44,10368,0.3389892,-0.4808462,2.886353 -113.32,151.336,10369,1.396386,-0.2741188,3.505968 -217,144.424,10370,1.175133,-0.8611223,3.087376 -410.2,254.2,10372,0.3246172,-0.6308241,2.774712 -348,100,10373,0.8306547,-0.6559192,2.655623 -110.44,136.36,10375,1.053971,-0.7036238,2.684345 -203.176,130.6,10376,0.1568031,-0.5811205,2.724095 -267.4,120.52,10378,1.329588,-0.2952618,3.37238 -66.66401,144.424,10379,0.5405371,-0.8564352,2.749882 -155.8,76.60001,10382,0.630329,-0.6785453,2.720341 -355,309,10388,1.019561,-0.6965789,2.706608 -356.68,313.48,10389,0.8724923,-0.4800532,2.694337 -78.76,169.48,10393,0.9712853,-0.8173184,2.628049 -49.96,228.52,10394,0.9121088,-0.6157165,2.630163 -358.6,195.4,10395,1.173414,-0.6658298,2.785044 -240.04,80.2,10396,1.120469,-0.5636162,2.841384 -299.08,168.04,10399,0.81146,-0.1719024,2.266689 -80.48801,203.176,10400,1.244047,-0.044462,3.399658 -198.28,211.24,10401,0.7004797,-0.8083419,2.650579 -101.224,286.12,10402,0.3089193,-0.5786848,2.809609 -365.32,301.96,10403,0.7926821,-1.336334,4.100002 -350.2,51.4,10406,0.9119042,-0.5012128,2.727907 -333.4,203.8,10410,0.965546,-0.3954017,2.46938 -197.992,211.816,10413,0.8157722,-0.6705227,2.671898 -58.02401,289.576,10418,0.8029987,0.0496999,2.297771 -381.16,45.64,10433,0.7516501,-0.7290344,2.690288 -272,119,9289,0.800065,-0.9975182,3.761633 -208.6,243.4,9300,0.2465533,-0.2224996,2.496338 -206.2864,405.3521,9349,0.5367114,-0.4051066,2.531759 -240,80,9484,1.175946,-0.7515769,3.275691 -215.8,187,9755,1.149544,-0.7510037,3.063336 -273.16,221.32,9780,1.13668,-0.3471462,2.501449 -313,213,9898,0.172298,-0.6123482,2.573904 -81.87041,206.2864,9910,1.198682,-0.4282585,2.991986 -337,212,9911,1.229614,-0.3019269,2.770782 -203.176,384.616,9924,0.8666397,-0.4760305,2.675581 -180.1591,223.1573,9960,1.200189,-0.3269443,2.433353 -101,445,9991,0.6947398,-1.296001,3.747108 -247,130,9997,1.006847,-0.624629,2.666666 -235,244.6,10003,-0.07187269,-0.5963634,2.406616 -292.6,154.6,10030,0.8546114,-0.3171009,2.460696 -303.4,98.2,10035,0.3022805,-0.5722947,2.800288 -111.88,152.2,10036,0.3148102,-0.3609057,2.64846 -136.6,249.4,10041,1.125335,-0.3600184,2.522732 -255.4,230.2,10042,1.324825,-0.2970256,3.362804 -163,126,10051,-0.5714322,-0.1837735,2.487124 -303.4,97.48,10074,0.1596021,-0.5214775,2.816985 -267,121,10094,0.3267228,-0.3652737,2.63838 -299.5984,187.624,10108,1.03914,-0.1477197,2.296514 -297.1101,187.624,10126,0.6888058,-0.1512229,2.293326 -242.8648,236.8928,10129,1.342298,-0.09734382,3.634194 -248,173,10134,1.101475,-0.5228565,3.786263 -281.6826,168.2151,10139,0.8538325,-0.1771608,2.257661 -182.6474,244.8554,10140,1.382011,-0.1649343,3.643119 -303,99,10148,0.8364778,-0.7299013,2.600256 -91,131.8,10153,0.8173056,-0.6573483,2.664139 -202.6,130.6,10155,0.897692,-0.6096398,2.689511 -225.64,147.88,10157,0.1757895,-0.07378508,2.223804 -310,73,10167,0.891883,-0.6803627,2.691243 -155.8,143.8,10171,0.528977,-0.4852485,2.852367 -320,251,10175,0.6311135,0.3818858,2.529796 -195.4,65.8,10189,0.9137897,-0.602969,2.660431 -181,166.6,10190,0.285092,-0.1517819,2.262626 -225.4,148.6,10191,0.6423658,-0.5346229,2.800464 -51.4,167.8,10202,0.674404,0.1252389,2.21364 -38,445,10205,0.8340441,-0.4726193,2.709661 -209.8,187,10207,1.235073,-0.03966008,3.463727 -53.8,212.2,10214,1.119561,-0.3502305,2.510272 -136.36,250.12,10220,1.144939,-0.7049314,2.811131 -323.8,127,10223,0.3132564,-0.1445978,2.249548 -117.64,182.44,10224,1.207319,-0.2677203,3.22493 -215.56,186.76,10229,0.4374959,-0.2914095,2.482112 -67.35521,227.0224,10231,1.139541,-0.8515274,3.009272 -78.76001,172.072,10244,0.742023,-0.1085186,2.038613 -204.2128,129.5632,10251,0.07208709,-0.2230561,2.409693 -270.28,119.08,10252,0.6513916,-0.8876575,2.773345 -298.216,187.624,10256,0.780234,-0.2604681,2.423814 -135.784,249.832,10258,0.8046463,-1.171218,3.890294 -299.8,167.8,10262,0.3669168,-0.1394166,2.2517 -262.2737,224.9488,10273,1.041557,-0.7209352,2.714529 -261,233,10284,1.352263,-0.1376195,3.724199 -153.2852,165.2292,10289,1.082662,-0.5590166,2.857255 -247.3437,187.624,10293,0.5077659,0.3058146,2.80286 -210.0189,239.8788,10297,1.231233,-0.6213481,2.773038 -287.6545,158.66,10299,1.153368,-0.4321525,3.023056 -194.4918,248.2395,10303,0.8556324,-0.9110819,3.667665 -299.08,188.2,10312,0.0361449,-0.6314892,2.827658 -216,71,10313,0.3129319,-0.6393099,2.763512 -196.6,105.4,10314,0.2393071,-0.5729505,2.668638 -226,149,10319,0.4295724,-0.2602461,2.358069 -77,178,10320,0.9669289,-0.3989265,2.47161 -53,182,10321,0.45407,-0.2701275,2.495144 -32,238,10322,1.180152,-0.398812,2.60699 -199,211,10323,0.7810656,-0.2614371,2.432863 -71.8,233.8,10324,1.202412,-0.3517093,2.448124 -283,219,10325,0.8218415,-0.1674964,2.253076 -136,250,10326,0.7292414,-0.05078996,2.457456 -263.8,236.2,10327,0.6804192,0.4468687,2.571912 -100,287,10328,0.2197837,-0.4879701,2.761816 -123.4,313,10329,1.136551,-0.501821,2.796445 -126,448,10330,1.14023,-0.3865505,2.585659 -85,171.4,10331,1.402193,-0.2753946,3.554124 -40,402,10335,1.024749,-0.5947333,2.609985 -132,417,10336,0.8051849,-0.3872811,2.523993 -72,148,10337,1.139616,-0.3599566,2.498549 -245,151,10338,0.3976423,-0.5628148,2.709391 -165.4,209.8,10339,-0.002166761,-0.5938204,2.761677 -252,231,10340,1.107184,-0.3233035,2.456307 -45.4,141.4,10342,1.244331,-0.02240231,3.256375 -235,245,10343,0.8340632,0.2448225,2.787849 -69.4,161.8,10344,0.7259825,0.3974175,2.596025 -355,312,10345,0.8816589,-0.7639912,2.60167 -203.8,383.8,10346,0.696687,-0.7563849,2.73656 -209,95,10348,0.9063243,-0.6193597,2.640117 -185.8,106.6,10349,1.059014,-0.6596233,2.719609 -67.24001,143.56,10350,0.3231077,-0.4538998,2.829481 -273,136,10352,0.4714412,-0.2561571,2.349327 -39,240,10355,1.035657,-0.7114009,2.740206 -156,77,10357,1.00818,-0.7960296,2.7055 -261,94,10360,1.23508,-0.3837752,3.246029 -161.8,129.4,10361,0.3786748,-0.3094352,2.510218 -350.2,44.2,10365,0.8207423,-0.7210726,2.614814 -239.8,80.2,10366,0.2869613,-0.5762686,2.832839 -247.24,83.08,10367,0.8912688,-0.6169455,2.651931 -130.6,178.12,10371,0.9743715,-0.3988351,2.461088 -199,211,10374,1.147381,-0.8472096,2.754317 -306.28,81.64,10377,1.062236,-0.6611447,2.717707 -273.4,135.4,10380,0.9475358,-0.5928331,2.645901 -388.36,248.68,10381,0.7826999,-0.7351258,2.647868 -229.96,152.2,10383,1.031862,-0.7342619,2.73431 -191.7712,106.7536,10384,1.1166,-0.923726,3.761689 -166.888,125.416,10385,1.260783,-0.05048195,3.192865 -268.4944,112.9744,10386,1.232108,-0.003248488,3.325014 -381.16,116.776,10387,1.136403,-0.7769983,2.756581 -301.672,104.68,10390,0.171197,-0.4977274,2.774995 -260.2,125.416,10391,0.5289679,-0.3004883,2.335484 -215.272,185.896,10392,1.215484,-0.5120224,3.215653 -218.728,144.0784,10397,0.322793,-0.3639157,2.650813 -312.04,139.24,10398,0.9853074,-0.4077106,2.441683 -173.8,83.94401,10404,1.059485,-0.6730133,2.736031 -112.9744,150.2992,10405,0.133977,-0.371127,2.808551 -274.7152,133.7104,10407,1.22187,-0.459695,2.923758 -75.64961,197.992,10408,0.9973767,-0.6939705,2.743403 -231.1696,181.4032,10409,0.8079079,-0.2653207,2.397379 -260.2,125.416,10411,0.7984263,-0.6518543,2.671156 -135.784,249.832,10412,1.00057,-0.2852863,2.406511 -197.5773,132.881,10414,1.161504,-0.6636286,2.815758 -192.6007,252.3204,10415,0.8442046,-0.1867467,2.089348 -202.554,127.9044,10416,1.095024,-0.5739954,2.826002 -312.0401,140.3459,10417,0.9483622,-0.6320481,2.682183 -293.6265,168.2151,10419,1.026283,-0.3788205,2.397909 -236.8928,141.3413,10420,0.8332437,-0.1673575,2.268912 -102.5235,362.3042,10421,0.886156,-0.6880175,2.623912 -207.033,215.9909,10422,1.115977,-0.5739935,2.794269 -108.4955,287.6545,10423,0.8961865,-0.4443253,2.741403 -212.4077,119.245,10424,0.991098,-0.5340145,3.95339 -294.8209,165.8264,10425,0.9247916,-0.2321831,2.181309 -227.9348,198.075,10426,1.227398,-0.1016148,3.532829 -362.3042,198.075,10427,0.5586619,0.2659674,2.735218 -112.0786,269.7386,10428,0.966721,-0.392192,2.476401 -371.2621,284.6685,10429,-0.3366393,-2.667094,8.361339 -135.3693,380.2201,10430,-0.4711628,-2.770211,8.706157 -194.4918,212.4077,10431,0.8920625,-0.8571353,2.569073 -381.4,45.4,10432,1.169182,-0.8408011,2.74976 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0074.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0074.csv deleted file mode 100644 index c84bd19c78619033027dfeb0f93e7b2c773cd948..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0074.csv +++ /dev/null @@ -1,224 +0,0 @@ -256.6,135.4,9352,1.274315,-0.5221208,2.703773 -207.4,55,9542,0.8662248,-0.8900326,2.708927 -45.4,191.8,9587,1.055249,-0.6606349,2.703551 -322,251,9595,0.8741029,-1.261336,3.728133 -259,185,9699,0.586153,0.2160587,2.801265 -261.64,240.04,9875,-0.09706405,-0.8389863,2.688451 -323.56,142.12,9920,0.9679375,-0.4956771,2.648275 -327,181,9947,0.5397195,-0.1390407,2.307141 -63.4,149.8,9970,0.06055867,-0.4855609,2.649809 -215.56,159.4,9975,0.3097253,-0.4540132,2.835803 -238.6,148.6,9998,0.4792003,-0.2459366,2.285675 -202.6,196.6,10015,1.196417,-0.4026581,2.773367 -371,244,10043,1.376873,-0.2449235,3.601746 -323.8,142.6,10057,1.200449,-0.3537365,2.437504 -318,165,10064,1.194336,-0.5706751,3.001615 -297.4,139,10070,1.388865,-0.2480174,3.569391 -323,129,10114,1.345856,-0.1171281,3.703138 -212.2,53.8,10117,0.9858801,-0.2864673,2.432625 -287,98,10148,0.8364778,-0.7299013,2.600256 -255.4,243.4,10216,0.4029911,-0.312572,2.51138 -127.144,275.752,10220,1.144939,-0.7049314,2.811131 -199.72,197.992,10229,0.4374959,-0.2914095,2.482112 -208.36,433,10232,1.124186,-0.3515635,2.497205 -253,116.2,10276,0.9912853,-0.2992157,2.46875 -391,248,10334,0.1617409,-0.5778099,2.743645 -202.6,149.32,10351,0.918762,-0.3677675,2.437254 -77.32,204.04,10353,1.348556,-0.2996572,3.309722 -341,111,10387,1.136403,-0.7769983,2.756581 -287.56,172.36,10399,0.81146,-0.1719024,2.266689 -187.624,63.20801,10434,0.7953809,-0.5404034,2.789439 -162.28,117.64,10436,1.087346,-0.3478102,2.475108 -189.64,176.68,10437,0.797688,-0.2328722,2.358897 -274.024,182.44,10438,0.8335665,-0.8947542,2.686502 -236.2,243.4,10439,1.195299,-0.6815459,3.068199 -77.8,203.8,10447,0.55515,-0.6220055,2.768425 -140.968,90.85601,10451,0.202897,-0.6513705,2.902331 -59.8,151,10454,0.5482931,-0.6599285,2.771569 -161.8,115,10456,1.15396,-0.3526268,2.509214 -227.08,87.4,10460,1.138701,-0.867892,2.745155 -39.4,255.4,10461,0.6676919,-0.5390354,2.808378 -49.96,232.84,10465,1.247515,-0.05237403,3.389938 -123.4,143.8,10473,1.010813,-0.6014729,2.652469 -181,139.24,10475,0.7895216,-0.3420168,2.618156 -234.28,154.792,10476,0.9435209,-0.3897229,2.525959 -163,242.2,10478,0.9663417,-0.9069866,2.64815 -195.4,225.64,10479,0.6741792,-0.8035747,2.694636 -219.4,50.2,10481,0.5539733,-0.6551151,2.760711 -140.968,94.31201,10482,1.059938,-0.6465242,2.70222 -120.232,144.424,10484,0.8131199,-0.3400042,2.45509 -255.4,141.4,10485,0.5391626,-0.4864472,2.859495 -82.21601,197.992,10486,0.7701524,-0.3891424,2.573348 -133.48,195.4,10488,0.8183753,-0.1702153,2.258246 -225.64,87.40001,10490,1.138043,-0.3577325,2.498932 -99.49601,320.68,10491,0.5285914,-0.658175,2.775388 -258.472,239.464,10493,0.4730991,-0.330399,2.463398 -116.2,145,10494,0.6857945,-0.3240008,2.605435 -38.2,243.4,10496,0.2799795,-0.6273569,2.806662 -130.6,245.8,10497,0.8735684,0.02434146,2.278179 -203.176,410.536,10498,0.8405502,0.2544091,2.798264 -320.68,116.2,10502,0.6109353,-0.5502176,2.891852 -208.36,264.52,10504,1.141674,-0.7110641,2.859391 -158.248,180.712,10505,1.069328,-0.6656107,2.769486 -265.384,139.24,10508,0.8462088,-0.7489327,2.597441 -342.28,218.44,10514,0.9934511,-0.8134527,2.640393 -227.8,82.60001,10517,1.081758,-0.9025401,3.445171 -317.8,101.8,10520,1.020298,-0.2927989,2.443833 -176.68,70.12,10527,1.192766,-0.3313672,2.479999 -274.024,249.832,10530,1.148586,-0.7549222,2.812663 -75.4,316.6,10531,0.2810342,-0.4628385,2.9313 -293.032,111.592,10533,1.249988,-0.1004044,3.432023 -100.6,281.8,10535,0.9676839,-0.8215611,2.65296 -353.512,286.12,10536,1.103812,-0.5931906,2.768018 -211.816,89.12801,10543,0.774986,-0.2014714,2.358623 -56.2,172.6,10553,1.278177,-0.4230594,2.755296 -327.4,214.6,10556,0.8762212,-0.4823309,2.71709 -318.952,249.832,10561,0.4910142,-0.7113553,2.944121 -255,121,9289,0.800065,-0.9975182,3.761633 -199.72,198.28,9755,1.149544,-0.7510037,3.063336 -308.2,172.6,9763,-0.1158097,-0.8438372,2.697118 -277.48,227.08,9780,1.13668,-0.3471462,2.501449 -180.1591,237.49,9960,1.200189,-0.3269443,2.433353 -370.6,244.6,9988,-0.3253087,0.600366,2.464295 -231,134,9997,1.006847,-0.624629,2.666666 -231.4,134.2,10028,1.151814,-0.8656034,3.508028 -286.6,97,10035,0.3022805,-0.5722947,2.800288 -68.68,170.92,10036,0.3148102,-0.3609057,2.64846 -127,137,10051,-0.5714322,-0.1837735,2.487124 -286.12,96.04,10074,0.1596021,-0.5214775,2.816985 -251,123,10094,0.3267228,-0.3652737,2.63838 -251.8227,248.2395,10129,1.342298,-0.09734382,3.634194 -266.7527,174.1871,10139,0.8538325,-0.1771608,2.257661 -183.1451,263.7667,10140,1.382011,-0.1649343,3.643119 -120.52,156.52,10171,0.528977,-0.4852485,2.852367 -120.52,143.56,10179,0.3174874,-0.3210759,2.56533 -153.64,178.12,10190,0.285092,-0.1517819,2.262626 -208.36,155.08,10191,0.6423658,-0.5346229,2.800464 -192.52,198.28,10207,1.235073,-0.03966008,3.463727 -255.88,242.92,10234,0.7907343,-0.1688383,2.276004 -296.2,127.72,10243,-0.07738935,-0.1903016,2.466972 -253,121.96,10252,0.6513916,-0.8876575,2.773345 -127.4896,274.7152,10258,0.8046463,-1.171218,3.890294 -237.3905,190.1124,10293,0.5077659,0.3058146,2.80286 -193,73,10313,0.3129319,-0.6393099,2.763512 -32,203,10320,0.9669289,-0.3989265,2.47161 -43,265,10324,1.202412,-0.3517093,2.448124 -128,274,10326,0.7292414,-0.05078996,2.457456 -99.4,320.2,10328,0.2197837,-0.4879701,2.761816 -118,345,10329,1.136551,-0.501821,2.796445 -259,240,10340,1.107184,-0.3233035,2.456307 -188.2,98.2,10348,0.9063243,-0.6193597,2.640117 -153.4,111.4,10349,1.059014,-0.6596233,2.719609 -258,139,10352,0.4714412,-0.2561571,2.349327 -113.8,83.8,10357,1.00818,-0.7960296,2.7055 -254.2,121,10358,0.5667507,-0.6687341,2.776345 -127.72,140.68,10361,0.3786748,-0.3094352,2.510218 -212.68,153.64,10362,0.8684219,-1.316,3.870975 -220,81,10366,0.2869613,-0.5762686,2.832839 -68.39201,170.344,10369,1.396386,-0.2741188,3.505968 -181.4032,139.9312,10376,0.1568031,-0.5811205,2.724095 -289,78.76,10377,1.062236,-0.6611447,2.717707 -259,139,10380,0.9475358,-0.5928331,2.645901 -371.08,244.36,10381,0.7826999,-0.7351258,2.647868 -251.9056,115.048,10386,1.232108,-0.003248488,3.325014 -286.12,102.952,10390,0.171197,-0.4977274,2.774995 -244.648,127.144,10391,0.5289679,-0.3004883,2.335484 -200.0656,195.9184,10392,1.215484,-0.5120224,3.215653 -219.4,80.2,10396,1.120469,-0.5636162,2.841384 -100.5328,318.2608,10402,0.3089193,-0.5786848,2.809609 -142.0048,90.16481,10404,1.059485,-0.6730133,2.736031 -69.42881,168.9616,10405,0.133977,-0.371127,2.808551 -260.2,133.7104,10407,1.22187,-0.459695,2.923758 -204.047,230.9208,10422,1.115977,-0.5739935,2.794269 -108.4955,320.5004,10423,0.8961865,-0.4443253,2.741403 -194.4918,226.7405,10431,0.8920625,-0.8571353,2.569073 -294,79,10435,1.094491,-0.5294598,2.772658 -116,288,10440,0.6671181,-0.5400488,2.809905 -184,63,10441,0.9729187,-0.5100532,2.682381 -324,143,10442,1.090255,-0.5242504,2.832618 -158.2,179.8,10443,0.2909046,-0.6468395,2.814228 -227,187,10444,0.2863349,-0.4548878,2.888487 -276,185,10445,0.7952883,0.09114384,2.212926 -64,150,10446,0.2972057,-0.6495174,2.791061 -81.4,433,10448,0.6971745,-0.8063107,2.65845 -61,148,10449,1.109823,-0.8149203,2.827496 -122,154,10450,0.8994632,-0.6950129,2.62879 -283,94.60001,10452,0.8769047,-0.4709289,2.692738 -196,123,10453,0.7745831,-0.7299857,2.64645 -199,199,10455,0.4785559,-0.3212128,2.455768 -119.8,143.8,10457,0.9725519,-0.811727,2.68971 -38,248,10458,0.4654815,-0.2978241,2.475694 -263.8,242.2,10459,0.8581637,0.2462292,2.775172 -206.2,411.4,10462,0.4207412,-0.3616447,2.575894 -285.4,71.8,10463,1.030553,-0.3393636,2.518366 -157.96,179.56,10464,1.239129,-0.2762529,3.198186 -223,245.8,10466,1.329959,-0.2002081,2.258998 -341,252,10467,1.151995,-0.8462157,2.754871 -352,303,10468,1.040266,-0.7065152,2.724945 -302.2,319,10469,0.8063892,-0.7366481,2.663036 -290.2,79,10470,0.54978,-0.6614761,2.789548 -250.6,123.4,10471,0.1550107,-0.4259869,2.851823 -173.8,113.32,10472,0.81968,-0.6585891,2.683088 -41,211,10474,0.2535996,-0.4846496,2.700475 -33,195,10477,0.9514117,-0.9164563,2.663651 -217,49.96,10480,0.889338,-0.7593243,2.614743 -191.08,100.36,10483,0.2984419,-0.4767652,2.898488 -140.68,242.92,10487,0.9649394,-0.8137227,2.696477 -149.32,225.64,10489,1.249311,-0.4519725,2.848573 -325,208.36,10492,1.059677,-0.6620106,2.746836 -258.76,137.8,10495,0.8581506,0.2352737,2.749635 -60.04,155.08,10499,1.126153,-0.80627,3.334685 -125.8,397,10500,1.422634,-0.3857546,3.461772 -204.04,409.96,10501,1.015303,-0.2921155,2.454733 -394.12,224.2,10503,1.051404,-0.7027139,2.707058 -253.288,123.688,10506,0.9022578,-0.5904996,2.689375 -294.76,127.144,10507,1.114294,-0.3212183,2.447116 -206.2864,160.6672,10509,1.16848,-0.8395953,2.760746 -241.5376,256.0529,10510,0.9543334,-0.6563358,2.636593 -175.1824,104.68,10511,1.233868,-0.3984584,3.247344 -294.76,80.48801,10512,0.8537548,-0.1611525,2.117623 -214.5808,135.784,10513,1.160423,-0.8531562,2.704365 -73.57601,336.9232,10515,1.251497,-0.04838728,3.399243 -287.1568,71.50241,10516,0.8567239,0.02255931,2.325836 -351.784,299.944,10518,1.060715,-0.672717,2.746223 -130.6,389.8,10519,1.139215,-0.3568164,2.497156 -260.2,137.512,10521,0.8843685,-0.5034976,2.790863 -258.1264,239.464,10522,0.8096516,-0.7363171,2.652493 -208.36,265.384,10523,0.3204387,-0.6396673,2.764228 -216.6544,189.6976,10524,0.7732594,-0.8932241,2.746383 -173.1088,112.9744,10525,0.8505276,-0.745092,2.614954 -61.48001,149.608,10526,0.8878074,-0.3551531,2.452828 -179.3296,106.7536,10528,0.7452846,-0.1714189,2.26559 -164.8144,241.5376,10529,0.982977,-0.8292339,2.670321 -227.0224,79.79681,10532,0.7454033,-0.2487334,2.368616 -83.94402,202.1392,10534,1.046268,-0.7111107,2.727923 -253.9792,121.2688,10537,0.937201,-0.4447107,2.663709 -220.8016,81.87041,10538,1.33007,-0.4251092,3.797104 -276.7888,160.6672,10539,0.9638819,-0.8398338,2.694143 -214.9956,207.5306,10540,0.9704114,-0.7790276,2.583522 -381.713,212.5072,10541,0.8697233,-0.5244702,2.692539 -224.9489,78.13794,10542,0.862638,-0.4822038,2.729205 -195.089,186.1311,10544,0.7008455,-0.8024647,2.708061 -200.0656,195.089,10545,0.8345412,-0.5287765,2.701731 -108.4955,302.5845,10546,1.298141,-0.08835874,3.242089 -150.2992,93.56553,10547,0.7836012,-0.2582715,2.428976 -189.117,183.1451,10548,0.6389744,-0.2008458,2.566816 -356.8298,297.1101,10549,0.8537986,-0.6509275,2.670148 -126.4114,275.7106,10550,0.3147545,-0.5605767,2.741731 -110.4861,287.1569,10551,0.5834532,-0.2312972,2.548618 -189.117,141.3413,10552,0.6110508,-0.4851991,2.767419 -90.57954,274.7153,10554,0.9771911,-0.273758,2.387562 -137.1609,194.4918,10555,0.7826993,-0.7374994,2.657144 -183.7423,273.3218,10557,0.5789248,-0.5344192,2.820891 -165.8264,112.0786,10558,1.258609,-0.3195301,2.726523 -201.061,195.089,10559,0.7958816,-0.1691746,2.290136 -137.1609,180.1591,10560,1.093903,-0.9389855,3.854716 -99.5375,317.5144,10562,0.9850591,-0.5221084,2.698112 -338.4163,111.4814,10563,0.73011,-0.4890619,2.63592 -133.5777,133.5777,10564,0.8294947,-0.2556138,2.280821 -233.9068,180.1591,10565,1.171425,-0.3836926,2.477031 -147.9105,190.9086,10566,0.8563536,-0.4879311,2.751384 -108.4955,287.6545,10567,1.384639,-0.1146329,3.687501 -266.1555,230.3236,10568,1.151226,-0.8525595,2.780354 -201.6582,194.4918,10569,1.151698,-0.7036018,2.838643 -389.8,277.48,10570,0.9332457,-0.596898,2.650324 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0075.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0075.csv deleted file mode 100644 index cbd026961818c383c5943feef559969ce787ac45..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0075.csv +++ /dev/null @@ -1,264 +0,0 @@ -302,288,9423,-0.5278468,-0.2723693,2.410768 -319,232,9660,0.3663319,-0.9725797,3.86287 -180.712,139.24,9862,0.285034,-0.3537655,2.657154 -287.848,261.928,9865,0.6802983,-0.3277751,2.639333 -145,77.8,9870,0.2058871,-0.5740757,2.693099 -302,303,9892,1.021111,-0.702958,2.703375 -142.696,197.992,9925,1.183479,-0.6228777,3.057874 -278.92,214.12,9958,0.9453221,-0.8414627,2.716908 -179.56,173.8,9982,0.6934451,-0.3731998,2.591315 -313,229,9988,-0.3253087,0.600366,2.464295 -170.92,123.4,9997,1.006847,-0.624629,2.666666 -221.8,81.4,10035,0.3022805,-0.5722947,2.800288 -43,141.4,10051,-0.5714322,-0.1837735,2.487124 -231,161,10096,1.361204,-0.2992758,3.302637 -147.88,149.608,10191,0.6423658,-0.5346229,2.800464 -82.21601,187.624,10193,-0.07437726,-0.2104228,2.463628 -284,241,10226,0.5380411,-0.6665269,2.788957 -218.728,234.28,10234,0.7907343,-0.1688383,2.276004 -101.224,108.136,10314,0.2393071,-0.5729505,2.668638 -207.4,247,10343,0.8340632,0.2448225,2.787849 -189.64,110.44,10358,0.5667507,-0.6687341,2.776345 -222.184,85.672,10390,0.171197,-0.4977274,2.774995 -153.064,218.728,10401,0.7004797,-0.8083419,2.650579 -110.44,49.96,10434,0.7953809,-0.5404034,2.789439 -176.68,424.36,10462,0.4207412,-0.3616447,2.575894 -87.40001,184.168,10464,1.239129,-0.2762529,3.198186 -299.944,287.848,10468,1.040266,-0.7065152,2.724945 -173.8,424.36,10498,0.8405502,0.2544091,2.798264 -134.92,238.6,10578,0.9566003,-0.8478673,2.524435 -112.6,76.60001,10583,1.019147,-0.6191589,2.664164 -232.6,235,10589,0.5918212,-0.612286,2.776612 -58.6,206.2,10595,1.133913,-0.7795091,2.788449 -129.16,181,10600,0.7403742,-0.3020324,2.473939 -134.056,197.992,10601,0.9951164,-0.8708394,2.599789 -227.8,231.4,10602,1.208799,-0.6072333,3.027116 -267.112,135.784,10616,1.127387,-0.6786326,2.865797 -81.4,286.6,10621,0.929087,-0.600343,2.65923 -81.4,185.8,10627,0.8146905,-0.7281516,2.645888 -116.776,256.744,10629,1.24355,-0.4416342,2.706124 -218.728,151.336,10631,1.030846,-0.7022059,2.708457 -267.4,193.96,10632,0.6717017,-0.5612569,2.789163 -77.03201,261.928,10636,0.6715695,-0.8115097,2.706985 -173.8,264.52,10637,0.9914862,-0.8021011,2.695763 -153.4,44.2,10638,0.9479023,-0.6031871,2.642596 -89.8,254.2,10642,0.8636528,-0.8132333,2.538891 -103.24,60.04,10643,0.8838612,-0.6132808,2.663924 -97,65.8,10645,0.8948889,-0.5030059,2.775804 -97.48,85.96001,10652,1.113622,-0.5590883,2.837721 -118.504,90.85601,10653,0.8962005,-0.5027215,2.770045 -155.8,187,10656,1.068142,-0.6611649,2.759514 -63.20801,85.672,10658,1.138381,-0.3591091,2.526676 -64.936,339.688,10663,0.9774889,-0.3507864,2.366791 -83.94401,177.256,10664,1.214511,-0.3497646,2.434876 -75.30401,201.448,10665,0.87312,0.02434175,2.281608 -245.8,231.4,10667,1.109622,-0.5606963,2.848563 -104.68,419.176,10668,0.6622878,-0.5563214,2.83817 -220.456,77.03201,10669,1.411615,-0.3966902,3.568662 -89.12801,178.984,10671,1.135398,-0.786084,2.810089 -330.76,205.48,10672,0.8152951,-0.188474,2.266783 -158.248,68.39201,10673,0.8588437,0.03249353,2.266718 -61.48001,332.776,10675,0.984787,-0.2787512,2.439081 -96.04001,426.088,10676,1.409161,-0.3283179,3.529591 -96.04001,66.66401,10677,0.8423682,-0.6433198,2.643457 -158.248,270.568,10678,1.058417,-0.4325686,2.688514 -313.48,228.52,10692,0.748121,-0.7269753,2.704765 -150.76,49.96,10693,0.8272041,-0.5496224,2.721271 -125.416,175.528,10696,0.9517962,-0.5916499,2.627247 -54.568,140.968,10701,0.8589487,-0.8327267,2.538426 -54.568,194.536,10702,0.743152,-0.8732315,2.757538 -300.52,291.88,10703,1.100077,-0.5728987,2.866794 -96.04001,58.02401,10704,1.028553,-0.3069088,2.457039 -87.40001,68.39201,10705,1.139153,-0.3425238,2.542224 -176.2,256.6,10707,0.7760341,-0.6966649,2.666435 -157,224.2,10709,1.10492,-0.3139152,2.474959 -58.6,91.72,10713,0.9766723,-0.3950508,2.451671 -63.20801,192.808,10720,0.8547828,-0.4675029,2.659595 -223,170.2,10722,0.972455,-0.6400117,2.684893 -283,203.8,10732,0.950525,-0.4129985,2.598876 -233.8,113.8,10745,1.008247,-0.88212,2.600802 -183.88,111.88,10746,0.9045905,-0.9333611,2.764727 -332.2,261.4,10748,0.9811081,-0.8133484,2.628237 -136.6,40.6,9542,0.8662248,-0.8900326,2.708927 -137.1609,237.49,9960,1.200189,-0.3269443,2.433353 -179.8,139,9998,0.4792003,-0.2459366,2.285675 -170.2,124.6,10028,1.151814,-0.8656034,3.508028 -236.2,124.6,10070,1.388865,-0.2480174,3.569391 -189,112,10094,0.3267228,-0.3652737,2.63838 -141.4,39.4,10117,0.9858801,-0.2864673,2.432625 -208.8246,165.8264,10139,0.8538325,-0.1771608,2.257661 -45.64,159.4,10171,0.528977,-0.4852485,2.852367 -218.2,233.8,10216,0.4029911,-0.312572,2.51138 -144.0784,195.9184,10229,0.4374959,-0.2914095,2.482112 -232.84,114.76,10243,-0.07738935,-0.1903016,2.466972 -191.8,105.4,10276,0.9912853,-0.2992157,2.46875 -120.52,61.48,10313,0.3129319,-0.6393099,2.763512 -64.36,340.84,10328,0.2197837,-0.4879701,2.761816 -76.60001,368.2,10329,1.136551,-0.501821,2.796445 -222,230,10340,1.107184,-0.3233035,2.456307 -76.60001,109,10349,1.059014,-0.6596233,2.719609 -222.76,61.48,10377,1.062236,-0.6611447,2.717707 -182.44,115.048,10391,0.5289679,-0.3004883,2.335484 -231.4,160.6,10399,0.81146,-0.1719024,2.266689 -165.2292,227.9348,10422,1.115977,-0.5739935,2.794269 -151.4936,223.1573,10431,0.8920625,-0.8571353,2.569073 -218.728,175.528,10438,0.8335665,-0.8947542,2.686502 -106,51,10441,0.9729187,-0.5100532,2.682381 -87.4,183.88,10443,0.2909046,-0.6468395,2.814228 -171.4,181,10444,0.2863349,-0.4548878,2.888487 -221.8,173.8,10445,0.7952883,0.09114384,2.212926 -130.6,116.2,10453,0.7745831,-0.7299857,2.64645 -142.12,198.28,10455,0.4785559,-0.3212128,2.455768 -38.2,148.6,10457,0.9725519,-0.811727,2.68971 -217,53.8,10463,1.030553,-0.3393636,2.518366 -223,61,10470,0.54978,-0.6614761,2.789548 -189.4,111.4,10471,0.1550107,-0.4259869,2.851823 -41.8,148.6,10473,1.010813,-0.6014729,2.652469 -58.02401,90.85601,10482,1.059938,-0.6465242,2.70222 -196.6,130.6,10485,0.5391626,-0.4864472,2.859495 -90.28001,253,10487,0.9649394,-0.8137227,2.696477 -220.456,230.824,10493,0.4730991,-0.330399,2.463398 -199.72,126.28,10495,0.8581506,0.2352737,2.749635 -173.8,424.36,10501,1.015303,-0.2921155,2.454733 -248.2,109,10502,0.6109353,-0.5502176,2.891852 -81.87041,183.4768,10505,1.069328,-0.6656107,2.769486 -208.36,247.7584,10510,0.9543334,-0.6563358,2.636593 -159.4,69.4,10517,1.081758,-0.9025401,3.445171 -199.72,125.416,10521,0.8843685,-0.5034976,2.790863 -220.8016,231.1696,10522,0.8096516,-0.7363171,2.652493 -154.4464,187.624,10524,0.7732594,-0.8932241,2.746383 -158.5936,67.35521,10532,0.7454033,-0.2487334,2.368616 -218.728,150.2992,10539,0.9638819,-0.8398338,2.694143 -160.2525,205.0423,10540,0.9704114,-0.7790276,2.583522 -137.1609,180.1591,10544,0.7008455,-0.8024647,2.708061 -141.3413,195.089,10545,0.8345412,-0.5287765,2.701731 -126.4114,180.1591,10548,0.6389744,-0.2008458,2.566816 -144.3273,194.4918,10559,0.7958816,-0.1691746,2.290136 -176.5759,176.5759,10565,1.171425,-0.3836926,2.477031 -230.3236,219.5741,10568,1.151226,-0.8525595,2.780354 -331.048,261.928,10570,0.9332457,-0.596898,2.650324 -224,61,10571,0.9914441,-0.5907236,2.661361 -234,114,10572,0.6743385,-0.5396102,2.795588 -149.8,151,10573,0.8792547,-0.472771,2.682745 -172,152,10574,1.177015,-0.3915658,2.560492 -87.4,183.4,10575,0.9635539,-0.3653774,2.37272 -141.4,199,10576,0.985201,-0.3476519,2.434781 -238,215,10577,1.094705,-0.3506004,2.468154 -154,243,10579,1.159591,-0.8734893,2.76473 -201,236,10580,0.8917295,-0.7875153,2.56121 -128,46,10581,1.138081,-0.8036777,2.7703 -224,52,10582,0.8955834,-0.7597103,2.632463 -221,77,10584,0.5444573,-0.6096965,2.775159 -126,91,10585,1.174072,-0.5619501,2.895746 -180,140,10586,1.137884,-0.3364928,2.649242 -40,165,10587,0.7543598,-0.3223494,2.504074 -250,160,10588,0.8811296,-0.612674,2.66545 -77.8,260.2,10590,0.6628789,-0.5601246,2.809911 -133,147.4,10591,0.6618126,-0.5424373,2.783295 -55,163,10592,0.5504973,-0.4819074,2.837273 -85,177.4,10593,1.032912,-0.3099355,2.442943 -81.4,183.4,10594,0.6608254,-0.7827181,2.746492 -176,257,10596,1.153506,-0.7085991,2.832599 -63.4,101.8,10597,0.8284431,-0.5290631,2.73963 -222,87,10598,0.8552045,-0.4699659,2.699573 -234,112,10599,1.148612,-0.3577692,2.530047 -68,270,10603,0.9912866,-0.2795279,2.41988 -153,44,10604,0.8312298,0.2686343,2.833265 -263.8,148.6,10605,0.8169104,-0.7261461,2.635553 -158.2,271,10606,0.5548423,-0.6670907,2.783319 -175,424,10607,0.554971,-0.6775134,2.813575 -100.6,107.8,10608,0.7293739,-0.2983575,2.515766 -41.8,146.2,10609,1.022487,-0.2819611,2.441777 -46.6,143.8,10610,1.03267,-0.6995226,2.705228 -72,271,10611,0.5347425,-0.6526652,2.760266 -173.8,265,10612,0.8549336,-0.3208182,2.48757 -185,113,10613,1.232453,-0.6419203,2.968568 -32,151,10614,1.248495,-0.04077696,3.553647 -113,257,10615,1.139552,-0.7758724,2.775751 -303,284,10617,1.137538,-0.3575583,2.519596 -223,86.2,10618,0.7988614,-0.2626124,2.413888 -230.2,125.8,10619,1.018662,-0.8681617,2.553581 -221.8,230.2,10620,0.5845512,-0.6693857,2.760721 -154.6,38.2,10622,0.9553343,-0.5911348,2.654062 -47.08,143.56,10623,0.6730887,-0.5701206,2.807954 -149.32,150.76,10624,0.6354263,-0.5375816,2.835252 -158.2,152.2,10625,0.5534728,-0.4839399,2.832281 -87.4,173.8,10626,0.8602425,-0.3203734,2.499492 -58.6,205.48,10628,1.069276,-0.6053976,2.932425 -101.8,107.56,10630,1.137405,-0.8020462,2.778273 -221.32,77.32,10633,0.7419182,-0.3169256,2.523314 -184.6,112.6,10634,1.022852,-0.2852069,2.445227 -84.52,176.68,10635,0.9980538,-0.8697385,2.604231 -58.6,88.84,10639,0.8095303,-0.3365707,2.459844 -165.16,77.32,10640,0.8808166,-0.8265108,2.542017 -153.64,147.88,10641,1.071951,-0.6657534,2.767866 -205,125,10644,0.6630451,-0.5542438,2.833903 -133.48,147.88,10646,0.8080376,-0.1837346,2.28392 -88.84,179.56,10647,0.7363207,-0.2984021,2.499308 -156,187,10648,1.319519,-0.2098711,2.29373 -62.92,330.76,10649,0.812771,-0.7902322,2.645584 -71.56001,270.28,10650,0.8824229,-0.7620788,2.612934 -290,293,10651,1.101869,-0.5896996,2.786786 -219.4,151,10654,0.8080581,-0.2655227,2.397166 -227.8,161.8,10655,0.7208959,-0.8018327,2.635815 -81.64,286.12,10657,0.5979476,-0.6610448,2.772467 -204.04,126.28,10659,1.200876,-0.2660083,3.386347 -53.8,146.2,10660,0.8458191,-0.1770376,2.218082 -221.32,229.96,10661,0.6516869,-0.5715641,2.828918 -283.24,238.6,10662,0.582009,-0.491192,2.887406 -140.68,244.36,10666,1.133533,-0.8075625,2.785711 -227.08,159.4,10670,0.9851496,-0.8213555,2.661651 -222.76,85.96001,10674,0.8525232,-0.8161173,2.55772 -330.76,215.56,10679,0.7953088,-0.3359462,2.435807 -115.048,137.8576,10680,0.9579537,-0.660307,2.661317 -204.2128,204.2128,10681,1.063284,-0.6331708,2.645093 -79.79681,256.0529,10682,1.13898,-0.3323665,2.665957 -156.52,125.416,10683,0.9663836,-0.8266398,2.674378 -192.808,132.328,10684,0.9355109,-0.6840036,2.682686 -234.28,236.008,10685,1.150326,-0.8548808,2.780759 -153.064,68.39201,10686,0.9819483,-0.2776641,2.449606 -150.2992,121.2688,10687,0.8280205,-0.727554,2.623388 -223.912,59.75201,10688,1.14759,-0.3451278,2.50111 -158.5936,270.568,10689,1.333619,-0.2947124,3.372051 -102.6064,106.7536,10690,0.9720845,-0.8724047,2.658218 -225.64,236.008,10691,0.6063061,-0.4887007,2.826195 -73.57601,200.0656,10694,0.9064879,-0.6197296,2.654345 -88.09121,115.048,10695,0.8744897,-0.6163599,2.691924 -139.9312,144.0784,10697,0.9585682,-0.3965478,2.51876 -134.056,147.88,10698,0.5859028,-0.6818401,2.805334 -156.52,153.064,10699,0.5515625,-0.5202197,2.822779 -152.3728,222.8752,10700,1.246519,-0.03123133,3.399632 -224.9488,158.5936,10706,0.9651136,-0.391682,2.533727 -224.9488,235.3168,10708,0.8370916,-0.3217777,2.484491 -93.06786,122.9277,10710,0.6994136,-0.7883356,2.647827 -105.5095,257.7947,10711,1.034652,-0.7365851,2.742882 -207.5306,249.8321,10712,0.9325246,-0.6058934,2.635923 -187.624,103.0211,10714,0.8298875,-0.7214821,2.616652 -147.3133,147.3133,10715,0.9097781,-0.5861903,2.667099 -329.4583,262.2737,10716,0.6013594,-0.5202978,2.781575 -150.2992,224.9489,10717,1.11161,-0.3473749,2.492581 -102.5235,108.4955,10718,1.106152,-0.5306093,2.783669 -144.3273,156.2712,10719,0.9653455,-0.2675484,2.391431 -210.0189,237.3905,10721,0.8280674,-0.6583474,2.66228 -144.3273,278.6966,10723,1.36048,-0.4189467,3.48575 -130.3927,200.0656,10724,0.9700627,-0.2729288,2.380628 -112.0786,133.5777,10725,0.9986215,-0.5269257,2.663625 -165.2292,135.3693,10726,1.396174,-0.3887375,3.50659 -317.5144,198.075,10727,1.284976,-0.4077485,2.676023 -144.3273,276.905,10728,1.234534,-0.4101268,3.213132 -177.1731,174.1871,10729,1.10134,-0.3158856,2.485369 -326.4724,204.047,10730,1.006034,-0.7397251,2.796515 -281.6826,204.047,10731,0.6781369,-0.6438007,2.930406 -207.033,248.8367,10733,1.016929,-0.2957935,2.434175 -183.1451,105.5095,10734,0.842571,-0.578767,2.577567 -102.5235,153.2852,10735,0.9156401,-0.5171044,2.652709 -158.66,215.9909,10736,1.120892,-0.320603,2.426397 -169.4095,262.5723,10737,0.8333399,-0.07905556,2.468711 -108.4955,159.2572,10738,1.09608,-0.5925347,2.770138 -147.9105,180.1591,10739,1.036655,-0.3845711,2.38349 -208.8246,248.2395,10740,1.391997,-0.2714079,3.545575 -115.6618,348.5686,10741,1.153763,-0.7015912,2.823448 -215.9909,151.4936,10742,1.031347,-0.7019554,2.699493 -165.8264,226.7405,10743,1.388997,-0.2847677,3.540533 -328.6,230.2,10744,1.391018,-0.1210299,3.624175 -327.592,227.368,10747,0.9248444,-0.8226639,2.551442 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0076.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0076.csv deleted file mode 100644 index ce9cadd4bf13ed47cca4102208c65da4b6be4c91..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0076.csv +++ /dev/null @@ -1,262 +0,0 @@ -185.896,189.352,9752,1.289446,-0.2796995,3.400656 -154.6,77.8,9870,0.2058871,-0.5740757,2.693099 -263.8,124.6,10006,0.3085342,-0.1403788,2.250413 -328.6,230.2,10097,0.5487275,0.4626983,2.558678 -332,231,10334,0.1617409,-0.5778099,2.743645 -234.28,175.528,10438,0.8335665,-0.8947542,2.686502 -155.08,208.36,10576,0.985201,-0.3476519,2.434781 -261.4,163,10588,0.8811296,-0.612674,2.66545 -137.512,191.08,10600,0.7403742,-0.3020324,2.473939 -147.88,211.816,10601,0.9951164,-0.8708394,2.599789 -260.2,237.4,10602,1.208799,-0.6072333,3.027116 -209.8,280.6,10612,0.8549336,-0.3208182,2.48757 -162.28,156.52,10624,0.6354263,-0.5375816,2.835252 -106.408,113.32,10630,1.137405,-0.8020462,2.778273 -196.6,113.8,10634,1.022852,-0.2852069,2.445227 -84.52,189.64,10635,0.9980538,-0.8697385,2.604231 -144.424,154.792,10646,0.8080376,-0.1837346,2.28392 -215.56,129.16,10659,1.200876,-0.2660083,3.386347 -287.848,237.736,10667,1.109622,-0.5606963,2.848563 -239.464,165.16,10670,0.9851496,-0.8213555,2.661651 -327.88,202.6,10672,0.8152951,-0.188474,2.266783 -71.84801,218.728,10694,0.9064879,-0.6197296,2.654345 -49.96,211.24,10702,0.743152,-0.8732315,2.757538 -180.712,236.008,10717,1.11161,-0.3473749,2.492581 -101.8,84.52,10755,0.9340612,-0.5972802,2.656647 -81.4,117.4,10756,1.095432,-0.5244481,2.862976 -163,158.2,10759,0.8833482,-0.4681099,2.671652 -57.16,201.16,10761,1.202432,-0.3382996,2.551028 -85,329.8,10768,0.8299772,-0.7269844,2.62866 -111.88,270.28,10776,1.142737,-0.8440589,2.777306 -85.96001,201.16,10779,1.034552,-0.3727131,2.410086 -173.8,77.03201,10781,0.9888106,-0.8561211,2.616014 -203.8,242.2,10783,0.5950775,-0.611379,2.782196 -145,276.04,10784,0.6737703,-0.5568457,2.794861 -85,190.6,10788,0.5841554,-0.6514216,2.733532 -53.8,99.4,10790,0.9989727,-0.815237,2.617269 -278.2,241,10805,0.8321802,-0.3468003,2.551768 -239.8,165.4,10811,0.9662274,-0.3499795,2.414746 -261.64,162.28,10812,0.8315532,-0.1689893,2.246334 -133.48,186.76,10813,3.087249,-1.235322,5.19038 -106.12,372.52,10816,0.7494276,-0.3478148,2.514678 -511,51,10817,0.8234834,-0.1278865,2.269546 -92.58401,270.568,10820,0.6465116,-0.6049281,2.849289 -110.2,389.8,10821,1.030779,-0.3782939,2.424998 -202.6,240.04,10825,0.9786016,-0.8179694,2.640151 -218.2,353.8,10827,0.7630813,-0.6980066,2.514887 -127,46.6,10828,0.834699,-0.5307946,2.734465 -120.232,94.31201,10830,0.7459356,-0.726555,2.711711 -109,110.44,10831,0.6038299,-0.4878966,2.850587 -87.40001,121.96,10834,0.8571021,-0.5906738,2.681593 -73,218.44,10835,0.6004027,-0.518329,2.796901 -160.6,45.4,10836,1.188457,-0.390883,2.658335 -528,59,10837,0.8136193,-0.3645194,2.597026 -128.2,255.4,10841,0.7323647,-0.7519844,2.702819 -77.03201,121.96,10843,1.142094,-0.8397691,2.761213 -79,112.6,10845,0.8673552,-0.3166503,2.493383 -228.52,60.04,10847,1.04907,-0.6464273,2.727822 -233.8,56.2,10848,0.6588546,-0.5241821,2.797997 -142.696,275.752,10849,0.5945085,-0.5199309,2.807271 -548,68,10850,1.155455,-0.346205,2.509257 -82.21601,201.448,10852,0.9582309,-0.6690173,2.600331 -261.928,241.192,10854,0.8566799,-0.5904511,2.677361 -135.784,275.752,10855,1.153217,-0.3589461,2.518334 -195.4,142.12,10857,0.978415,-0.812792,2.626692 -135.784,165.16,10858,1.057274,-0.6510463,2.734729 -260.2,236.008,10859,0.9048057,-0.5415777,2.687623 -85.672,329.32,10860,0.8307646,-0.3554564,2.538467 -160.84,67.24001,10861,1.160297,-0.8721117,2.761271 -158.5936,181.4032,10863,0.5525342,-0.4934274,2.825368 -104.68,59.75201,10866,0.7421346,-0.7354993,2.677676 -51.4,219.88,10867,0.7641522,-0.6012701,2.74606 -80.48801,116.776,10870,1.018874,-0.3841122,2.442176 -108.136,168.616,10871,3.236851,-1.13743,5.182587 -195.4,116.2,10872,0.8584009,-0.579214,2.662617 -67.24001,96.04,10873,0.9660839,-0.2994624,2.435252 -532.6,61,10875,1.001045,-0.6650533,2.665284 -155.08,77.32,10878,0.8080334,-0.2609158,2.395271 -137.8576,189.6976,10880,1.07458,-0.6605823,2.77317 -140.68,284.68,10890,0.9927416,-0.5316054,2.717544 -193.8448,179.3296,10894,0.8439463,-0.6153857,2.671093 -127.72,156.52,10898,0.8248954,-0.335045,2.433556 -272.2,148.6,10900,0.726795,-0.6223778,2.825547 -208.36,125.416,10901,0.9131811,-0.5912401,2.702119 -146,38,9542,0.8662248,-0.8900326,2.708927 -196.264,142.696,9862,0.285034,-0.3537655,2.657154 -156.52,206.2864,9925,1.183479,-0.6228777,3.057874 -172.9927,248.2395,9960,1.200189,-0.3269443,2.433353 -195.4,179.56,9982,0.6934451,-0.3731998,2.591315 -183.88,127.72,9997,1.006847,-0.624629,2.666666 -232.6,79,10035,0.3022805,-0.5722947,2.800288 -247,124.6,10070,1.388865,-0.2480174,3.569391 -151,33,10117,0.9858801,-0.2864673,2.432625 -81.87041,200.0656,10193,-0.07437726,-0.2104228,2.463628 -253.9792,241.5376,10234,0.7907343,-0.1688383,2.276004 -106.7536,112.9744,10314,0.2393071,-0.5729505,2.668638 -201.16,111.88,10358,0.5667507,-0.6687341,2.776345 -232.84,57.16,10377,1.062236,-0.6611447,2.717707 -201.6582,241.0732,10422,1.115977,-0.5739935,2.794269 -180.1591,237.49,10431,0.8920625,-0.8571353,2.569073 -117.64,48.52,10434,0.7953809,-0.5404034,2.789439 -235,178.6,10445,0.7952883,0.09114384,2.212926 -226.6,49,10463,1.030553,-0.3393636,2.518366 -201,113,10471,0.1550107,-0.4259869,2.851823 -212.2,129.4,10495,0.8581506,0.2352737,2.749635 -211.816,125.416,10521,0.8843685,-0.5034976,2.790863 -166.888,65.28161,10532,0.7454033,-0.2487334,2.368616 -233.2432,152.3728,10539,0.9638819,-0.8398338,2.694143 -233,57,10571,0.9914441,-0.5907236,2.661361 -187,157,10574,1.177015,-0.3915658,2.560492 -234,47,10582,0.8955834,-0.7597103,2.632463 -134.2,94.60001,10585,1.174072,-0.5619501,2.895746 -33,180,10587,0.7543598,-0.3223494,2.504074 -143.56,155.08,10591,0.6618126,-0.5424373,2.783295 -50.2,176.2,10592,0.5504973,-0.4819074,2.837273 -81.64,196.84,10594,0.6608254,-0.7827181,2.746492 -212,269,10596,1.153506,-0.7085991,2.832599 -232,85,10598,0.8552045,-0.4699659,2.699573 -162,40,10604,0.8312298,0.2686343,2.833265 -106.12,113.32,10608,0.7293739,-0.2983575,2.515766 -90,293,10611,0.5347425,-0.6526652,2.760266 -137.8,275.8,10615,1.139552,-0.7758724,2.775751 -233.8,85,10618,0.7988614,-0.2626124,2.413888 -238.6,125.8,10619,1.018662,-0.8681617,2.553581 -172.6,158.2,10625,0.5534728,-0.4839399,2.832281 -231.4,75.88,10633,0.7419182,-0.3169256,2.523314 -209.8,280.36,10637,0.9914862,-0.8021011,2.695763 -173.8,77.32,10640,0.8808166,-0.8265108,2.542017 -217,128,10644,0.6630451,-0.5542438,2.833903 -351.4,301,10651,1.101869,-0.5896996,2.786786 -61.48001,89.12801,10658,1.138381,-0.3591091,2.526676 -255.88,237.16,10661,0.6516869,-0.5715641,2.828918 -81.87041,187.624,10664,1.214511,-0.3497646,2.434876 -71.50241,218.728,10665,0.87312,0.02434175,2.281608 -232.84,84.52,10674,0.8525232,-0.8161173,2.55772 -100.5328,361.8065,10675,0.984787,-0.2787512,2.439081 -102.6064,67.35521,10677,0.8423682,-0.6433198,2.643457 -330.76,218.44,10679,0.7953088,-0.3359462,2.435807 -168.9616,131.6368,10683,0.9663836,-0.8266398,2.674378 -160.6672,67.35521,10686,0.9819483,-0.2776641,2.449606 -232.552,56.29601,10688,1.14759,-0.3451278,2.50111 -260.2,244.648,10691,0.6063061,-0.4887007,2.826195 -133.7104,183.4768,10696,0.9517962,-0.5916499,2.627247 -168.9616,156.52,10699,0.5515625,-0.5202197,2.822779 -101.224,58.02401,10704,1.028553,-0.3069088,2.457039 -96.55151,129.3973,10710,0.6994136,-0.7883356,2.647827 -197.5773,103.0211,10714,0.8298875,-0.7214821,2.616652 -61.48001,208.36,10720,0.8547828,-0.4675029,2.659595 -244.8554,244.8554,10721,0.8280674,-0.6583474,2.66228 -119.245,140.7441,10725,0.9986215,-0.5269257,2.663625 -194.4918,180.1591,10729,1.10134,-0.3158856,2.485369 -147.3133,380.2201,10741,1.153763,-0.7015912,2.823448 -230.3236,151.4936,10742,1.031347,-0.7019554,2.699493 -165,34,10749,0.8845538,-0.7907886,2.582444 -136.6,39.4,10750,0.9087337,-0.7824134,2.594171 -130.6,59.8,10751,0.8268453,-0.7934979,2.625194 -162,67,10752,0.7431508,-0.734177,2.680554 -120,78,10753,0.8622834,-0.6448904,2.651728 -132,81,10754,0.5614765,-0.6641832,2.777762 -131,143,10757,0.5757967,-0.5439796,2.835335 -34,159,10758,1.221768,-0.4432446,2.691329 -236,178,10760,0.5531917,-0.4779795,2.833711 -282,197,10762,0.831376,-0.3553042,2.543398 -154.6,209.8,10763,0.8049337,-0.3406497,2.483637 -54,225,10764,0.7764103,-0.2430345,2.330552 -281.8,239.8,10765,1.231965,-0.1769563,2.295046 -130,260,10766,0.9223576,-0.8513578,2.572951 -112.6,271,10767,0.8907643,-0.7339306,2.621667 -310,324,10769,0.7592228,-0.7202284,2.671225 -129.4,49,10770,0.7113666,-0.5043339,2.811046 -131.8,104.2,10771,0.571273,-0.5165904,2.792884 -109,111.4,10772,0.8117141,-0.344241,2.459126 -87.4,121,10773,1.205477,-0.6679823,2.879429 -104,207,10774,0.567608,-0.6524972,2.746817 -51.4,211,10775,0.6918944,-0.5201159,2.731179 -264,125,10777,1.003934,-0.7869983,2.637445 -32,162,10778,0.5943578,-0.5209492,2.811834 -229,59.8,10780,0.8751264,-0.3159098,2.483493 -62,208,10782,0.5902097,-0.6662861,2.754931 -160.6,47.8,10785,0.8108256,-0.1534196,2.295816 -40.6,155.8,10786,0.6847395,-0.7893751,2.678032 -51,176,10787,1.044817,-0.7086472,2.741088 -105.4,374.2,10789,0.5961391,-0.4857969,2.869424 -202,111,10791,0.7685705,-0.6409039,2.730831 -36,161,10792,0.8307059,-0.3770947,2.496761 -73,219.4,10793,0.9584206,-0.7896496,2.62972 -168,64,10794,0.8771319,-0.3131333,2.484423 -105,154,10795,1.033533,-0.6930339,2.711232 -122.2,253,10796,3.127403,-1.132341,5.031847 -155,78,10797,0.9152289,-0.6173337,2.659746 -146.2,277,10798,0.7171953,-0.4949278,2.768665 -197,117,10799,1.026627,-0.2822765,2.442978 -527.8,58.6,10800,0.6701352,-0.5274351,2.797137 -153.4,148.6,10801,1.192972,-0.3364336,2.558456 -101.8,209.8,10802,0.9668609,-0.8246654,2.606549 -210,281,10803,0.8547767,-0.7634339,2.593037 -86.2,201.4,10804,0.8119038,-0.7285914,2.65737 -153.4,61,10806,1.162888,-0.8755895,2.76813 -111.4,92.2,10807,1.113923,-0.5589092,2.85674 -105.4,113.8,10808,1.178767,-0.5640593,2.918817 -132,263,10809,0.8240209,-0.5406559,2.737352 -233.8,46.6,10810,0.8210551,-0.3770182,2.515899 -120.52,253,10814,0.9141579,-0.8294818,2.584183 -175.24,258.76,10815,0.5478572,-0.5549619,2.811433 -129.16,60.04,10818,0.863034,-0.7401786,2.603367 -43,199,10819,0.7442043,-0.7371933,2.681105 -118,102,10822,0.8186677,-0.2374767,2.376853 -81.64,116.2,10823,1.034454,-0.1457649,2.318147 -79,177,10824,0.9057431,-0.8750058,2.627554 -113.32,323.56,10826,0.8588796,-0.7703609,2.656177 -161.8,67,10829,0.711522,-0.4991478,2.812567 -137.8,189.64,10832,0.9922934,-0.858243,2.601471 -104.2,207.4,10833,3.113021,-1.123699,5.000984 -136.36,165.16,10838,1.02035,-0.279103,2.440921 -62.2,208.6,10839,0.70471,-0.7397549,2.755553 -273.16,215.56,10840,0.6837813,-0.5662373,2.791305 -207.4,283,10842,1.166559,-0.8440285,2.775366 -87.4,186.76,10844,1.15593,-0.8652167,2.82401 -237.4,58.6,10846,3.152969,-1.006547,4.822419 -206.92,134.92,10851,0.8569822,-0.3207231,2.474778 -61.48,208.36,10853,1.021421,-0.6238396,2.676489 -161.8,124.6,10856,0.7841368,-0.2464291,2.314984 -209.8,132.04,10862,0.8663775,-0.827875,2.548367 -129.16,260.2,10864,1.13482,-0.3497251,2.501886 -232.84,47.08,10865,0.8632393,-0.8150242,2.549578 -253,241.48,10868,1.032421,-0.6906791,2.689328 -104.68,65.8,10869,0.7165856,-0.7947672,2.68767 -197.992,237.3904,10874,0.9579663,-0.7926019,2.634017 -135.784,168.9616,10876,0.8382178,-0.5297101,2.721062 -181.4032,278.8624,10877,0.9967734,-0.5263431,2.698241 -184.168,127.144,10879,0.8862205,-0.8209752,2.532194 -194.536,180.712,10881,1.034655,-0.7006967,2.701238 -108.8272,312.04,10882,0.9687777,-0.6529255,2.637169 -111.592,59.75201,10883,0.7774661,-0.3264821,2.488048 -217,128.872,10884,1.047766,-0.7054752,2.712878 -196.264,113.32,10885,0.8634035,-0.5694863,2.698452 -170.344,132.328,10886,0.8430268,-0.2911829,2.54863 -102.6064,278.8624,10887,0.8087701,-0.3420687,2.47506 -201.448,111.592,10888,0.7328244,-0.7396575,2.700231 -142.0048,173.1088,10889,1.024572,-0.2844253,2.431262 -112.9744,270.568,10891,1.139886,-0.6662951,2.846834 -79.79681,117.1216,10892,0.9855811,-0.6464674,2.635757 -208.36,278.8624,10893,1.003622,-0.7905158,2.660266 -241.5376,127.4896,10895,1.140103,-0.8065038,2.790399 -177.256,133.7104,10896,1.218474,-0.6057938,2.996903 -175.1824,77.72321,10897,1.056941,-0.6698317,2.73355 -231.1696,75.64961,10899,0.8325142,-0.6475199,2.662099 -115.048,274.7152,10902,1.077057,-0.5217023,2.714778 -120.4394,144.3273,10903,0.9983544,-0.7887761,2.652501 -102.5235,165.2292,10904,0.8104379,-0.6987434,2.570266 -159.2572,162.2432,10905,0.8035117,-0.2545756,2.40306 -224.9489,177.6708,10906,0.8893513,-0.4747764,2.637456 -172.6941,78.13794,10907,0.7997472,-0.735768,2.700087 -95.55618,120.4394,10908,1.102125,-0.5897293,2.801681 -108.4955,314.5284,10909,0.8284456,-0.6129807,2.762277 -153.2852,207.033,10910,0.7284221,-0.516174,2.872692 -105.5095,114.4674,10911,1.033022,-0.3489067,2.533861 -232.4138,155.2759,10912,1.021508,-0.2889696,2.440119 -132.3833,162.2432,10913,0.9926543,-0.2827494,2.434268 -115.6618,201.6582,10914,0.8945781,-0.7361659,2.605679 -212.4077,248.2395,10915,0.7379993,-0.7403286,2.704532 -207.033,278.6966,10916,0.7061104,-0.7379754,2.753429 -194.4918,284.0714,10917,0.8768798,-0.6911032,2.644879 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0077.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0077.csv deleted file mode 100644 index 4e38ebfb1473edb202f2319e46d730fe3426c7ec..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0077.csv +++ /dev/null @@ -1,235 +0,0 @@ -126,253,9291,0.6007549,-0.4320628,4.087051 -237.4,133,10013,1.199327,-0.6875913,3.007166 -56.2,242.2,10778,0.5943578,-0.5209492,2.811834 -196.6,64.60001,10779,1.034552,-0.3727131,2.410086 -175,123.4,10790,0.9989727,-0.815237,2.617269 -200.2,49,10809,0.8240209,-0.5406559,2.737352 -193.96,142.12,10883,0.7774661,-0.3264821,2.488048 -225.4,158.2,10921,1.172171,-0.3872795,2.63993 -297.64,247.24,10926,0.8568419,-0.7626429,2.59291 -189.4,285.4,10927,0.739222,-0.7463413,2.685568 -77.8,110.2,10929,0.7760319,-0.6928808,2.688395 -94.60001,52.84,10939,0.8790497,-0.5366488,2.708594 -39.4,151,10940,0.672295,-0.570292,2.823779 -130.6,209.8,10942,0.7738692,-0.3516669,2.455753 -93.16,316.36,10945,0.8822776,-0.2950823,2.466114 -50.2,229,10953,0.956872,-0.8370779,2.606609 -70.12,136.36,10958,0.8415377,-0.6040316,2.661859 -188.2,266.2,10959,3.11224,-1.269541,5.295767 -49.96,222.76,10964,0.9858546,-0.8264888,2.675963 -127,45.4,10966,0.8605359,-0.4627652,2.72383 -132.328,75.30401,10967,0.8335571,-0.3534537,2.529823 -94.60001,62.92,10971,1.172563,-0.3888108,2.563372 -201.16,80.2,10972,1.13335,-0.3511755,2.600563 -273.4,232.6,10974,1.058429,-0.6520657,2.733874 -260.2,251.8,10975,1.145782,-0.5645025,2.841961 -226.6,172.6,10982,0.8287774,-0.1600806,2.27109 -247,257.8,10984,0.6792899,-0.5386567,2.801065 -114.76,218.44,10990,0.8406705,-0.3427648,2.506836 -120.232,70.12001,10994,0.751165,-0.5930609,2.80353 -120.232,197.992,10996,1.011823,-0.3470301,2.368561 -77.03201,204.904,10997,1.004635,-0.6427643,2.668118 -85.672,199.72,11001,1.09074,-0.3548787,2.506648 -101.224,125.416,11002,0.857724,-0.3184181,2.475234 -47.08,143.56,11003,0.7828943,-0.2443145,2.317484 -142.696,315.496,11005,0.9610368,-0.5950063,2.667038 -104.68,386.344,11006,0.7638626,-0.3512358,2.479447 -153.064,177.256,11008,1.045001,-0.720361,2.728247 -90.28001,314.92,11009,1.136035,-0.3548216,2.504954 -265.96,253,11012,0.8632984,-0.4715109,2.685444 -66.66401,73.576,11013,0.9108604,-0.6207532,2.677425 -132.328,239.464,11015,1.148765,-0.3360686,2.535419 -130.6,172.072,11016,0.8409071,-0.7734042,2.566009 -272.296,258.472,11018,0.8870156,-0.471085,2.682408 -64.936,102.952,11019,0.8450774,-0.5865095,2.702149 -227.08,276.04,11023,0.6601874,-0.5407435,2.802198 -47.08,235.72,11026,0.9781451,-0.8192793,2.649029 -65.8,248.2,11030,0.8458138,-0.7705617,2.539987 -261.928,256.744,11031,1.200895,-0.6693901,2.898862 -228.52,307.72,11032,0.9935727,-0.4816528,2.738232 -185.896,217,11035,0.854473,-0.7813372,2.589905 -261.928,251.56,11036,0.8307508,-0.3740662,2.592865 -167.8,151,11037,1.005197,-0.6677415,2.669556 -217,165.16,11041,0.9965354,-0.4810037,2.671903 -258.472,261.928,11045,0.7803276,-0.3264667,2.480332 -177.256,156.52,9861,1.000467,-0.6243176,2.67962 -221.8,133,10069,1.141375,-0.6749502,2.829824 -175.24,123.4,10357,1.00818,-0.7960296,2.7055 -170.2,172.6,10573,0.8792547,-0.472771,2.682745 -201,50,10581,1.138081,-0.8036777,2.7703 -241,171.4,10587,0.7543598,-0.3223494,2.504074 -131.6368,239.464,10600,0.7403742,-0.3020324,2.473939 -271.72,248.68,10601,0.9951164,-0.8708394,2.599789 -128,45,10603,0.9912866,-0.2795279,2.41988 -230.2,308.2,10611,0.5347425,-0.6526652,2.760266 -143.56,313.48,10614,1.248495,-0.04077696,3.553647 -212.2,134.2,10618,0.7988614,-0.2626124,2.413888 -71.50241,135.784,10629,1.24355,-0.4416342,2.706124 -121.2688,177.256,10645,0.8948889,-0.5030059,2.775804 -193,141.4,10658,1.138381,-0.3591091,2.526676 -267.4,250.12,10660,0.8458191,-0.1770376,2.218082 -202.6,90.28001,10673,0.8588437,0.03249353,2.266718 -65.28161,81.87041,10676,1.409161,-0.3283179,3.529591 -199.72,59.75201,10687,0.8280205,-0.727554,2.623388 -274.7152,253.9792,10690,0.9720845,-0.8724047,2.658218 -152.3728,177.256,10698,0.5859028,-0.6818401,2.805334 -63.20801,70.12001,10703,1.100077,-0.5728987,2.866794 -212.4077,165.8264,10741,1.153763,-0.7015912,2.823448 -97,68.2,10750,0.9087337,-0.7824134,2.594171 -143.56,178.12,10758,1.221768,-0.4432446,2.691329 -140.68,237.16,10762,0.831376,-0.3553042,2.543398 -48.52,147.88,10772,0.8117141,-0.344241,2.459126 -74.2,243.4,10773,1.205477,-0.6679823,2.879429 -238,131,10776,1.142737,-0.8440589,2.777306 -49.96,228.52,10787,1.044817,-0.7086472,2.741088 -71,182,10794,0.8771319,-0.3131333,2.484423 -124,90,10796,3.127403,-1.132341,5.031847 -132.04,169.48,10800,0.6701352,-0.5274351,2.797137 -52.84,240.04,10803,0.8547767,-0.7634339,2.593037 -121,70.60001,10805,0.8321802,-0.3468003,2.551768 -77.32,110.44,10806,1.162888,-0.8755895,2.76813 -240.04,170.92,10811,0.9662274,-0.3499795,2.414746 -189.64,284.68,10814,0.9141579,-0.8294818,2.584183 -86,121,10821,1.030779,-0.3782939,2.424998 -38,213,10823,1.034454,-0.1457649,2.318147 -217,260.2,10824,0.9057431,-0.8750058,2.627554 -129.16,75.88,10828,0.834699,-0.5307946,2.734465 -75.88,245.8,10832,0.9922934,-0.858243,2.601471 -127,51.4,10835,0.6004027,-0.518329,2.796901 -274.6,231.4,10839,0.70471,-0.7397549,2.755553 -196.84,64.36,10846,3.152969,-1.006547,4.822419 -470,55,10849,0.5945085,-0.5199309,2.807271 -185.32,146.44,10850,1.155455,-0.346205,2.509257 -142.0048,314.1136,10854,0.8566799,-0.5904511,2.677361 -176.68,156.52,10856,0.7841368,-0.2464291,2.314984 -272.296,248.104,10858,1.057274,-0.6510463,2.734729 -104.68,384.6161,10859,0.9048057,-0.5415777,2.687623 -188.2,145,10861,1.160297,-0.8721117,2.761271 -139.9312,204.2128,10862,0.8663775,-0.827875,2.548367 -199.72,49.96,10864,1.13482,-0.3497251,2.501886 -67.35521,73.57601,10865,0.8632393,-0.8150242,2.549578 -172.36,129.16,10871,3.236851,-1.13743,5.182587 -123.4,88.84,10877,0.9967734,-0.5263431,2.698241 -161.704,140.968,10878,0.8080334,-0.2609158,2.395271 -172.072,125.416,10884,1.047766,-0.7054752,2.712878 -229.096,307.8929,10892,0.9855811,-0.6464674,2.635757 -103.24,181,10897,1.056941,-0.6698317,2.73355 -200.0656,79.79681,10898,0.8248954,-0.335045,2.433556 -137.1609,183.7423,10904,0.8104379,-0.6987434,2.570266 -142.8343,88.09122,10906,0.8893513,-0.4747764,2.637456 -140.7441,233.9068,10909,0.8284456,-0.6129807,2.762277 -212.5072,165.2292,10911,1.033022,-0.3489067,2.533861 -102.5235,186.1311,10912,1.021508,-0.2889696,2.440119 -101,119,10917,0.8768798,-0.6911032,2.644879 -39.4,143.8,10918,1.140912,-0.6027731,2.790402 -32,152,10919,0.8853474,-0.6112938,2.665132 -103,143.8,10920,0.9567089,-0.5899211,2.67286 -119.8,178.6,10922,1.226064,-0.3413072,2.514276 -154,178,10923,1.204284,-0.3428306,2.49693 -269,232,10924,0.9679255,-0.3537315,2.375797 -305.8,245.8,10925,3.167091,-1.104213,5.037898 -453,49,10928,0.7505113,-0.7287396,2.709153 -37,140,10930,0.9168071,-0.6189849,2.661715 -47.8,147.4,10931,0.953961,-0.6007889,2.634232 -62,159,10932,0.9357415,-0.5936177,2.651491 -131.8,169,10933,0.8199263,-0.5395095,2.758884 -150,173,10934,0.8819197,-0.4650163,2.670313 -143.8,178.6,10935,1.1442,-0.3553606,2.53985 -109,217,10936,0.9211568,-0.9068638,2.696342 -140.2,238.6,10937,0.7439814,-0.7115042,2.649642 -267.4,250.6,10938,1.00031,-0.6610706,2.656597 -161.8,142.6,10941,0.6101233,-0.4798275,2.838215 -50.2,223,10943,0.7806513,-0.703344,2.69699 -39.4,265,10944,0.63068,-0.4843181,2.801863 -63.4,154.6,10946,0.7966995,-0.2602021,2.417085 -43,261.4,10947,0.7717509,-0.6286798,2.702785 -158.2,322.6,10948,0.9275631,-0.838088,2.554371 -118,360,10949,0.8919272,-0.7304071,2.619782 -71.8,187,10950,0.6755975,-0.5553424,2.790352 -95.8,62.2,10951,0.8604113,-0.8250421,2.57525 -101.8,124.6,10952,0.6600038,-0.521881,2.80199 -67,79,10954,0.976347,-0.8144674,2.630967 -49,243.4,10955,0.8167655,-0.726253,2.64105 -113.8,65.8,10956,0.9745309,-0.3853595,2.451921 -129,77,10957,1.124658,-0.3495408,2.517183 -261,256,10960,1.001769,-0.6625006,2.656461 -102,187,10961,0.6683573,-0.5718501,2.838829 -427,41,10962,0.8283085,-0.3261299,2.424565 -162.28,142.12,10963,0.9979161,-0.865356,2.587814 -123.4,321.4,10965,0.8861458,-0.6113335,2.664416 -120.52,178.12,10968,0.9226161,-0.8455561,2.582132 -134.2,242.2,10969,1.142655,-0.8021106,2.777587 -128.2,298.6,10970,1.075132,-0.6653562,2.782416 -193,140,10973,1.154764,-0.7103023,2.871132 -215.8,121,10976,0.8607045,-0.5867891,2.669755 -188,144,10977,0.7552356,-0.5926301,2.788023 -230.2,171.4,10978,0.6605918,-0.522849,2.798456 -113.32,191.08,10979,1.128686,-0.5564836,2.757897 -77.32,204.04,10980,0.6814702,-0.5971348,2.81899 -48.52,242.92,10981,1.093165,-0.3553504,2.500156 -49.96,211.24,10983,0.8656604,-0.5697608,2.686243 -145,431.56,10985,1.157534,-0.3471992,2.514467 -119.08,198.28,10986,1.128331,-0.3436733,2.529582 -55.72,234.28,10987,0.8344984,-0.5296327,2.736212 -275.8,253,10988,0.6537511,-0.5287999,2.806488 -263.8,259,10989,1.045553,-0.7206115,2.732827 -46.6,241,10991,0.9663244,-0.82791,2.617577 -174,119,10992,1.202679,-0.6643555,2.870038 -132,304,10993,0.8722875,-0.5670171,2.651546 -237.16,132.04,10995,1.094945,-0.5257373,2.818759 -217,189.4,10998,0.7933679,-0.5872087,2.706208 -213.4,281.8,10999,0.8909577,-0.7291868,2.62039 -166.6,150.76,11000,0.7694714,-0.7205212,2.624973 -245.8,258.76,11004,1.065072,-0.6691335,2.757271 -189.4,140.2,11007,1.144055,-0.8700989,2.768913 -193,52.6,11010,0.8652214,-0.8302477,2.556278 -173.8,119.08,11011,0.661845,-0.5299132,2.785085 -47.08,240.04,11014,0.6833885,-0.5160363,2.731564 -52.84,244.36,11017,0.6827965,-0.5345824,2.78209 -56.29601,236.008,11020,1.041414,-0.3384439,2.476511 -142.0048,235.3168,11021,0.9345679,-0.5996606,2.646095 -108.8272,193.8448,11022,0.8719009,-0.5686322,2.67475 -142.0048,175.1824,11024,0.8712698,-0.4508896,2.673334 -121.2688,197.992,11025,0.8241024,-0.3463746,2.419315 -137.8576,245.6848,11027,0.6921743,-0.4988061,2.798175 -117.1216,312.04,11028,1.130919,-0.3421926,2.570473 -128.872,77.03201,11029,1.023426,-0.2813974,2.438174 -65.28161,102.6064,11033,1.131309,-0.3570334,2.534464 -236.008,132.328,11034,1.00755,-0.6385121,2.635534 -73.57601,102.6064,11038,1.109687,-0.579201,2.732744 -127.4896,287.1568,11039,1.154375,-0.7062495,2.851933 -162.7408,139.9312,11040,0.8682303,-0.548878,2.804984 -216.6544,121.2688,11042,1.115256,-0.3409232,2.512251 -129.5632,208.36,11043,0.8372653,-0.6446713,2.665276 -185.5504,216.6544,11044,0.9093415,-0.6125668,2.661509 -93.56553,168.2151,11046,0.9834399,-0.2751293,2.45661 -129.3973,174.1871,11047,0.863008,-0.4708147,2.686466 -102.5235,323.4864,11048,1.104438,-0.3189084,2.527939 -210.0189,314.5284,11049,0.8303558,-0.3257224,2.481636 -132.3833,239.8788,11050,0.9460608,-0.5884404,2.647055 -257.297,272.227,11051,0.888487,-0.4795737,2.673256 -130.3927,314.5284,11052,0.9311677,-0.6020051,2.647137 -147.3133,177.1731,11053,1.027511,-0.6345248,2.694279 -141.3413,230.9208,11054,0.8745402,-0.564691,2.668583 -140.3459,175.1824,11055,0.8934767,-0.6082671,2.649985 -177.6708,152.7876,11056,0.8518809,-0.5802913,2.685347 -123.4254,198.075,11057,1.204829,-0.6008989,2.900138 -123.4254,177.1731,11058,1.071516,-0.6610066,2.820552 -111.4814,195.089,11059,0.9200726,-0.5162028,2.643155 -244.8554,155.2759,11060,0.8225985,-0.4471663,2.693641 -192.6007,145.3226,11061,1.021718,-0.375366,2.4606 -147.9105,212.4077,11062,1.099772,-0.5857708,2.74202 -119.245,255.4059,11063,0.9355232,-0.407189,2.613851 -212.4077,262.5723,11064,1.315176,-0.2157699,2.282456 -210.0189,165.2292,11065,0.8956422,-0.717706,2.576868 -169.4095,255.4059,11066,0.8217849,-0.2382811,2.375102 -395.15,298.4041,11067,0.8123108,-0.379941,2.539829 -102.5235,126.4114,11068,0.852769,-0.4707582,2.657957 -132.3833,371.2621,11069,0.8259925,-0.5293186,2.744521 -117.4534,290.6405,11070,0.9893572,-0.6460527,2.637944 -126.4114,241.0732,11071,1.01304,-0.672028,2.661509 -112.0786,219.5741,11072,1.064067,-0.6451986,2.73044 -156.2712,150.2992,11073,1.159375,-0.6701996,2.835602 -165.8264,137.1609,11074,0.8935336,-0.725373,2.60656 -190.9086,147.9105,11075,0.8953452,-0.7289418,2.636058 -222.76,132.04,11076,0.7696415,-0.6516037,2.724533 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0078.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0078.csv deleted file mode 100644 index 5f513ec96b405d378ff7e2086c3e459eb84072eb..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0078.csv +++ /dev/null @@ -1,183 +0,0 @@ -568.36,307.72,11067,0.8123108,-0.379941,2.539829 -165.16,149.32,11079,0.9081686,-0.4094302,2.691752 -265,244.6,11090,0.8181656,-0.2158956,2.360455 -238.6,222.76,11095,0.9370703,-0.5924186,2.654782 -137.8,205,11099,0.7726796,-0.2319544,2.36404 -139.24,198.28,11103,1.004272,-0.7958297,2.67801 -150.76,201.16,11104,0.9197807,-0.5268726,2.679284 -255.4,47.8,11106,0.7159508,-0.509559,2.829281 -253,186.76,11107,0.9737729,-0.3777703,2.450825 -194.2,87.4,11108,0.8243846,-0.3288189,2.471464 -169.48,181,11112,1.143518,-0.8038359,2.790134 -147.88,218.728,11116,1.156396,-0.3425432,2.560494 -395.8,244.6,11119,0.8717911,-0.3043969,2.503774 -254.44,48.52,11120,0.9975906,-0.4809759,2.743009 -310.6,55.72,11121,1.159187,-0.3517567,2.54099 -289,199,11123,0.9584904,-0.5853599,2.641401 -401.32,240.04,11124,0.6716812,-0.5361256,2.765091 -263.8,153.4,11126,0.8640403,-0.5922152,2.71844 -137.8,212.68,11127,1.04113,-0.6980413,2.716544 -213.544,192.808,11128,0.8255507,-0.5396071,2.737418 -217,165.16,11129,0.8303314,-0.3732598,2.588562 -206.632,192.808,11131,0.8836661,-0.3089091,2.486206 -211.816,89.12801,11133,1.203856,-0.5983342,2.888363 -274.024,308.584,11134,0.895429,-0.4123914,2.658389 -345.4,133,11136,0.8703184,-0.3029597,2.514841 -309.16,49.96,11138,1.12605,-0.3469644,2.507776 -266.2,310.6,11139,0.918945,-0.4612194,2.677789 -389.8,249.832,11141,0.9820923,-0.5913061,2.698906 -315.4,272.2,11143,0.8259099,-0.5428936,2.754877 -313.768,265.384,11145,0.8224887,-0.7250786,2.642268 -192.808,87.40001,11156,1.206821,-0.5994424,2.906821 -301,115,11158,0.8895234,-0.4337297,2.674968 -393.256,244.648,11162,0.8476992,-0.6127595,2.672684 -247.24,113.32,11166,1.316741,-0.2132014,2.285233 -327.4,105.4,10069,1.141375,-0.6749502,2.829824 -283.24,94.60001,10357,1.00818,-0.7960296,2.7055 -341.8,106.6,10776,1.142737,-0.8440589,2.777306 -284,95,10790,0.9989727,-0.815237,2.617269 -163.72,225.64,10832,0.9922934,-0.858243,2.601471 -237.16,49.96,10877,0.9967734,-0.5263431,2.698241 -205.48,155.08,10897,1.056941,-0.6698317,2.73355 -225.64,150.76,10922,1.226064,-0.3413072,2.514276 -135.4,104.2,10930,0.9168071,-0.6189849,2.661715 -145,113.32,10931,0.953961,-0.6007889,2.634232 -205,195.4,10936,0.9211568,-0.9068638,2.696342 -169.48,159.4,10950,0.6755975,-0.5553424,2.790352 -212.68,87.4,10952,0.6600038,-0.521881,2.80199 -181,34,10954,0.976347,-0.8144674,2.630967 -137.8,221.8,10955,0.8167655,-0.726253,2.64105 -242,36,10957,1.124658,-0.3495408,2.517183 -317.8,93.4,10976,0.8607045,-0.5867891,2.669755 -137.8,221.32,10981,1.093165,-0.3553504,2.500156 -137.8,186.76,10983,0.8656604,-0.5697608,2.686243 -143.56,212.68,10987,0.8344984,-0.5296327,2.736212 -388.36,248.68,10989,1.045553,-0.7206115,2.732827 -340.84,107.56,10995,1.094945,-0.5257373,2.818759 -185.5504,175.1824,11001,1.09074,-0.3548787,2.506648 -212.5072,88.09121,11002,0.857724,-0.3184181,2.475234 -262.2737,152.3728,11008,1.045001,-0.720361,2.728247 -136.36,218.44,11014,0.6833885,-0.5160363,2.731564 -144.424,213.544,11020,1.041414,-0.3384439,2.476511 -287.848,199.72,11035,0.854473,-0.7813372,2.589905 -274.7152,110.9008,11040,0.8682303,-0.548878,2.804984 -198.075,140.7441,11046,0.9834399,-0.2751293,2.45661 -237.49,147.9105,11047,0.863008,-0.4708147,2.686466 -215.9909,317.5144,11048,1.104438,-0.3189084,2.527939 -233.9068,219.5741,11050,0.9460608,-0.5884404,2.647055 -380.2201,263.7667,11051,0.888487,-0.4795737,2.673256 -242.8648,308.5564,11052,0.9311677,-0.6020051,2.647137 -258.9891,155.0768,11053,1.027511,-0.6345248,2.694279 -244.6564,212.4077,11054,0.8745402,-0.564691,2.668583 -226.7405,176.5759,11057,1.204829,-0.6008989,2.900138 -230.3236,151.4936,11058,1.071516,-0.6610066,2.820552 -321.9933,145.3226,11065,0.8956422,-0.717706,2.576868 -223.1573,276.905,11070,0.9893572,-0.6460527,2.637944 -208.8246,198.075,11072,1.064067,-0.6451986,2.73044 -272.7246,120.4394,11073,1.159375,-0.6701996,2.835602 -299.5985,117.4534,11075,0.8953452,-0.7289418,2.636058 -212.2,89.8,11077,0.7094243,-0.5044438,2.828047 -213,88,11078,1.171605,-0.3379521,2.5294 -162,223,11080,0.6139577,-0.4797918,2.815585 -410,247,11081,0.7971215,-0.254133,2.437051 -261.4,242.2,11082,3.211097,-0.9725901,4.862798 -122.2,244.6,11083,0.7466791,-0.7354579,2.674901 -237,360,11084,0.6800979,-0.5682853,2.795851 -539.8,41.8,11085,0.731346,-0.5129439,2.82166 -137.8,106.6,11086,0.7014723,-0.4934785,2.809409 -139,199,11087,0.9133881,-0.4019047,2.685756 -170,216,11088,1.132507,-0.3389665,2.555027 -164.2,226.6,11089,0.8271686,-0.3709552,2.602694 -386.2,248.2,11091,1.146332,-0.7832289,2.812003 -231.4,274.6,11092,0.8731079,-0.4607586,2.683884 -259,393.4,11093,0.8360997,-0.1576618,2.271188 -310.6,56.2,11094,0.9609547,-0.8111633,2.627414 -288,448,11096,0.6717065,-0.5553936,2.811516 -234,38,11097,0.8054954,-0.252253,2.443411 -251.8,153.4,11098,1.00871,-0.5019216,2.685184 -242,358,11100,0.6782237,-0.574932,2.843074 -295,188,11101,0.7034833,-0.5541937,2.776611 -227.8,392.2,11102,0.8300005,-0.5112875,2.740253 -212.2,206.2,11105,0.8622728,-0.7504382,2.668777 -164.2,219.4,11109,0.7544401,-0.5889775,2.7994 -315.4,259,11110,0.8843462,-0.3101716,2.478631 -238,308,11111,0.7704465,-0.2265145,2.384179 -274.6,307.72,11113,0.6817492,-0.5090209,2.843624 -227.08,391.24,11114,0.7354632,-0.7306053,2.700845 -309,46,11115,0.73179,-0.5634674,2.821808 -134.92,111.88,11117,1.003951,-0.7990223,2.69056 -163.72,195.4,11118,1.14102,-0.7794019,2.78961 -267.4,310.6,11122,0.7293684,-0.5594813,2.786518 -161.8,196.6,11125,0.8400354,-0.5353659,2.747079 -283,95.8,11130,0.8922608,-0.7276474,2.626129 -232.84,274.6,11132,0.8110504,-0.8301538,2.634956 -155.08,47.08,11135,1.143076,-0.7956558,2.796705 -256.6,243.4,11137,0.8819173,-0.2930404,2.478545 -276.04,317.8,11140,0.9613836,-0.3628193,2.409644 -261.4,217,11142,0.9655581,-0.3663201,2.450821 -263.08,153.64,11144,0.800882,-0.2530569,2.435731 -206.2864,191.7712,11146,0.8301132,-0.5252144,2.744063 -239.464,359.7328,11147,0.8822266,-0.307215,2.451603 -177.256,100.5328,11148,0.8187824,-0.3208905,2.473594 -210.4336,200.0656,11149,0.9519016,-0.6013675,2.648223 -275.752,313.768,11150,0.7423276,-0.5092676,2.819563 -237.3904,314.1136,11151,1.009903,-0.5018154,2.714733 -260.2,148.2256,11152,0.7059792,-0.540867,2.812664 -175.1824,216.6544,11153,0.8592115,-0.7479168,2.653655 -293.032,187.624,11154,0.8820164,-0.4690533,2.717604 -154.792,208.36,11155,1.072869,-0.6515193,2.737533 -241.192,218.728,11157,0.8609101,-0.7649404,2.596854 -344.872,134.056,11159,1.140866,-0.3462547,2.53682 -189.6976,69.42881,11160,0.7193772,-0.5036407,2.796254 -251.9056,233.2432,11161,0.988664,-0.2765017,2.430086 -165.16,222.184,11163,0.9479159,-0.6696752,2.643862 -341.0704,314.1136,11164,0.7115034,-0.4991287,2.834414 -206.632,156.52,11165,1.073809,-0.6537259,2.768503 -163.432,225.64,11167,1.138793,-0.6677684,2.85225 -299.5984,117.1216,11168,0.8221919,-0.6471803,2.660158 -567.0929,307.8929,11169,0.740564,-0.5137343,2.852582 -317.0167,107.9978,11170,0.8522533,-0.7346606,2.60747 -189.117,141.3413,11171,0.9625971,-0.6502056,2.633205 -174.1871,215.9909,11172,0.8869628,-0.4720834,2.723974 -190.1124,88.09122,11173,1.05343,-0.3522581,2.554955 -257.297,120.4394,11174,0.8506345,-0.313965,2.49639 -242.8648,215.9909,11175,1.006015,-0.6644443,2.658835 -347.3742,251.8227,11176,0.8397073,-0.641104,2.657616 -254.8087,311.5424,11177,0.8927068,-0.6106059,2.668249 -274.7153,110.4861,11178,0.8300664,-0.5282894,2.745347 -198.075,141.3413,11179,0.8403786,-0.4510047,2.731439 -227.9348,150.2992,11180,0.9528653,-0.6463379,2.640759 -210.0189,198.075,11181,0.8279486,-0.6269006,2.679732 -224.9489,233.9068,11182,0.8212182,-0.5442259,2.758586 -251.8227,120.4394,11183,0.9118579,-0.6147895,2.664836 -195.089,150.2992,11184,0.8516914,-0.5801647,2.683854 -204.047,192.103,11185,0.86435,-0.4671608,2.690694 -236.8928,147.3133,11186,0.8302845,-0.372806,2.616593 -213.0049,171.2011,11187,0.9195235,-0.521776,2.700201 -233.9068,221.9629,11188,0.9514535,-0.5948167,2.673422 -232.4138,272.227,11189,1.216558,-0.3346932,2.571322 -251.8227,189.117,11190,1.039078,-0.6992004,2.713387 -257.7947,150.2992,11191,1.042625,-0.6380502,2.738875 -422.0239,239.8788,11192,0.8463461,-0.4718432,2.707575 -282.1802,95.55618,11193,0.9131612,-0.5790978,2.665005 -289.6452,125.416,11194,0.8568258,-0.6019237,2.668517 -224.9489,221.9629,11195,0.9599828,-0.4650474,2.793004 -242.8648,162.2432,11196,0.9157161,-0.5784955,2.63128 -212.4077,158.66,11197,0.8448709,-0.4504666,2.737551 -272.227,212.5072,11198,1.012706,-0.6708314,2.681295 -244.6564,162.2432,11199,0.8965107,-0.5684168,2.76948 -226.7405,230.3236,11200,0.8002554,-0.2465009,2.444053 -275.7106,108.4955,11201,0.8247553,-0.5467821,2.750106 -233.9068,174.1871,11202,0.8730907,-0.4977617,2.697954 -239.8788,362.3042,11203,0.9780398,-0.6349149,2.700128 -205.2414,190.9086,11204,0.8345906,-0.3765906,2.619279 -233.9068,205.2414,11205,0.9948264,-0.6519445,2.769891 -263.7667,132.3833,11206,0.8446298,-0.3139388,2.491782 -233.9068,269.7386,11207,1.036134,-0.6332532,2.67903 -266.1555,129.9946,11208,1.158509,-0.662974,2.803668 -251.8227,312.7368,11209,0.9225041,-0.5261995,2.676555 -291.2377,122.8282,11210,1.200464,-0.6917096,2.870919 -329.4583,105.5095,11211,0.677408,-0.5206315,2.809609 -251.8227,190.9086,11212,0.7465153,-0.7351503,2.671042 -336.9233,95.55618,11213,0.7781442,-0.7143566,2.694988 -145,219.88,11214,1.189405,-0.5615299,2.909837 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0079.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0079.csv deleted file mode 100644 index 2d5f2d05e264450cdbdd2ff0164b0d069fc4621b..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0079.csv +++ /dev/null @@ -1,208 +0,0 @@ -376.84,47.08,10060,1.063077,-0.9291536,3.508751 -490.6,79,10995,1.094945,-0.5257373,2.818759 -474.472,225.64,11145,0.8224887,-0.7250786,2.642268 -441.64,153.64,11154,0.8820164,-0.4690533,2.717604 -297.4,157,11155,1.072869,-0.6515193,2.737533 -548.2,220.6,11162,0.8476992,-0.6127595,2.672684 -301.96,173.8,11167,1.138793,-0.6677684,2.85225 -429,265,11221,0.9954484,-0.659219,2.639208 -185.896,274.024,11222,0.7942282,-0.676019,2.607523 -385,147,11226,0.9396746,-0.4697268,2.687238 -182.2,304.6,11231,1.174268,-0.3390608,2.577363 -513,402,11235,0.8882033,-0.6092404,2.674045 -241.192,137.512,11252,0.8133018,-0.3360284,2.473152 -378.28,224.2,11254,0.8774306,-0.5358581,2.711502 -581,213,11258,0.6008692,-0.5345344,2.795483 -337.96,143.56,11260,0.5843298,-0.6494153,2.720352 -559,217,11264,0.9955243,-0.5849612,2.667163 -231.4,107.56,11268,0.5928928,-0.6721092,2.776569 -304.6,52.6,11270,0.5954981,-0.6081904,2.740556 -561.4,165.4,11272,0.6718152,-0.5540856,2.815155 -281.8,155.08,11275,0.6202101,-0.4864045,2.845469 -260.2,191.08,11276,1.015523,-0.2722675,2.435868 -437,111,11281,0.7076221,-0.7430246,2.740799 -286.12,61.48001,11284,0.8175,-0.5248663,2.720546 -350.056,90.85601,11285,0.8601879,-0.7288868,2.585202 -355.24,154.792,11287,0.7048191,-0.7469002,2.731913 -369,35,11288,0.7547535,-0.7202999,2.673414 -513.64,401.32,11292,1.259242,0.23892,3.041323 -277.48,136.36,11293,0.936149,-0.5946712,2.65646 -419.176,341.416,11294,0.5634524,-0.6579976,2.74241 -520.84,399.88,11295,0.8283718,-0.5230516,2.73645 -223.912,111.592,11297,0.7725052,-0.6900585,2.659688 -350.92,250.12,11299,0.5865083,-0.648912,2.718352 -322.6,75.4,11300,0.5648504,-0.6045857,2.731307 -228.52,134.92,11303,0.8452178,-0.6537702,2.645788 -414.28,64.36,11305,0.6568082,-0.5411195,2.853671 -296.2,45.64,11311,0.8859314,-0.6062306,2.631307 -279.208,168.616,11313,0.8621916,-0.5909351,2.750762 -377,57,11318,0.5988831,-0.5508812,2.77701 -324.136,70.12001,11319,0.9968877,-0.5923288,2.669641 -249.832,159.976,11321,0.5615169,-0.4787668,2.828179 -239.464,194.536,11324,0.7528385,-0.58908,2.814664 -425.8,274.6,11338,0.7468969,-0.5916629,2.800863 -376.6,55,11343,0.6680032,-0.5576559,2.805933 -426.088,263.656,11347,0.8007416,-0.2502117,2.445513 -389.8,307.72,11350,0.5998811,-0.5213088,2.809813 -489.16,209.8,11378,0.6881827,-0.5651004,2.781601 -289.576,147.88,11381,0.7044424,-0.5415525,2.747725 -384.04,106.12,10922,1.226064,-0.3413072,2.514276 -469,61,10976,0.8607045,-0.5867891,2.669755 -338.9969,127.4896,11001,1.09074,-0.3548787,2.506648 -419.8672,112.9744,11008,1.045001,-0.720361,2.728247 -416.6491,112.0786,11053,1.027511,-0.6345248,2.694279 -385,37,11077,0.7094243,-0.5044438,2.828047 -301,174,11080,0.6139577,-0.4797918,2.815585 -566,219,11081,0.7971215,-0.254133,2.437051 -304.84,51.4,11086,0.7014723,-0.4934785,2.809409 -310,169,11088,1.132507,-0.3389665,2.555027 -452,398,11096,0.6717065,-0.5553936,2.811516 -410.2,110.2,11098,1.00871,-0.5019216,2.685184 -281.8,154.6,11099,0.7726796,-0.2319544,2.36404 -283,145,11103,1.004272,-0.7958297,2.67801 -402.76,146.44,11107,0.9737729,-0.3777703,2.450825 -303.4,171.4,11109,0.7544401,-0.5889775,2.7994 -427.24,264.52,11113,0.6817492,-0.5090209,2.843624 -300.52,61.48,11117,1.003951,-0.7990223,2.69056 -433,163.72,11123,0.9584904,-0.5853599,2.641401 -555.4,214.12,11124,0.6716812,-0.5361256,2.765091 -353.5121,148.2256,11131,0.8836661,-0.3089091,2.486206 -490,107,11136,0.8703184,-0.3029597,2.514841 -406.6,177.4,11142,0.9655581,-0.3663201,2.450821 -419.8672,106.7536,11152,0.7059792,-0.540867,2.812664 -394.9841,193.8448,11161,0.988664,-0.2765017,2.430086 -363.88,108.136,11165,1.073809,-0.6537259,2.768503 -312.7368,165.8264,11172,0.8869628,-0.4720834,2.723974 -386.192,105.5095,11180,0.9528653,-0.6463379,2.640759 -365.2902,189.117,11182,0.8212182,-0.5442259,2.758586 -416.5495,78.13794,11183,0.9118579,-0.6147895,2.664836 -380.2201,180.1591,11188,0.9514535,-0.5948167,2.673422 -401.1219,150.2992,11190,1.039078,-0.6992004,2.713387 -398.136,120.4394,11196,0.9157161,-0.5784955,2.63128 -405.8995,147.9105,11212,0.7465153,-0.7351503,2.671042 -305,52,11215,0.8803288,-0.5348357,2.709556 -321,63,11216,1.176776,-0.3423587,2.588488 -483,123,11217,0.6112305,-0.4805223,2.841135 -381,145,11218,0.8869499,-0.3064888,2.484044 -553,214.6,11219,0.455902,-0.3529759,2.565356 -261,191,11220,0.8355664,-0.1592515,2.28498 -448,392,11223,0.8851818,-0.5319058,2.69838 -436,70,11224,0.5980884,-0.6092454,2.752727 -344.2,71.8,11225,0.559963,-0.6118819,2.749025 -244,132,11227,1.155149,-0.3492251,2.54525 -228,136,11228,0.435592,-0.2973863,2.581165 -415,171,11229,0.5944117,-0.5918084,2.72381 -554,215,11230,0.8779882,-0.463199,2.683158 -244,139,11232,1.222052,0.2241829,3.01051 -389,180,11233,0.7553563,-0.7286869,2.706752 -555,217,11234,0.8193276,-0.722728,2.636498 -311,59,11236,0.8238621,-0.7278088,2.644143 -344.2,49,11237,0.582326,-0.661983,2.726916 -383,106,11238,1.178439,-0.5619034,2.905453 -345.4,46.6,11239,0.5628303,-0.4762147,2.814018 -231,107,11240,0.6763985,-0.2338599,2.376472 -479,122,11241,1.172866,-0.6734876,2.871326 -240,196,11242,1.243039,-0.3288709,2.5569 -323,343,11243,0.6213773,-0.4865093,2.835216 -477,75,11244,0.5970678,-0.6085717,2.743841 -595,217,11245,0.5686646,-0.6067478,2.759225 -265,188.2,11246,0.5687553,-0.5518317,2.756873 -243.4,131.8,11247,0.7254903,-0.7747086,2.681605 -227.8,135.4,11248,0.6848443,-0.7725686,2.693194 -235,160.6,11249,0.5839493,-0.6161928,2.895933 -291,34,11250,0.8311058,-0.4590358,2.726578 -271,39.4,11251,0.8321574,-0.3754812,2.607103 -362.2,184.6,11253,0.5694775,-0.6476841,2.728288 -387,256,11255,1.184355,-0.3469256,2.502748 -225.64,114.76,11256,0.8098341,-0.6900316,2.645079 -378.28,145,11257,0.8012111,-0.5556975,2.792034 -340.6,68.2,11259,0.8578001,-0.740109,2.656871 -251.56,166.6,11261,1.161038,-0.3439658,2.538455 -361,41,11262,0.8846415,-0.5312959,2.696753 -233.8,111.4,11263,0.9221001,-0.612242,2.648253 -385,147.4,11265,0.5755729,-0.6789485,2.855137 -402,100,11266,0.8224174,-0.7280873,2.658257 -436.6,110.2,11267,0.7457044,-0.7345237,2.672708 -343.72,48.52,11269,1.266028,-0.4333707,2.700426 -231.4,107.8,11271,0.826515,-0.5394772,2.781111 -241.48,132.04,11273,0.6094593,-0.4805393,2.837255 -350.92,149.32,11274,0.5781915,-0.6550758,2.707122 -228.52,110.44,11277,0.8637919,-0.2929339,2.503893 -264.52,188.2,11278,0.9946216,-0.5843939,2.663628 -513.64,276.04,11279,0.5831541,-0.6497676,2.725809 -414.28,273.16,11280,0.8842278,-0.4729754,2.708586 -232.84,111.88,11282,0.8299041,-0.6568454,2.704858 -386.92,175.24,11283,0.5589861,-0.47886,2.82676 -238.6,195.4,11286,1.144741,-0.3408267,2.531375 -553,220.6,11289,1.237719,0.2389433,3.043531 -282.664,56.29601,11290,0.6720926,-0.5972843,2.827253 -310.312,59.75201,11291,0.8188291,-0.2207462,2.347805 -408.808,109.864,11296,0.7576052,-0.3511581,2.507453 -355.5857,154.4464,11298,0.9964675,-0.589135,2.669171 -436.4561,108.136,11301,0.6095586,-0.4802397,2.835313 -234.28,111.592,11302,0.9563479,-0.6724129,2.644735 -260.2,191.08,11304,0.8725421,-0.5366822,2.671442 -362.152,85.672,11306,1.178232,-0.350014,2.539588 -380.4688,142.0048,11307,0.8259097,-0.4603048,2.739967 -275.752,161.704,11308,0.7320517,-0.7521829,2.682058 -567.0929,212.5072,11309,0.9200248,-0.6176166,2.669124 -358.696,185.896,11310,0.6618059,-0.5190166,2.803869 -396.712,99.49601,11312,1.18804,-0.3267158,2.559341 -386.6897,104.68,11314,0.7717627,-0.7274861,2.689536 -567.7841,223.912,11315,0.8797148,-0.6942868,2.627431 -365.9536,123.3424,11316,0.7755619,-0.6882582,2.641637 -317.224,56.29601,11317,0.9369546,-0.5954385,2.653188 -409.4993,108.8272,11320,0.5571557,-0.4919108,2.84929 -436.4561,106.7536,11322,0.8572468,-0.307731,2.495482 -237.3904,189.6976,11323,1.024563,-0.2627429,2.475755 -411.5728,268.4944,11325,1.320664,0.2118868,3.014926 -509.0321,276.7888,11326,0.9846615,-0.6465891,2.662675 -314.1136,133.7104,11327,0.5976036,-0.6623289,2.746447 -544.2833,390.8369,11328,0.8494333,-0.6000357,2.676905 -428.1617,79.79681,11329,0.9210243,-0.52292,2.688332 -239.464,106.7536,11330,0.8327749,-0.4639165,2.746351 -363.8801,110.9008,11331,0.6102977,-0.4832216,2.826645 -403.2784,148.2256,11332,0.5734223,-0.6798482,2.760999 -361.8065,183.4768,11333,0.6823746,-0.5699975,2.802575 -260.2,189.6976,11334,0.9750365,-0.3647895,2.463203 -227.0224,100.5328,11335,0.8805418,-0.2896521,2.489969 -285.0833,146.152,11336,1.046086,-0.6339809,2.70722 -477.9281,224.9488,11337,0.8491737,-0.6051342,2.669977 -450.9713,86.01761,11339,0.5358126,-0.5337545,2.83017 -365.2902,111.4814,11340,0.8788886,-0.7020472,2.648737 -312.0401,132.881,11341,0.9346553,-0.5968361,2.651309 -224.9489,174.1871,11342,0.5939512,-0.6643399,2.750429 -409.0846,107.9978,11344,0.8818016,-0.3103065,2.484317 -237.3905,105.5095,11345,1.008342,-0.4963811,2.730058 -279.6919,152.7876,11346,1.031848,-0.2882946,2.448836 -438.9444,155.2759,11348,0.6866715,-0.564911,2.804436 -518.5707,264.762,11349,0.8732961,-0.4944047,2.71866 -287.1569,147.8109,11351,0.8913817,-0.608605,2.656394 -380.2201,165.2292,11352,0.8233267,-0.5431446,2.763778 -252.3204,172.6941,11353,0.8410015,-0.6401533,2.689331 -386.6897,105.5095,11354,0.9157029,-0.6179497,2.678138 -350.3602,147.3133,11355,0.994903,-0.6414778,2.751878 -356.3322,93.56553,11356,0.8285538,-0.4656187,2.753204 -395.15,99.5375,11357,0.967563,-0.5062822,2.701175 -421.5262,90.57954,11358,0.934913,-0.4588264,2.692385 -359.3182,183.1451,11359,0.5701046,-0.5183433,2.806635 -424.0145,152.7876,11360,1.028558,-0.2669842,2.475225 -413.0659,177.1731,11361,1.003618,-0.4940082,2.729269 -239.8788,177.1731,11362,1.061501,-0.3670118,2.505027 -511.6034,275.7106,11363,0.7627066,-0.6209181,2.734424 -436.9538,156.2712,11364,0.9911399,-0.2767308,2.412616 -514.5894,213.0049,11365,0.6867396,-0.5628628,2.771706 -319.9032,115.6618,11366,1.038771,-0.634321,2.698929 -505.6314,278.6966,11367,0.8143996,-0.3774031,2.563712 -287.6545,147.3133,11368,0.5637812,-0.4851307,2.818267 -448.8977,85.6029,11369,0.9132253,-0.5577536,2.672461 -373.6509,226.7405,11370,1.017521,-0.2748229,2.439536 -239.8788,192.103,11371,1.047137,-0.3705544,2.517426 -398.7332,129.9946,11372,0.9658473,-0.3915038,2.441849 -513.395,273.3218,11373,0.7442724,-0.581342,2.78282 -502.6454,208.8246,11374,0.8114733,-0.492107,2.774969 -477.5632,212.4077,11375,0.9953003,-0.3869085,2.45755 -312.7368,133.5777,11376,1.152192,-0.7062628,2.857285 -350.3602,165.2292,11377,0.5837163,-0.6494939,2.66416 -469.2881,59.75201,11379,0.774672,-0.6896465,2.664909 -242.2,110.2,11380,0.8196487,-0.5538373,2.835769 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0080.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0080.csv deleted file mode 100644 index f0813d7f36119cbfca38e3d0f7618ae68a10a997..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0080.csv +++ /dev/null @@ -1,136 +0,0 @@ -560.2,250.6,10535,0.9676839,-0.8215611,2.65296 -592.84,47.08,10878,0.8080334,-0.2609158,2.395271 -556.6,71.8,10933,0.8199263,-0.5395095,2.758884 -598.6,52.6,11007,1.144055,-0.8700989,2.768913 -447.4,143.8,11089,0.8271686,-0.3709552,2.602694 -536.2,146.2,11095,0.9370703,-0.5924186,2.654782 -577,85,11144,0.800882,-0.2530569,2.435731 -574.6,76.60001,11152,0.7059792,-0.540867,2.812664 -572.2,44.2,11166,1.316741,-0.2132014,2.285233 -575.56,55.72,11183,0.9118579,-0.6147895,2.664836 -508,42,11225,0.559963,-0.6118819,2.749025 -474,33,11236,0.8238621,-0.7278088,2.644143 -400,73,11240,0.6763985,-0.2338599,2.376472 -394,100,11248,0.6848443,-0.7725686,2.693194 -395,80,11256,0.8098341,-0.6900316,2.645079 -400.6,73,11271,0.826515,-0.5394772,2.781111 -449,33,11284,0.8175,-0.5248663,2.720546 -431,104,11293,0.936149,-0.5946712,2.65646 -489.4,44.2,11300,0.5648504,-0.6045857,2.731307 -431.56,134.92,11313,0.8621916,-0.5909351,2.750762 -464.68,104.68,11376,1.152192,-0.7062628,2.857285 -489,45,11382,0.8815681,-0.5004672,2.690631 -488.2,116.2,11383,0.2522257,-0.4566969,2.574459 -453,121,11384,0.6071833,-0.1916608,2.322251 -263.8,175,11386,1.010955,-0.4782755,2.76624 -477.64,307.72,11387,0.8581995,-0.6632675,2.627338 -456,37,11388,0.8623257,-0.6448836,2.639972 -299,205,11392,0.3519431,-0.6302664,2.69612 -298,271,11393,0.2675956,-0.3992646,2.630852 -303,95,11395,0.3006711,-0.2647932,2.454056 -276,201,11396,0.3970059,-0.2067083,2.26332 -251,128,11401,0.3566686,-0.2023952,2.300464 -282,241,11403,0.564843,-0.4756086,2.842186 -330,320,11404,0.3578747,-0.2026839,2.28953 -315,150,11405,0.5938101,-0.6824231,2.779891 -448.6,140.2,11411,0.7563428,-0.7208676,2.670648 -281.8,241,11418,0.4116959,-0.3109971,2.432238 -542,79,11420,0.8565623,-0.6626087,2.632119 -257.8,262.6,11426,0.6697354,-0.5152601,2.791417 -355,320.2,11427,0.3176575,-0.3871481,2.633714 -435.4,135.4,11429,0.3653793,-0.6232655,2.695625 -299.08,204.04,11430,0.26937,-0.3306096,2.555768 -278,200,11436,0.3691879,-0.5643681,2.743218 -326.2,313,11438,0.8797832,-0.4713455,2.692314 -313.48,126.28,11439,0.3940118,-0.4625286,2.795404 -330.76,319.24,11440,0.2656824,-0.3342957,2.54212 -275.8,233.8,11443,0.8573765,-0.467105,2.810504 -275.8,200.2,11444,0.3223155,-0.2445507,2.392613 -486,76,11445,0.3090683,-0.2394582,2.376332 -286,198,11455,0.3579575,-0.5441941,2.911579 -310,141,11458,0.3727719,-0.2616562,2.366799 -268,174,11459,0.2958831,-0.3767126,2.621529 -575.3873,83.94402,11008,1.045001,-0.720361,2.728247 -590.2,215.8,11113,0.6817492,-0.5090209,2.843624 -514.5894,153.2852,11182,0.8212182,-0.5442259,2.758586 -486,37,11216,1.176776,-0.3423587,2.588488 -533,114,11218,0.8869499,-0.3064888,2.484044 -408,103,11232,1.222052,0.2241829,3.01051 -538.6,145,11233,0.7553563,-0.7286869,2.706752 -407,97,11247,0.7254903,-0.7747086,2.681605 -531.4,113.8,11257,0.8012111,-0.5556975,2.792034 -508.6,40.6,11259,0.8578001,-0.740109,2.656871 -401.8,77.8,11263,0.9221001,-0.612242,2.648253 -406.6,97,11273,0.6094593,-0.4805393,2.837255 -399.88,74.44,11277,0.8637919,-0.2929339,2.503893 -536.2,141.4,11283,0.5589861,-0.47886,2.82676 -504.8849,121.2688,11287,0.7048191,-0.7469002,2.731913 -566.056,80.48801,11296,0.7576052,-0.3511581,2.507453 -394.6,99.4,11303,0.8452178,-0.6537702,2.645788 -575.8,41.8,11305,0.6568082,-0.5411195,2.853671 -507.304,149.608,11310,0.6618059,-0.5190166,2.803869 -555.688,71.84801,11312,1.18804,-0.3267158,2.559341 -567.0929,79.79681,11320,0.5571557,-0.4919108,2.84929 -407.4257,123.3424,11321,0.5615169,-0.4787668,2.828179 -523.5473,83.94402,11331,0.6102977,-0.4832216,2.826645 -509.0321,148.2256,11333,0.6823746,-0.5699975,2.802575 -539,32,11343,0.6680032,-0.5576559,2.805933 -529.5193,132.3833,11352,0.8233267,-0.5431446,2.763778 -506.2286,147.9105,11359,0.5701046,-0.5183433,2.806635 -495.4791,137.1609,11377,0.5837163,-0.6494939,2.66416 -537,128,11385,0.7099724,-0.7200857,2.690109 -577,135,11389,0.3171755,-0.3849836,2.63636 -534,49,11390,0.306727,-0.2665405,2.451102 -534,59,11391,0.81468,-0.7063954,2.655041 -508,34,11394,0.2460816,-0.3486228,2.603548 -268,226,11397,0.9610326,-0.5813805,2.650195 -295,272,11398,0.2387765,-0.5490181,2.551615 -356,321,11399,0.8359832,-0.4566085,2.745912 -578,85,11400,0.2766027,-0.3191174,2.54433 -510,151,11402,0.3668588,-0.5082946,2.749801 -392,157,11406,0.6015679,-0.5987848,2.709291 -331,322,11407,0.5573994,-0.6045858,2.729948 -400,68,11408,0.7043938,-0.5005018,2.800524 -411.4,98.92001,11409,0.5724956,-0.522163,2.781807 -391,99.4,11410,0.6107831,-0.4804022,2.819948 -397,136.36,11412,0.367866,-0.563616,2.715083 -411,153,11413,0.2261891,-0.2827898,2.506405 -479,32,11414,0.7243871,-0.7427112,2.772479 -313,122.2,11415,0.2754572,-0.3170236,2.554998 -258,263,11416,0.4109377,-0.3192816,2.431058 -452,37,11417,0.887904,-0.6045116,2.664045 -350.2,238.6,11419,0.9151863,-0.4027385,2.6743 -351,243,11421,0.8652493,-0.5475033,2.689138 -557,169,11422,0.9080376,-0.4057769,2.660313 -532.36,49.96,11423,0.2264088,-0.2842118,2.501911 -529,107.8,11424,0.3959822,-0.2061739,2.270989 -556.6,167.8,11425,0.3579321,-0.2082328,2.268766 -331,321.4,11428,0.9331369,-0.591028,2.649327 -565.48,81.64,11431,0.3569911,-0.4441012,2.748241 -309.16,97.48,11432,0.3509437,-0.6151299,2.712686 -278.2,235,11433,0.2659352,-0.3993483,2.727272 -313.768,177.256,11434,0.427775,-0.2195301,2.29773 -303.4,102.952,11435,0.3517044,-0.2102014,2.32341 -372.1744,305.8192,11437,0.3578204,-0.2110492,2.274423 -536.6801,140.968,11441,0.2694214,-0.4015545,2.601174 -327.592,168.616,11442,0.7630617,-0.6238667,2.664147 -508.6174,147.8109,11446,0.8237582,-0.5242853,2.74141 -307.0634,287.1569,11447,0.8870735,-0.4726104,2.699444 -299.5985,292.1335,11448,0.8120179,-0.5308843,2.740987 -503.6407,122.9277,11449,0.5636206,-0.4801829,2.836992 -538.4772,140.3459,11450,0.3704918,-0.2570855,2.411721 -498.6641,120.4394,11451,0.8985574,-0.4018026,2.753967 -391.6663,155.2759,11452,0.2913304,-0.4037508,2.611703 -332.4443,275.7106,11453,0.5303518,-0.1962646,2.355643 -535.4913,171.2011,11454,0.8861594,-0.4770204,2.696662 -427.9958,305.5704,11456,0.2426094,-0.4654932,2.811774 -538.4773,138.3553,11457,0.3433432,-0.3562005,2.604108 -312.0401,217.4839,11460,0.6672307,-0.5614306,2.813078 -334.435,277.2036,11461,0.600345,-0.5348969,2.806053 -289.6452,210.0189,11462,0.84549,-0.4679801,2.701476 -430.9818,117.4534,11463,0.7745349,-0.3244901,2.511604 -405.8995,137.1609,11464,0.4141197,-0.255344,2.34396 -520.5613,144.3273,11465,0.4511165,-0.2476435,2.352113 -526.5333,213.0049,11466,0.1104575,-0.6784098,2.487737 -359.3182,280.4882,11467,0.7431848,-0.6555457,2.759154 -380.8173,280.4882,11468,0.9193366,-0.5721947,2.675381 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0081.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0081.csv deleted file mode 100644 index ab1f8dd797698201a8f4681c31df6d19792162ef..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0081.csv +++ /dev/null @@ -1,237 +0,0 @@ -594.28,137.8,10758,1.221768,-0.4432446,2.691329 -585.4,130.6,10800,0.6701352,-0.5274351,2.797137 -551.08,87.4,10830,0.7459356,-0.726555,2.711711 -602.2,135.4,11008,1.045001,-0.720361,2.728247 -605,254,11111,0.7704465,-0.2265145,2.384179 -602.2,113.8,11183,0.9118579,-0.6147895,2.664836 -433,153,11228,0.435592,-0.2973863,2.581165 -448.6,133,11380,0.8196487,-0.5538373,2.835769 -328,272,11397,0.9610326,-0.5813805,2.650195 -316,185,11401,0.3566686,-0.2023952,2.300464 -417,361,11428,0.9331369,-0.591028,2.649327 -362.2,178.6,11439,0.3940118,-0.4625286,2.795404 -247.24,121.96,11469,0.7772061,-0.5921149,2.777105 -496,128,11470,0.9071697,-0.5427214,2.67282 -273.16,342.28,11475,-0.1742282,-0.1934711,2.374555 -123.4,404.2,11479,0.2295583,-0.4349782,2.572301 -316,235,11482,-0.07823884,-0.1560732,2.298486 -538,175,11490,0.8047787,-0.3238136,2.44976 -568.6,193,11495,-0.02915431,-0.1924942,2.332862 -587,131,11497,-0.02690143,-0.1948284,2.324676 -169,320.2,11499,-0.1209303,-0.1372446,2.268804 -195.4,388.6,11500,0.863806,-0.6764312,2.628954 -547,123.4,11504,0.8322701,-0.3314761,2.457989 -498,158,11505,0.2517873,-0.3507549,2.551001 -190.6,392.2,11509,-0.1292782,-0.1429769,2.286168 -137.8,428.2,11516,0.8151417,-0.53013,2.708837 -474,404,11523,-0.01406143,-0.6523394,2.282524 -436.6,271,11524,0.5759317,-0.6567448,2.721108 -165,121,11526,0.2490388,-0.350787,2.568576 -437.8,131.8,11527,0.4592116,-0.3355994,2.450351 -476.2,297.64,11531,0.7962151,-0.5987322,2.832857 -506.44,152.2,11534,0.3216275,-0.2440332,2.389407 -454.6,408.52,11539,-0.07819257,-0.1603338,2.301193 -606,177,11540,-0.1127499,-0.1553515,2.298375 -536.68,175.24,11541,0.3713906,-0.5524631,2.70869 -165.16,412.84,11542,0.3528172,-0.2122131,2.283716 -146.152,422.632,11543,-0.02699734,-0.1859727,2.322319 -409.96,355.24,11545,-0.1089841,-0.1524099,2.278761 -144.424,426.088,11548,0.839196,-0.4550391,2.745703 -499.24,126.28,11552,0.6712927,-0.5170099,2.803744 -497.8,159.4,11553,0.3235009,-0.2436261,2.382626 -441.64,130.6,11557,0.3901532,-0.2719861,2.345291 -589,195.4,11558,0.2967747,-0.1624187,2.228379 -386.92,397,11561,0.2473135,-0.3453828,2.590964 -327.88,274.6,11564,0.8534029,-0.3876492,2.620528 -575.56,153.64,11571,0.04888984,-0.423969,2.750835 -471.88,165.16,11572,0.5388362,-0.6609376,2.693827 -591.4,193.96,11573,0.1690111,-0.240075,2.409912 -243,250,11574,-0.07500526,-0.1562558,2.294852 -301,338.2,11576,0.4235842,-0.2559873,2.337471 -166.6,369.64,11580,0.7539403,-0.5765136,2.788685 -370.6,260.2,11584,0.3156134,-0.2464185,2.348938 -443,275,11596,0.0712046,-0.4158785,2.673268 -391,368.2,11651,0.445834,-0.2696622,2.367345 -585,130,10933,0.8199263,-0.5395095,2.758884 -602,140,11144,0.800882,-0.2530569,2.435731 -544.6,105.4,11225,0.559963,-0.6118819,2.749025 -571,194.2,11233,0.7553563,-0.7286869,2.706752 -436,155,11248,0.6848443,-0.7725686,2.693194 -443.8,135.4,11263,0.9221001,-0.612242,2.648253 -440,130,11271,0.826515,-0.5394772,2.781111 -569,193,11283,0.5589861,-0.47886,2.82676 -538.0625,175.1824,11287,0.7048191,-0.7469002,2.731913 -436.6,153.4,11303,0.8452178,-0.6537702,2.645788 -540.136,199.72,11310,0.6618059,-0.5190166,2.803869 -527.7277,190.9086,11377,0.5837163,-0.6494939,2.66416 -517.96,168.04,11383,0.2522257,-0.4566969,2.574459 -542,201,11402,0.3668588,-0.5082946,2.749801 -345,285,11403,0.564843,-0.4756086,2.842186 -412,360,11404,0.3578747,-0.2026839,2.28953 -430.6,207.4,11406,0.6015679,-0.5987848,2.709291 -439,127,11408,0.7043938,-0.5005018,2.800524 -453.4,153.4,11409,0.5724956,-0.522163,2.781807 -484.6,191.8,11411,0.7563428,-0.7208676,2.670648 -449,203,11413,0.2261891,-0.2827898,2.506405 -363,179,11415,0.2754572,-0.3170236,2.554998 -485.8,97,11417,0.887904,-0.6045116,2.664045 -417.4,283,11419,0.9151863,-0.4027385,2.6743 -589,216,11425,0.3579321,-0.2082328,2.268766 -593.8,139,11431,0.3569911,-0.4441012,2.748241 -340.84,280.36,11433,0.2659352,-0.3993483,2.727272 -450.9713,345.2177,11437,0.3578204,-0.2110492,2.274423 -538.4772,197.5773,11446,0.8237582,-0.5242853,2.74141 -376.7364,334.435,11448,0.8120179,-0.5308843,2.740987 -535.989,175.1824,11449,0.5636206,-0.4801829,2.836992 -466.8136,171.2011,11463,0.7745349,-0.3244901,2.511604 -445.3145,180.1591,11464,0.4141197,-0.255344,2.34396 -451.8837,323.4864,11468,0.9193366,-0.5721947,2.675381 -581,147,11471,-0.09217594,-0.3002205,2.4696 -507.4,152.2,11472,0.1132842,-0.2320619,2.431258 -578,160,11473,0.03789818,-0.2156723,2.36686 -169,320,11474,0.1210666,-0.1886811,2.34469 -233,366,11476,-0.1596746,-0.1766205,2.340624 -279,377,11477,-0.1290284,-0.1408255,2.267572 -120,391,11478,0.8898433,-0.5424093,2.70834 -132,439,11480,-0.07601673,-0.2118634,2.389364 -564,163,11481,-0.07590117,-0.1602027,2.299452 -174,371,11483,0.5464505,-0.6440042,2.730893 -168,415,11484,0.39569,-0.4545608,2.806052 -165.4,418.6,11485,-0.1486771,-0.199818,2.358074 -426,139,11486,-0.04165051,-0.1815281,2.348659 -371.8,220.6,11487,0.8445482,-0.5206229,2.762316 -131,389,11488,-0.04499521,-0.1815603,2.33867 -191,393,11489,-0.01964385,-0.6585817,2.304105 -188,394,11491,-0.08567981,-0.2126165,2.359283 -164.2,119.8,11492,0.8860132,-0.465382,2.693715 -599,256,11493,-0.1115528,-0.1409013,2.273513 -165,376,11494,0.953493,-0.6155627,2.699352 -143,435,11496,-0.09346647,-0.2991267,2.496383 -195,388,11498,-0.1169945,-0.1912497,2.363233 -149.8,389.8,11501,0.8307143,-0.6398544,2.657403 -136.6,439,11502,0.7434554,-0.5770239,2.763759 -563.8,103,11503,0.6186145,-0.4762897,2.834424 -448.6,203.8,11506,-0.04040251,-0.1819849,2.342943 -609,252,11507,0.3210824,-0.1586359,2.261579 -331,272.2,11508,-0.1136908,-0.1449365,2.288471 -398,392,11510,-0.1128562,-0.1335105,2.277635 -143.8,429.4,11511,0.7231889,-0.5912465,2.794113 -133.48,433,11512,0.5412225,-0.235361,2.312392 -139,440.2,11513,-0.1264177,-0.1449737,2.298137 -486,156,11514,0.8016406,-0.3337477,2.421781 -507.4,325,11515,0.0316978,-0.2104366,2.384937 -605,252,11517,-0.07816621,-0.16108,2.302734 -232.6,365.8,11518,0.2286716,-0.4353011,2.580951 -536.2,170.2,11519,-0.1508197,-0.2056481,2.394109 -165.4,413.8,11520,0.4255568,-0.1481636,2.188036 -315.4,235,11521,0.4636179,-0.3338677,2.46149 -135,380,11522,-0.0302634,-0.1823067,2.340883 -196.6,392.2,11525,0.8162565,-0.5799642,2.687646 -538.12,149.32,11528,0.5083228,-0.2830571,2.36724 -330.76,271.72,11529,0.907603,-0.6103354,2.693815 -435.88,270.28,11530,0.9278505,-0.5751162,2.691468 -571,134.2,11532,0.8717051,-0.4648002,2.661709 -580.6,147.4,11533,0.2280889,-0.2845994,2.467553 -569.8,192.52,11535,-0.08212287,-0.2151316,2.347738 -326.44,309.16,11536,0.3957162,-0.1418935,2.193417 -381.4,328.6,11537,0.9889994,-0.4977943,2.694879 -165.4,376.6,11538,0.835079,-0.5207603,2.749937 -363.88,181,11544,0.4256682,-0.1473186,2.189498 -195.4,391.24,11546,0.7365706,-0.3478185,2.497541 -473.8,404.2,11547,0.348785,-0.3528844,2.582042 -554.2,247,11549,0.7534033,-0.6602971,2.761252 -371.8,265,11550,0.7460637,-0.5763295,2.773661 -541,199.72,11551,0.8228129,-0.5206909,2.724051 -536.6801,175.528,11554,0.586993,-0.6577887,2.722597 -469.2881,185.896,11555,0.8946177,-0.4530203,2.618242 -381.16,329.32,11556,0.09363901,-0.4548707,2.589718 -255.016,232.552,11559,0.8849483,-0.6022999,2.636822 -419.8672,314.1136,11560,0.7728466,-0.5946342,2.772251 -574.696,134.056,11562,0.2774888,-0.2415782,2.371157 -507.304,151.336,11563,0.594983,-0.6032026,2.720541 -358.696,336.232,11565,-0.03377265,-0.4255895,2.805109 -448.552,153.064,11566,0.2776868,-0.321143,2.531768 -574.696,223.912,11567,0.4082987,-0.1706762,2.192661 -213.544,253.288,11568,0.9180225,-0.5629256,2.699771 -344.872,284.392,11569,0.6991602,-0.5728549,2.84551 -460.648,389.8,11570,0.9691305,-0.4574867,2.734362 -426.0881,129.5632,11575,0.4147469,-0.5213165,2.872032 -166.888,419.176,11577,-0.09275024,-0.2167176,2.387073 -372.1744,195.9184,11578,0.432565,-0.209592,2.208375 -438.5297,320.3344,11579,0.48825,-0.2525839,2.301215 -467.5601,361.8065,11581,0.3503321,-0.3601976,2.597154 -480.0017,320.3344,11582,0.2286152,-0.2865767,2.467802 -498.6641,160.6672,11583,0.4163316,-0.1846268,2.209622 -326.5552,307.8929,11585,0.09652822,-0.4545601,2.579988 -461.3393,378.3953,11586,0.590736,-0.6755297,2.779297 -380.4688,334.8496,11587,0.2534178,-0.3543293,2.557742 -256.0529,233.2432,11588,0.6784277,-0.5607945,2.755782 -436.4561,127.4896,11589,0.4326453,-0.2909679,2.38675 -332.7761,270.568,11590,0.1522794,-0.2074892,2.387586 -476.2692,167.7175,11591,0.7999777,-0.5774598,2.735894 -433.9678,297.1101,11592,0.1023783,-0.4666728,2.594684 -294.6218,359.3182,11593,0.4697878,-0.3263797,2.439283 -523.5474,159.2572,11594,0.4126674,-0.2086238,2.269045 -259.7853,227.4372,11595,-0.001636065,-0.2106717,2.375404 -446.4094,354.3415,11597,0.3728125,-0.2800884,2.386397 -212.5072,369.2715,11598,0.1041945,-0.5078981,2.606019 -249.8321,249.8321,11599,0.2463611,-0.3665502,2.571209 -404.1079,307.0634,11600,0.5061306,-0.2863143,2.372947 -257.297,210.0189,11601,0.08176755,-0.2217439,2.380459 -326.97,264.762,11602,0.411809,-0.1842227,2.208414 -473.7809,294.6218,11603,0.5288606,-0.5773638,2.644944 -257.297,359.3182,11604,0.3030434,-0.376785,2.561509 -458.851,379.2247,11605,0.3453087,-0.3592408,2.607666 -430.9818,162.2432,11606,0.4254578,-0.2726015,2.368275 -351.8532,257.297,11607,0.4246271,-0.227196,2.259323 -368.2761,260.7807,11608,0.5855253,-0.5415848,2.720681 -433.9678,308.5564,11609,0.348238,-0.4482215,2.711659 -453.8744,344.3882,11610,0.07552352,-0.4388151,2.600698 -446.4094,177.6708,11611,0.8396893,-0.3330345,2.695905 -359.3182,224.9489,11612,0.1380036,-0.3843358,2.648261 -248.2395,241.0732,11613,0.4460535,-0.2658775,2.325511 -555.8955,247.3437,11614,0.3105574,-0.2375283,2.369448 -278.6966,260.7807,11615,0.5767806,-0.5133752,2.769362 -451.8837,314.5284,11616,0.2033463,-0.4536846,2.625136 -377.2341,335.4303,11617,0.440305,-0.2749559,2.358152 -438.9444,190.1124,11618,0.3977275,-0.2731692,2.349723 -302.5845,227.9348,11619,0.1028715,-0.2261305,2.354251 -442.9258,305.5704,11620,0.3124974,-0.1977084,2.273038 -422.0239,311.5424,11621,0.5629812,-0.4834487,2.844183 -264.762,361.8065,11622,0.4520634,-0.3307442,2.463802 -389.178,368.2761,11623,0.3949962,-0.2096448,2.265148 -427.9958,204.047,11624,0.4161195,-0.1748877,2.229384 -430.9818,272.7246,11625,0.0993356,-0.5040458,2.619853 -436.9538,356.3322,11626,0.2227597,-0.2785655,2.492497 -457.8557,380.2201,11627,-0.001897819,-0.209943,2.383665 -255.4059,212.4077,11628,0.1007539,-0.2135594,2.363687 -323.4864,311.5424,11629,0.8048995,-0.5149471,2.839583 -213.0049,368.2761,11630,0.1906125,-0.4925084,2.609029 -266.7527,362.3042,11631,0.0706374,-0.4763968,2.615652 -511.6034,183.1451,11632,0.185454,-0.4563546,2.674932 -294.8209,212.4077,11633,0.2815593,-0.4236921,2.530028 -244.6564,223.1573,11634,0.1556604,-0.4195698,2.578907 -294.8209,226.7405,11635,0.1324661,-0.3816953,2.687236 -341.4023,242.8648,11636,0.4742727,-0.2873542,2.42775 -284.0714,244.6564,11637,-0.00857345,-0.2689194,2.476503 -276.905,262.5723,11638,0.4827749,-0.2376109,2.341474 -448.8977,293.6265,11639,0.317546,-0.2154888,2.277679 -213.0049,329.4583,11640,0.4515982,-0.1927961,2.250672 -470.3968,327.0695,11641,0.5811549,-0.5200243,2.78591 -387.9836,359.3182,11642,0.4698303,-0.3065865,2.384339 -472.7856,359.3182,11643,0.01586687,-0.2943189,2.476653 -438.1482,187.3255,11644,0.2817039,-0.2409207,2.383146 -452.4809,287.6545,11645,0.4386821,-0.2224261,2.299871 -223.1573,316.32,11646,0.5230508,-0.2040338,2.311771 -359.3182,334.2359,11647,0.1507913,-0.208625,2.373543 -454.8697,341.4023,11648,0.3167776,-0.1943929,2.279993 -499.6595,344.3882,11649,0.4148938,-0.4648321,2.812901 -294.8209,359.3182,11650,0.2952797,-0.3905105,2.633717 -377.2341,215.9909,11652,0.3993842,-0.2763719,2.340884 -344.3882,251.8227,11653,0.08571898,-0.2208393,2.382561 -445.3145,309.1536,11654,0.3856491,-0.2584043,2.472844 -423.8155,309.1536,11655,0.3936092,-0.2126835,2.258188 -258.9891,359.3182,11656,0.5957966,-0.647553,2.677042 -402.3164,309.1536,11657,0.317637,-0.1422137,2.206291 -438.1482,355.735,11658,-0.1909399,-0.134334,2.275003 -451,132,11659,-0.1044784,-0.8166965,2.35263 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0082.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0082.csv deleted file mode 100644 index 90c6b44e8ea810c2d89fe6ce1f5a2e098898b442..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0082.csv +++ /dev/null @@ -1,240 +0,0 @@ -515.08,211.24,10850,1.155455,-0.346205,2.509257 -555,125,11085,0.731346,-0.5129439,2.82166 -527.8,220.6,11088,1.132507,-0.3389665,2.555027 -530.92,198.28,11103,1.004272,-0.7958297,2.67801 -515.8,217,11115,0.73179,-0.5634674,2.821808 -327,153,11468,0.9193366,-0.5721947,2.675381 -238.6,433,11479,0.2295583,-0.4349782,2.572301 -266,379,11482,-0.07823884,-0.1560732,2.298486 -543.4,189.4,11504,0.8322701,-0.3314761,2.457989 -398.2,287.8,11507,0.3210824,-0.1586359,2.261579 -281.8,393.4,11508,-0.1136908,-0.1449365,2.288471 -242.92,433,11512,0.5412225,-0.235361,2.312392 -496.6,181,11565,-0.03377265,-0.4255895,2.805109 -485.8,407.8,11659,-0.1044784,-0.8166965,2.35263 -533,133,11662,0.7977009,-0.6789538,2.861928 -271,149.8,11663,-0.0472408,-0.1679144,2.348914 -539,155,11664,-0.2269807,-0.1518151,2.267134 -280,400,11665,-0.1956755,-0.1314202,2.299542 -203,436,11667,0.6261432,-0.6533722,2.75746 -558,130,11669,0.4087344,-0.1475989,2.162289 -497,229,11678,0.5609102,-0.5449167,2.751939 -301,331,11679,0.504339,-0.23764,2.318634 -493,362.2,11694,0.8204328,-0.7146546,2.617131 -584.2,226.6,11695,0.7404836,-0.5670927,2.743224 -539,103,11696,0.4005589,-0.2040759,2.258034 -270,383,11701,0.7162125,-0.7518085,2.613597 -605,188,11706,-0.07554313,-0.1368266,2.274097 -478,392,11709,0.5717996,-0.6436393,2.738358 -266,429,11710,-0.05904996,-0.2040853,2.321054 -218.2,121,11711,0.8255754,-0.6332418,2.640581 -588,139,11712,0.3623176,-0.6299144,2.701598 -414,179,11716,0.6140959,-0.6542161,2.736203 -497.8,162.28,11720,0.5817767,-0.6578885,2.72722 -482,296,11721,0.6198725,-0.4752022,2.820544 -542.2,127,11723,0.5370638,-0.2353871,2.298418 -572.2,334.6,11727,0.3223633,-0.1842031,2.313032 -515.8,361,11728,0.7633705,-0.7127011,2.676422 -454.6,337.96,11735,0.8691068,-0.4537838,2.676036 -374,343,11736,0.8489097,-0.537178,2.764357 -607,223,11739,0.1166085,-0.1839764,2.335992 -340.84,362.44,11742,0.3621242,-0.2055767,2.27272 -361,382.6,11743,0.6930867,-0.7823101,2.620551 -492.04,362.44,11746,0.1180228,-0.2389034,2.422392 -538.12,103.24,11747,0.002156326,-0.2105799,2.377828 -559,125.8,11748,0.1045947,-0.191774,2.357539 -394.12,291.88,11749,0.3198296,-0.1394286,2.215876 -301.96,372.52,11751,0.7590331,-0.710322,2.675202 -484.84,407.08,11753,0.7175115,-0.4903467,2.818109 -546.76,111.88,11754,0.8131479,-0.4539882,2.661783 -528.04,219.88,11757,0.8414444,-0.7168044,2.808989 -589.96,224.2,11758,0.1606234,-0.4173024,2.65687 -560,139,11761,0.3230885,-0.1861728,2.305875 -421.48,205.48,11766,0.5305879,-0.2409605,2.280182 -492,274,11787,0.4097764,-0.1704308,2.202234 -578,198,11803,0.4511284,-0.2826402,2.468532 -537,203,11804,0.03329308,-0.3209737,2.51475 -467,372,11824,0.2240491,-0.2818703,2.467744 -590,122,11826,-0.1970128,-0.677887,2.414777 -597.4,121,10829,0.711522,-0.4991478,2.812567 -587.8,140.2,11224,0.5980884,-0.6092454,2.752727 -485,184,11247,0.7254903,-0.7747086,2.681605 -608,215,11282,0.8299041,-0.6568454,2.704858 -488,184,11302,0.9563479,-0.6724129,2.644735 -583.3361,225.64,11309,0.9200248,-0.6176166,2.669124 -499,163,11379,0.774672,-0.6896465,2.664909 -585,226,11401,0.3566686,-0.2023952,2.300464 -412,301,11402,0.3668588,-0.5082946,2.749801 -529,217,11410,0.6107831,-0.4804022,2.819948 -421,206.2,11414,0.7243871,-0.7427112,2.772479 -493,363,11427,0.3176575,-0.3871481,2.633714 -448.8977,341.8999,11447,0.8870735,-0.4726104,2.699444 -491.8959,205.2414,11463,0.7745349,-0.3244901,2.511604 -521.059,331.9466,11467,0.7431848,-0.6555457,2.759154 -552,182,11471,-0.09217594,-0.3002205,2.4696 -364,381,11476,-0.1596746,-0.1766205,2.340624 -265,415,11484,0.39569,-0.4545608,2.806052 -281,394,11490,0.8047787,-0.3238136,2.44976 -253,329.8,11498,-0.1169945,-0.1912497,2.363233 -242.2,433,11501,0.8307143,-0.6398544,2.657403 -607,138,11502,0.7434554,-0.5770239,2.763759 -590.2,154.6,11503,0.6186145,-0.4762897,2.834424 -238.6,427.24,11511,0.7231889,-0.5912465,2.794113 -531,185,11513,-0.1264177,-0.1449737,2.298137 -317,371,11517,-0.07816621,-0.16108,2.302734 -265,412,11519,-0.1508197,-0.2056481,2.394109 -581.8,179.8,11527,0.4592116,-0.3355994,2.450351 -398.44,287.56,11528,0.5083228,-0.2830571,2.36724 -454.6,338.2,11536,0.3957162,-0.1418935,2.193417 -605,266,11548,0.839196,-0.4550391,2.745703 -584.2,225.64,11550,0.7460637,-0.5763295,2.773661 -542.44,188.2,11552,0.6712927,-0.5170099,2.803744 -453.7361,337.96,11555,0.8946177,-0.4530203,2.618242 -492.04,162.28,11556,0.09363901,-0.4548707,2.589718 -488.2961,320.3344,11559,0.8849483,-0.6022999,2.636822 -470.2,395.8,11560,0.7728466,-0.5946342,2.772251 -258.76,373.96,11579,0.48825,-0.2525839,2.301215 -546.3569,361.8065,11580,0.7539403,-0.5765136,2.788685 -433,278,11583,0.4163316,-0.1846268,2.209622 -399.1313,287.1568,11589,0.4326453,-0.2909679,2.38675 -329.4583,247.3437,11594,0.4126674,-0.2086238,2.269045 -473.7809,317.0167,11599,0.2463611,-0.3665502,2.571209 -341.4023,359.3182,11603,0.5288606,-0.5773638,2.644944 -448.8977,341.4023,11616,0.2033463,-0.4536846,2.625136 -369.2715,247.3437,11618,0.3977275,-0.2731692,2.349723 -353.3462,359.3182,11621,0.5629812,-0.4834487,2.844183 -475.7716,227.9348,11623,0.3949962,-0.2096448,2.265148 -327.0695,233.9068,11627,-0.001897819,-0.209943,2.383665 -362.3042,224.9489,11632,0.185454,-0.4563546,2.674932 -294.6218,339.4116,11639,0.317546,-0.2154888,2.277679 -470.3968,359.3182,11641,0.5811549,-0.5200243,2.78591 -487.7155,213.0049,11643,0.01586687,-0.2943189,2.476653 -516.9782,298.4041,11644,0.2817039,-0.2409207,2.383146 -434.565,341.4023,11646,0.5230508,-0.2040338,2.311771 -374.2481,365.2902,11649,0.4148938,-0.4648321,2.812901 -431.4795,239.8788,11651,0.445834,-0.2696622,2.367345 -511.6034,320.5004,11653,0.08571898,-0.2208393,2.382561 -511.6034,359.3182,11657,0.317637,-0.1422137,2.206291 -202.6,436.6,11660,0.74277,-0.7323423,2.770797 -217,82,11661,-0.01009055,-0.6586125,2.307621 -182,434,11666,0.75881,-0.7107408,2.661685 -542,127,11668,0.2200873,-0.4479418,2.653647 -499,163,11670,0.8492448,-0.7221627,2.608707 -373,251,11671,-0.01555791,-0.6676286,2.321767 -547,404,11672,0.8130428,-0.6297716,2.614961 -601,116.2,11673,0.551962,-0.2298562,2.31372 -268,147,11674,-0.08073852,-0.2184532,2.387419 -591,155,11675,0.6352857,-0.4714482,2.854002 -575,334,11676,0.01000149,-0.2803243,2.517906 -260.2,374.2,11677,0.7073545,-0.7458311,2.597617 -549.4,113.8,11680,0.414401,-0.1672967,2.272274 -482.2,203.8,11681,0.318285,-0.1419577,2.208081 -550.6,333.4,11682,-0.168422,-0.1454407,2.310802 -520.84,378.28,11683,-0.2324552,-0.1434856,2.294761 -486,408,11684,-0.178801,-0.1349505,2.28113 -218,426,11685,0.7674541,-0.7151965,2.685158 -182.2,433,11686,0.3534836,-0.209599,2.271773 -211,437.8,11687,-0.132142,-0.1321321,2.284835 -556.6,130.6,11688,0.765909,-0.6612152,2.780558 -488,362,11689,0.5899644,-0.6470487,2.757116 -236.2,434.2,11690,0.8428961,-0.5187396,2.751632 -542.2,157,11691,0.361499,-0.207372,2.265757 -487,166.6,11692,0.8332185,-0.4504742,2.726351 -579.4,202.6,11693,0.6901647,-0.7808115,2.609852 -589,122.2,11697,0.002282837,-0.208001,2.391283 -544,189,11698,-0.06154101,-0.1966537,2.386317 -515,362,11699,0.1201908,-0.4616788,2.598 -302.2,373,11700,0.6949626,-0.7830964,2.621545 -532.6,133,11702,0.939568,-0.5491539,2.77657 -336,248,11703,-0.02597218,-0.1983952,2.382884 -538.6,103,11704,-0.1517878,-0.1990962,2.32275 -549.4,111.4,11705,0.3236733,-0.1583591,2.258759 -289,379.72,11707,-0.1166345,-0.7468139,2.387668 -223,389.8,11708,0.8070313,-0.6716475,2.608898 -483.4,168.04,11713,0.03290845,-0.2070749,2.401407 -271,383.8,11714,0.8870994,-0.7767264,2.724414 -589.96,155.08,11715,0.8197604,-0.7116888,2.61193 -316.6,370.6,11717,0.4203588,-0.315631,2.447542 -587.8,109,11718,0.7660276,-0.724117,2.670933 -589.96,121.96,11719,0.7054015,-0.7174309,2.640383 -558.28,126.28,11722,0.8262067,-0.4461599,2.737148 -487.72,162.28,11724,0.3974024,-0.2082668,2.245715 -496.36,228.52,11725,-0.06303107,-0.1962938,2.378546 -579.88,228.52,11726,-0.1349459,-0.1439798,2.275809 -271.72,384.04,11729,0.1598858,-0.417191,2.630565 -233.8,429.4,11730,0.4724798,-0.3567788,2.510947 -466.12,372.52,11731,0.3245943,-0.2452293,2.371685 -556.84,130.6,11732,0.1660528,-0.2429367,2.443604 -352.36,264.52,11733,0.4070587,-0.1694439,2.184564 -491.8,274.6,11734,0.08576257,-0.2277454,2.383653 -538.6,388.6,11737,0.5309361,-0.2394451,2.281242 -340.84,358.12,11738,0.08483628,-0.218529,2.397072 -578.152,196.264,11740,0.7300699,-0.7306201,2.742895 -572.9681,332.776,11741,0.3706398,-0.2610072,2.317138 -533.2241,132.328,11744,0.7648113,-0.7243161,2.664661 -484.8401,331.048,11745,0.2488084,-0.3384902,2.579852 -353.512,348.328,11750,0.7530518,-0.7730982,2.697246 -353.512,377.704,11752,0.2610251,-0.3485081,2.587705 -555.688,132.328,11755,0.3210814,-0.2322851,2.381794 -398.44,287.848,11756,0.721131,-0.7285154,2.720117 -452.0081,343.144,11759,0.3619491,-0.2122163,2.256191 -533.9153,131.6368,11760,0.001448968,-0.2131014,2.373092 -351.4384,264.3472,11762,0.3767209,-0.5559007,2.711639 -494.5169,359.7328,11763,0.2237508,-0.5072939,2.71803 -301.672,372.1744,11764,0.3513402,-0.3604867,2.593946 -467.5601,372.1744,11765,0.7576376,-0.4888739,2.661282 -368.0273,229.096,11767,0.0006641835,-0.2703664,2.491888 -432.3089,278.8624,11768,0.326719,-0.2450496,2.372504 -569.1665,216.6544,11769,0.5774122,-0.479194,2.85609 -573.3137,332.7761,11770,0.8726165,-0.6184843,2.980681 -297.5248,336.9232,11771,0.4268996,-0.2545317,2.483066 -455.1185,336.9232,11772,0.286082,-0.2321912,2.407337 -477.9281,229.096,11773,0.7503442,-0.7028821,2.64305 -546.3569,177.256,11774,0.61549,-0.4774082,2.805986 -482.0753,320.3344,11775,0.5521384,-0.624051,2.689248 -432.3089,343.144,11776,0.1110224,-0.1935541,2.350095 -558.7985,131.6368,11777,0.7430228,-0.5693043,2.767153 -496.5905,227.0224,11778,0.4553959,-0.2931487,2.340296 -483.7342,172.6941,11779,0.1877476,-0.2412528,2.50826 -356.8298,376.7364,11780,0.1816632,-0.4520043,2.628026 -540.9656,190.1124,11781,0.2796276,-0.3195262,2.531902 -518.5707,307.0634,11782,0.3775077,-0.2583612,2.366534 -379.2247,339.4116,11783,0.4599897,-0.3559142,2.474174 -359.3182,249.8321,11784,0.2872186,-0.2272535,2.425293 -411.5729,299.5985,11785,0.1577562,-0.2389014,2.410754 -478.7576,326.97,11786,-0.2257827,-0.2031409,2.395313 -430.9818,344.3882,11788,0.6554527,-0.5528771,2.706484 -371.2621,347.3742,11789,0.6716267,-0.4780413,2.900349 -192.6007,389.178,11790,0.2612354,-0.3899482,2.610633 -535.989,386.6897,11791,0.2227706,-0.5037208,2.711756 -521.059,195.089,11792,0.1533199,-0.4143533,2.63359 -502.6454,227.9348,11793,0.4622947,-0.2774867,2.362718 -392.164,272.7246,11794,0.7167826,-0.7284758,2.713083 -368.2761,230.9208,11795,0.4622082,-0.3062593,2.372257 -347.3742,266.7527,11796,0.3723976,-0.2587408,2.384023 -518.5707,314.5284,11797,0.1827612,-0.2483916,2.454081 -533.5006,130.3927,11798,0.1582812,-0.2073291,2.381375 -514.5894,299.5985,11799,0.8165158,-0.5235025,2.708296 -473.7809,326.97,11800,0.7722859,-0.5309622,2.860483 -380.2201,338.4163,11801,0.671585,-0.4983951,2.814326 -376.7364,364.2948,11802,0.3050358,-0.4209089,2.571177 -513.395,219.5741,11805,0.4582366,-0.2805942,2.343879 -413.0659,255.4059,11806,0.3950509,-0.2551962,2.131327 -493.6875,308.5564,11807,0.434099,-0.1945442,2.238666 -309.1536,312.7368,11808,0.7500579,-0.507638,2.810815 -520.5613,314.5284,11809,0.414176,-0.4622941,2.795913 -541.4633,347.3742,11810,0.3799673,-0.4559616,2.767666 -538.4773,368.2761,11811,0.2944134,-0.2500042,2.448133 -538.4773,210.0189,11812,-0.008012285,-0.2698331,2.478786 -430.9818,239.8788,11813,0.1106613,-0.2237034,2.337866 -422.0239,242.8648,11814,0.33015,-0.373261,2.661048 -430.9818,334.2359,11815,0.3629695,-0.1946994,2.377706 -293.6265,338.4163,11816,0.7358271,-0.5620884,2.889976 -355.735,362.9014,11817,0.2932252,-0.2501644,2.304796 -413.0659,272.7246,11818,0.1297036,-0.2169177,2.32623 -475.7716,362.3042,11819,0.2641063,-0.3914483,2.610131 -520.5613,198.075,11820,0.3284591,-0.1823666,2.327488 -448.8977,341.4023,11821,0.6130074,-0.47607,2.868629 -366.4846,366.4846,11822,0.8044243,-0.7080345,2.586362 -395.15,269.7386,11823,0.2568466,-0.3391981,2.589087 -487.7155,227.9348,11825,-0.08302316,-0.125136,2.2182 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0083.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0083.csv deleted file mode 100644 index ae7d9ffab59b5347a01833fd22af0a12cf19e7fc..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0083.csv +++ /dev/null @@ -1,93 +0,0 @@ -426,357,11482,-0.07823884,-0.1560732,2.298486 -439,343,11487,0.8445482,-0.5206229,2.762316 -409,372,11511,0.7231889,-0.5912465,2.794113 -445,343,11523,-0.01406143,-0.6523394,2.282524 -351,364,11665,-0.1956755,-0.1314202,2.299542 -426,333,11700,0.6949626,-0.7830964,2.621545 -427,370,11709,0.5717996,-0.6436393,2.738358 -337,121,11831,-0.1952904,-0.6769751,2.408219 -519.4,183.4,11832,-0.179432,-0.224181,2.401039 -359.8,118.6,11834,-0.1656884,-0.1402187,2.275172 -362,36,11841,-0.1017235,-0.1939005,2.376671 -537.4,265,11842,-0.362729,-0.1907813,2.383768 -552,270,11843,-0.1788346,-0.8924395,2.454177 -438,340,11847,0.0907176,-0.3321967,2.605579 -395.56,87.4,11852,-0.06800385,-0.1541705,2.307351 -565,269,11853,0.1148927,-0.6027889,2.718906 -469,171.4,11856,-0.062783,-0.2047093,2.379321 -364,37,11858,0.3900999,-0.5573549,2.751296 -568,161,11860,-0.1168422,-0.1469544,2.29582 -565,187,11861,0.0012594,-0.2708953,2.489018 -556.84,274.6,11865,-0.1268112,-0.7870007,2.421393 -562.6,165.4,11872,0.1078897,-0.1945218,2.357969 -605,206,11876,0.219017,-0.3781274,2.588229 -458,237,11884,0.2162301,-0.4674756,2.626184 -401.32,369.64,11478,0.8898433,-0.5424093,2.70834 -407,285,11497,-0.02690143,-0.1948284,2.324676 -440,343,11507,0.3210824,-0.1586359,2.261579 -470,327,11516,0.8151417,-0.53013,2.708837 -541,261.64,11527,0.4592116,-0.3355994,2.450351 -605,311,11535,-0.08212287,-0.2151316,2.347738 -412.6,323.8,11578,0.432565,-0.209592,2.208375 -544.2833,260.2,11588,0.6784277,-0.5607945,2.755782 -493.6875,321.9933,11602,0.411809,-0.1842227,2.208414 -511.6034,207.033,11631,0.0706374,-0.4763968,2.615652 -417,323,11676,0.01000149,-0.2803243,2.517906 -375,371,11686,0.3534836,-0.209599,2.271773 -397,85,11710,-0.05904996,-0.2040853,2.321054 -425.8,333.64,11728,0.7633705,-0.7127011,2.676422 -397,367,11729,0.1598858,-0.417191,2.630565 -492.04,322.12,11741,0.3706398,-0.2610072,2.317138 -538.12,265.96,11748,0.1045947,-0.191774,2.357539 -541.8641,261.928,11755,0.3210814,-0.2322851,2.381794 -523.5473,312.0401,11788,0.6554527,-0.5528771,2.706484 -538.4773,245.8508,11793,0.4622947,-0.2774867,2.362718 -493.6875,237.3905,11795,0.4622082,-0.3062593,2.372257 -442.9258,296.6125,11815,0.3629695,-0.1946994,2.377706 -558.3838,252.3204,11817,0.2932252,-0.2501644,2.304796 -539,265,11826,-0.1970128,-0.677887,2.414777 -543.4,290.2,11827,0.2878195,-0.323844,2.572997 -426,384,11828,-0.2474254,-0.6743438,2.413013 -359,119,11829,0.2437457,-0.5615008,2.688206 -554,271,11830,-0.02857433,-0.1861178,2.344177 -443,339,11833,-0.1231713,-0.1400226,2.293263 -370.6,320.2,11835,-0.3887375,-0.4849617,2.245143 -400.6,367,11836,0.2917343,-0.2546716,2.428023 -380,369,11837,0.2104844,-0.2420688,2.505897 -265,196,11838,-0.1858156,-0.8896096,2.463682 -581,303,11839,0.2581024,-0.3391486,2.604623 -532.36,306.28,11840,0.2854617,-0.3262904,2.579828 -406.6,334.6,11844,-0.03108008,-0.1748788,2.394709 -288,336,11845,-0.08957554,-0.2123418,2.358377 -365,33,11846,-0.3954142,-0.490817,2.287673 -413,327,11848,-0.1325357,-0.7532982,2.350749 -265,196.6,11849,-0.1138061,-0.7427175,2.399734 -471.4,268.6,11850,0.3055414,-0.3288198,2.548782 -388.6,75.4,11851,-0.1779599,-0.2121964,2.411309 -371.08,325,11854,0.0366414,-0.2084467,2.394747 -427,358.6,11855,-0.1808615,-0.8903289,2.471495 -469,326.44,11857,0.3676709,-0.616,2.668685 -424.36,329.32,11859,-0.05069354,-0.7360197,2.362973 -426.0881,83.94402,11862,0.291328,-0.3150006,2.564354 -403.624,363.88,11863,0.2827877,-0.3250119,2.571001 -444.7505,295.4512,11864,-0.1792955,-0.197606,2.38236 -552.2321,270.568,11866,0.1583625,-0.2106442,2.366124 -370.792,332.776,11867,0.2231707,-0.4782757,2.64534 -388.7632,71.50241,11868,0.2948883,-0.3198589,2.560787 -529.7681,326.5552,11869,0.3726701,-0.6132673,2.719136 -517.3265,212.5072,11870,0.1453722,-0.375324,2.647836 -558.7985,272.6416,11871,0.2207866,-0.4462899,2.658178 -488.2961,251.9056,11873,0.5507045,-0.5122875,2.863678 -515.2529,224.9488,11874,0.2950481,-0.4854769,2.601961 -506.9585,334.8496,11875,0.2177773,-0.5020476,2.680724 -550.9188,207.5306,11877,0.08811693,-0.3109929,2.568765 -511.1057,205.0423,11878,0.2277216,-0.3822426,2.521182 -523.5473,249.8321,11879,0.2130504,-0.4468931,2.664571 -473.7809,277.2036,11880,0.09783961,-0.2036906,2.37634 -535.989,247.3437,11881,0.07583617,-0.4184656,2.695932 -511.6034,224.9489,11882,0.1660716,-0.2299374,2.430829 -499.6595,329.4583,11883,-0.003804521,-0.2631171,2.50245 -523.5474,314.5284,11885,0.09045725,-0.223764,2.380201 -441.7314,298.4041,11886,-0.6516635,-0.8586875,2.327513 -516.9782,215.9909,11887,-0.5239784,-0.7226775,2.228284 -495.4791,319.9032,11888,-0.0964639,-0.5709057,2.292902 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0084.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0084.csv deleted file mode 100644 index 5716378ef8bb48ca6e0fbbcb56bcb2bbfb819d92..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0084.csv +++ /dev/null @@ -1,198 +0,0 @@ -565.48,392.68,11541,0.3713906,-0.5524631,2.70869 -506,390,11665,-0.1956755,-0.1314202,2.299542 -542.2,365.8,11706,-0.07554313,-0.1368266,2.274097 -536.68,398.44,11836,0.2917343,-0.2546716,2.428023 -431,214,11837,0.2104844,-0.2420688,2.505897 -593.8,380.2,11846,-0.3954142,-0.490817,2.287673 -561.16,395.56,11862,0.291328,-0.3150006,2.564354 -578,179,11890,-0.8261157,-0.2360453,2.335572 -189.4,326.2,11893,-0.2099342,-0.09227604,2.202622 -574.6,357.4,11904,-0.5272396,-0.1732417,2.331382 -555,441,11911,-0.01405058,-0.1737062,2.351902 -592,114,11912,-0.560562,-0.4680426,2.206081 -544.6,434.2,11916,-0.7242061,-0.6528444,2.088636 -522.28,103.24,11929,-0.0938379,-0.5745945,2.31181 -572.2,359.8,11933,-0.1334615,-0.08615537,2.180251 -530.2,358.6,11939,-0.1514708,-0.8440114,2.462231 -291.4,423.4,11940,-0.4606982,-0.1773529,2.370947 -520.6,428.2,11944,-0.1376107,-0.07865424,2.187215 -587.08,407.08,11948,-0.5725276,-0.1985883,2.081561 -549.4,356.2,11954,-0.5576628,-0.2044195,2.081243 -512.2,428.2,11955,-0.2073874,-0.100015,2.198571 -319,356.2,11956,-0.1588171,-0.0777145,2.195073 -515,425,11957,-0.03150478,-0.1828509,2.350142 -521,429,11965,-0.5980265,-0.1042576,1.997084 -280.936,422.632,11968,-0.1234,-0.7938663,2.371357 -251.56,103.24,11972,-0.4603842,-0.1804427,2.371966 -386.92,355.24,11974,-0.5983545,-0.1661583,2.026289 -287.8,380.2,11976,-0.6870161,-0.6968936,2.145123 -591.4,113.8,11979,-0.3850343,-0.4861123,2.248036 -428.68,212.68,11981,-0.5928822,-0.2336867,2.276076 -532.6,405.4,11988,-0.524969,-0.1182682,2.021775 -500.2,417.4,11989,-0.5231236,-0.1155555,2.016588 -327.4,416.2,11990,-0.6943946,-0.7078408,2.092839 -571.2401,359.56,11994,-0.0791983,-0.1184931,2.233816 -364.6,356.2,11998,-0.6137542,-0.1963386,2.068751 -585,364,12006,-0.5760969,-0.1855522,2.051832 -322.12,327.88,12011,-0.1722669,-0.1331855,2.228246 -286.12,360.424,12012,-0.2291745,-0.1002826,2.230069 -291.304,420.9041,12015,-0.7173554,-0.6563464,2.110989 -595,118.6,12016,-0.3459004,-0.2507953,2.358755 -255.88,107.56,12017,-0.5271214,-0.1790984,2.304742 -317.224,356.968,12020,-0.5247189,-0.7274734,2.237962 -303.4,369.064,12024,-0.544503,-0.1116104,2.028044 -316.6,419.8,12026,-0.5416582,-0.7774502,2.236455 -283.24,417.16,12027,-0.4768179,-0.6478177,2.316354 -389.8,142.12,12029,-0.7160432,-0.6631648,2.140329 -263.08,107.56,12031,-0.5927737,-0.1797058,2.054904 -359.56,215.56,12032,-0.5429264,-0.1074848,2.029597 -295,370.6,12033,-0.1617647,-0.1933224,2.384968 -323.56,421.48,12037,-0.5716462,-0.1988713,2.075262 -279.208,360.424,12040,-0.5020263,-0.1816324,2.348208 -334.504,217,12041,-0.5992178,-0.1672621,2.022241 -324.136,413.992,12044,-0.2119221,-0.1391945,2.285797 -536,392,12052,-0.1751893,-0.1989648,2.423056 -329.32,377.704,12055,-0.7360321,-0.7559112,2.450544 -295,112.6,12057,-0.6596696,-0.1345278,2.502491 -597.4,379,11487,0.8445482,-0.5206229,2.762316 -557,314,11497,-0.02690143,-0.1948284,2.324676 -567.4,406.6,11511,0.7231889,-0.5912465,2.794113 -566.92,356.68,11578,0.432565,-0.209592,2.208375 -587.8,407.8,11708,0.8070313,-0.6716475,2.608898 -591,418,11827,0.2878195,-0.323844,2.572997 -603,378,11832,-0.179432,-0.224181,2.401039 -520.6,347.8,11834,-0.1656884,-0.1402187,2.275172 -434.2,355,11844,-0.03108008,-0.1748788,2.394709 -428.2,212.2,11848,-0.1325357,-0.7532982,2.350749 -520.6,352.6,11853,0.1148927,-0.6027889,2.718906 -320,53,11888,-0.0964639,-0.5709057,2.292902 -367,93,11889,-0.5654274,-0.4709965,2.236696 -340,216,11891,-0.9371489,-0.2007826,2.358993 -230,317,11892,-0.5742946,-0.1991399,2.076352 -309,358,11894,-0.1321193,-0.09252484,2.166648 -513,428,11895,-0.5422694,-0.05260642,2.059375 -562.6,437.8,11896,-0.09317131,-0.8200554,2.380733 -319,448,11897,-0.3707819,-0.4966869,2.273186 -574,73,11898,0.01470846,-0.2789769,2.466413 -435,209,11899,-0.5994223,-0.2294119,2.30762 -604,325,11900,-0.1529817,-0.08083227,2.191152 -323,329,11901,-0.5161756,-0.6949692,2.247451 -547,440,11902,-0.0505071,-0.2022503,2.444649 -371,111,11903,-0.5286042,-0.06704643,2.055468 -327,442,11905,-0.5494174,-0.4674299,2.225274 -356,357,11906,-0.5229494,-0.7877302,2.20349 -346,217,11907,-0.526009,-0.7705169,2.175576 -367,58.6,11908,-0.2211197,-0.09642367,2.212507 -365,61,11909,-0.1355684,-0.07441454,2.20873 -506,424,11910,-0.04503939,-0.7403268,2.412195 -605,380,11913,-0.1860532,-0.2287183,2.422154 -339.4,215.8,11914,-0.1485726,-0.08013473,2.234596 -513,342,11915,-0.09457096,-0.8197856,2.379943 -573.4,73,11917,-0.5138869,-0.690083,2.23666 -250,105,11918,-0.7249722,-0.6314598,2.107777 -370.6,111.4,11919,-0.550928,-0.4672116,2.227584 -252,119,11920,-0.05582467,-0.2049525,2.415146 -345.4,217,11921,-0.4319267,-0.1863917,2.304677 -575.56,358.12,11922,-0.6237182,-0.1924672,2.048435 -398,356,11923,-0.5214242,-0.06706374,2.044804 -278.2,361,11924,-0.6502848,-0.8273847,2.283874 -330,444,11925,-0.5166671,-0.7222114,2.223606 -315.4,58.6,11926,-0.6884359,-0.6981648,2.150379 -370,94,11927,-0.176917,-0.8040143,2.525705 -279,93,11928,-0.6989525,-0.678974,2.114086 -268,96,11930,-0.5267846,-0.4765438,2.251428 -577,178.6,11931,-0.07001659,-0.205171,2.384215 -359,215,11932,-0.05367872,-0.191055,2.371717 -581.8,368.2,11934,-0.5296222,-0.7776583,2.192721 -560.2,440.2,11935,-0.5339084,-0.7760938,2.220204 -364.6,61,11936,-0.02403957,-0.7908106,2.574024 -363.4,67,11937,-0.1596515,-0.2051855,2.344327 -583,116,11938,-0.5804431,-0.1052111,2.005451 -538.6,77.8,11941,-0.5973188,-0.164729,2.031147 -387.4,356.2,11942,-0.1889226,-0.08284222,2.250032 -288,381,11943,-0.2169667,-0.08700041,2.205812 -508.6,429.4,11945,-0.1082122,-0.7414479,2.402431 -556.6,442.6,11946,-0.06462204,-0.1295875,2.281563 -562.6,111.88,11947,-0.525667,-0.4733273,2.233948 -358.6,214.6,11949,-0.1058889,-0.1921825,2.397593 -310.6,358.6,11950,-0.4953226,-0.1844876,2.309232 -552.52,363.88,11951,-0.6549291,-0.8011345,2.307653 -368.2,353.8,11952,-0.1162227,-0.209419,2.378334 -315,72,11953,-0.2081755,-0.08427545,2.222635 -543,442,11958,-0.5790881,-0.4709068,2.253765 -596.2,374.2,11959,-0.5957028,-0.4616665,2.212421 -335.08,215.56,11960,-0.1142794,-0.207328,2.388393 -322.6,218.2,11961,-0.5526037,-0.1730949,2.022402 -549.64,356.68,11962,-0.1590532,-0.1148279,2.232239 -313.48,379.72,11963,-0.1903984,-0.08271834,2.23592 -539.8,415,11964,-0.1487511,-0.08844751,2.18377 -550.6,437.8,11966,-0.6013563,-0.09691465,2.018586 -280.36,422.92,11967,-0.5250142,-0.7722502,2.205326 -366.76,65.8,11969,-0.5178208,-0.700271,2.262957 -559.72,81.64,11970,-0.7240263,-0.6551422,2.092054 -371.08,110.44,11971,-0.1562009,-0.2002431,2.38107 -529.48,358.12,11973,-0.06142521,-0.1500948,2.296833 -587.08,395.56,11975,-0.5884712,-0.1086869,2.012859 -290.44,420.04,11977,-0.05417245,-0.7332761,2.381626 -279.4,92.2,11978,-0.712951,-0.6597143,2.131048 -262.6,109,11980,-0.1742675,-0.2171685,2.403064 -519.4,348.04,11982,-0.1591399,-0.2061199,2.382667 -322.6,328.6,11983,-0.6268732,-0.1920915,2.064784 -528.04,355.24,11984,-0.1697803,-0.1353559,2.23169 -278.92,359.56,11985,-0.5387084,-0.1754601,2.035717 -533.8,404.2,11986,-0.1724585,-0.131045,2.232762 -323.56,378.28,11987,-0.2311885,-0.1049746,2.218226 -327.4,418.6,11991,-0.539257,-0.6704471,2.252914 -267.4,77.8,11992,-0.06946403,-0.2038855,2.394353 -359.56,121.96,11993,-0.5317809,-0.1745582,2.335306 -353.8,355.24,11995,-0.5452741,-0.1105911,2.031369 -585.64,417.16,11996,-0.503703,-0.1796169,2.313035 -316.36,418.6,11997,-0.5607648,-0.203364,2.086046 -317.8,356.68,11999,-0.1191801,-0.1420119,2.272192 -286.12,358.12,12000,-0.2229743,-0.126525,2.265675 -558.28,398.44,12001,-0.539308,-0.1224267,2.017151 -502.12,401.32,12002,-0.4351661,-0.486275,2.265086 -319.24,412.84,12003,-0.6590388,-0.8178121,2.315067 -404.2,212.68,12004,-0.0616026,-0.2067799,2.316335 -315.4,65.8,12005,-0.358508,-0.1927004,2.335488 -434.44,355.24,12007,-0.5441234,-0.7608542,2.244684 -304.84,368.2,12008,-0.1562538,-0.09274411,2.191642 -359.56,78.76,12009,-0.5967153,-0.2326167,2.289975 -545.32,433,12010,-0.614023,-0.1936755,2.069463 -533.2241,403.624,12013,-0.5828508,-0.1065188,2.011252 -500.3921,419.176,12014,-0.04440859,-0.7268694,2.389872 -441.64,327.592,12018,-0.5626408,-0.201346,2.090543 -353.512,355.24,12019,-0.5289906,-0.1135108,2.030875 -325.864,417.448,12021,-0.1163023,-0.1339113,2.262431 -367.336,92.58401,12022,-0.5713912,-0.1858646,2.025516 -560.8721,403.624,12023,-0.5981388,-0.1662666,2.023504 -287.848,381.16,12025,-0.5998655,-0.1075126,2.018342 -360.424,68.39201,12028,-0.5942622,-0.4726703,2.252817 -327.592,215.272,12030,-0.5243939,-0.4723288,2.232593 -317.224,419.176,12034,-0.05235298,-0.1881368,2.377951 -526.3121,358.696,12035,-0.5302365,-0.1092337,2.019238 -581.608,369.064,12036,-0.4089918,-0.4910387,2.290145 -417.448,211.816,12038,-0.6273605,-0.1903507,2.066276 -310.312,358.696,12039,-0.5763735,-0.46774,2.242808 -367.336,353.512,12042,-0.5345106,-0.11433,2.043502 -287.1568,380.4688,12043,-0.1674462,-0.1311605,2.248053 -533.9153,403.2784,12045,-0.5645864,-0.1733577,2.342306 -506.9585,392.9105,12046,-0.5755669,-0.1883392,2.045451 -338.9969,353.5121,12047,-0.3581033,-0.1965316,2.338414 -303.7456,368.0273,12048,-0.5301687,-0.6887175,2.244438 -434.3824,353.5121,12049,-0.5131323,-0.1809538,2.323273 -363.8801,112.9744,12050,-0.166631,-0.1534989,2.237501 -361.8065,354.3415,12051,-0.1893944,-0.7989094,2.514913 -517.5754,102.5235,12053,-0.5325231,-0.1776374,2.056772 -518.5707,356.8298,12054,-0.1694789,-0.1176485,2.31906 -526.0356,401.6196,12056,-0.5287858,-0.1843111,2.292055 -351.8532,354.3415,12058,-0.4346269,-0.4779684,2.260197 -312.0401,356.8298,12059,-0.6022734,-0.166674,2.026049 -404.1079,215.9909,12060,-0.4305139,-0.4764634,2.252214 -284.6685,380.2201,12061,-0.5580636,-0.6952875,2.520864 -405.8995,215.9909,12062,-0.6028409,-0.4569074,2.219244 -366.4846,144.3273,12063,-0.3717945,-0.1902418,2.426773 -319.9032,219.5741,12064,-0.2208729,-0.2012288,2.304804 -427.3987,352.1518,12065,-0.3475489,-0.2482482,2.365716 -502.6454,359.3182,12066,-0.4958063,-0.9055284,2.335312 -440,329,12067,-0.6731924,-0.7946971,2.10011 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0085.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0085.csv deleted file mode 100644 index 68bd4f919e7bfb243c289986b425c0b213432186..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0085.csv +++ /dev/null @@ -1,323 +0,0 @@ -604,419,11832,-0.179432,-0.224181,2.401039 -495,135,11925,-0.5166671,-0.7222114,2.223606 -494.2,103,11934,-0.5296222,-0.7776583,2.192721 -363,393,11941,-0.5973188,-0.164729,2.031147 -442,390,11950,-0.4953226,-0.1844876,2.309232 -361,392.2,11974,-0.5983545,-0.1661583,2.026289 -353.8,425.8,11975,-0.5884712,-0.1086869,2.012859 -425.8,386.92,11993,-0.5317809,-0.1745582,2.335306 -363.88,371.08,12010,-0.614023,-0.1936755,2.069463 -358.12,428.68,12013,-0.5828508,-0.1065188,2.011252 -597,427,12052,-0.1751893,-0.1989648,2.423056 -525.16,80.2,12068,-0.4913096,-0.8861814,2.302306 -297,77,12072,-0.8546799,-0.6755077,1.956758 -270.28,90.28001,12073,-0.9807095,-0.6973531,2.079907 -505,185.32,12082,-0.4677072,-0.6240636,2.227617 -497,255,12083,-0.4483047,-0.4746681,2.182123 -274,325,12094,-0.9639861,-0.1938537,2.413924 -483,133,12100,-0.5315546,-0.7042995,2.164649 -267,121,12101,-1.021362,-0.6586519,2.173191 -490,255,12107,-0.4636592,-0.4750207,2.198222 -265,121,12110,-1.028066,-0.6596159,2.173581 -533.8,262.6,12111,-0.3809341,-0.4892269,2.26134 -252,229,12112,-1.10316,-0.4238542,2.40011 -387,132,12116,-0.703642,-0.6511482,2.091081 -278.92,143.56,12117,-1.080828,-0.6643605,2.367018 -386.2,439,12119,-0.5331816,-0.1117747,2.003249 -397,377,12129,-0.5505809,-0.2026795,2.073394 -248,164,12130,-1.244657,-0.6236095,2.515775 -482.2,133,12133,-0.5429961,-0.7308493,2.235988 -352.6,149.8,12136,-0.7832305,-0.6188095,2.1407 -247,280.6,12139,-1.116253,-0.2824541,2.485606 -449.8,134.2,12142,-0.6202786,-0.734686,2.288073 -401.32,156.52,12145,-0.7146437,-0.6624288,2.282096 -386.2,374.2,12156,-0.6071999,-0.18277,2.251182 -454.6,87.4,12160,-0.6463882,-0.8652682,2.327856 -511,257.8,12162,-0.4216104,-0.473577,2.170077 -246,240,12167,-1.173265,-0.3994227,2.5101 -491.8,115,12171,-0.5189653,-0.7272197,2.123101 -257,181,12173,-1.086418,-0.5430768,2.319586 -488,399,12175,-0.3971592,-0.1921687,2.308967 -452.2,136.6,12176,-0.6083274,-0.722304,2.27499 -247,125.8,12183,-1.324453,-0.7658627,2.566617 -492.04,100.36,12187,-0.5123575,-0.7144921,2.027172 -521,380,12190,-0.3466847,-0.249928,2.351551 -412.6,89.8,12192,-0.7087336,-0.7930378,2.202361 -313,323,12197,-0.8666947,-0.2278105,2.437041 -358,71,12198,-0.7687936,-0.7345656,2.019385 -383,129,12201,-0.7583482,-0.7036747,2.227788 -242.92,294.76,12205,-1.133018,-0.2425507,2.511162 -451.72,91.72,12206,-0.6525723,-0.8547834,2.33843 -293.32,120.52,12215,-0.8816308,-0.6232492,2.037235 -441.64,137.8,12221,-0.6472497,-0.7418038,2.338016 -284.68,126.28,12228,-0.9520319,-0.6417181,2.135552 -492.04,97.48,12233,-0.5390481,-0.8027549,2.216354 -595,412.6,12237,-0.2063696,-0.2369945,2.27192 -273.16,323.56,12240,-0.9630413,-0.197583,2.403738 -352.36,389.8,12242,-0.6142404,-0.1609868,2.037104 -492.04,150.76,12243,-0.5034504,-0.6683846,2.16164 -332.2,146.44,12244,-0.823326,-0.6125,2.12705 -415.72,142.12,12251,-0.7461138,-0.7726436,2.495549 -302.2,149.8,12254,-0.9704109,-0.6399982,2.292764 -496.6,154.6,12258,-0.4991949,-0.680334,2.213054 -322.6,199,12266,-0.8745514,-0.5265638,2.27909 -392.68,372.52,12272,-0.5489711,-0.2168687,1.997439 -399.88,353.8,12273,-0.6219171,-0.2239133,2.405893 -337,145,12274,-0.7573806,-0.5772868,1.99344 -589,427,12279,-0.2000153,-0.1991515,2.38928 -337,145,12299,-0.7366014,-0.5623912,1.945289 -387.4,135.4,12301,-0.7480919,-0.6948069,2.236065 -535,262,11835,-0.3887375,-0.4849617,2.245143 -602.2,424.6,11851,-0.1779599,-0.2121964,2.411309 -453,91,11886,-0.6516635,-0.8586875,2.327513 -441,246,11889,-0.5654274,-0.4709965,2.236696 -541,260.2,11897,-0.3707819,-0.4966869,2.273186 -401,354,11899,-0.5994223,-0.2294119,2.30762 -492,151,11901,-0.5161756,-0.6949692,2.247451 -427,388,11904,-0.5272396,-0.1732417,2.331382 -448,249,11905,-0.5494174,-0.4674299,2.225274 -500.2,104.2,11906,-0.5229494,-0.7877302,2.20349 -495,103,11907,-0.526009,-0.7705169,2.175576 -595,412,11913,-0.1860532,-0.2287183,2.422154 -378,127,11916,-0.7242061,-0.6528444,2.088636 -493,152.2,11917,-0.5138869,-0.690083,2.23666 -377,141,11918,-0.7249722,-0.6314598,2.107777 -447.4,249.4,11919,-0.550928,-0.4672116,2.227584 -355,370.6,11922,-0.6237182,-0.1924672,2.048435 -449,92,11924,-0.6502848,-0.8273847,2.283874 -407,120,11926,-0.6884359,-0.6981648,2.150379 -396,122,11928,-0.6989525,-0.678974,2.114086 -461,249,11930,-0.5267846,-0.4765438,2.251428 -358.6,431.8,11938,-0.5804431,-0.1052111,2.005451 -459.4,395.8,11940,-0.4606982,-0.1773529,2.370947 -460.6,249.4,11947,-0.525667,-0.4733273,2.233948 -445,107.8,11951,-0.6549291,-0.8011345,2.307653 -424.6,245.8,11959,-0.5957028,-0.4616665,2.212421 -387.4,395.8,11961,-0.5526037,-0.1730949,2.022402 -346.6,430.12,11965,-0.5980265,-0.1042576,1.997084 -496.36,109,11967,-0.5250142,-0.7722502,2.205326 -377.8,127,11970,-0.7240263,-0.6551422,2.092054 -406.6,119.8,11976,-0.6870161,-0.6968936,2.145123 -389,133,11978,-0.712951,-0.6597143,2.131048 -397,397,11985,-0.5387084,-0.1754601,2.035717 -394.6,436.6,11989,-0.5231236,-0.1155555,2.016588 -400.6,104.2,11990,-0.6943946,-0.7078408,2.092839 -382.6,433,11995,-0.5452741,-0.1105911,2.031369 -385.48,428.68,12001,-0.539308,-0.1224267,2.017151 -507.88,405.64,12005,-0.358508,-0.1927004,2.335488 -379.72,384.04,12006,-0.5760969,-0.1855522,2.051832 -385.48,130.6,12015,-0.7173554,-0.6563464,2.110989 -521.1281,379.432,12016,-0.3459004,-0.2507953,2.358755 -379.432,384.616,12022,-0.5713912,-0.1858646,2.025516 -360.424,391.528,12023,-0.5981388,-0.1662666,2.023504 -382.6,433,12024,-0.544503,-0.1116104,2.028044 -349.48,424.36,12025,-0.5998655,-0.1075126,2.018342 -490.024,109.864,12026,-0.5416582,-0.7774502,2.236455 -506.2,185.8,12027,-0.4768179,-0.6478177,2.316354 -388.6,133,12029,-0.7160432,-0.6631648,2.140329 -460.36,250.12,12030,-0.5243939,-0.4723288,2.232593 -355.24,370.792,12038,-0.6273605,-0.1903507,2.066276 -436.4561,248.104,12039,-0.5763735,-0.46774,2.242808 -359.7328,390.8369,12041,-0.5992178,-0.1672621,2.022241 -509.0321,403.2784,12047,-0.3581033,-0.1965316,2.338414 -433.9678,386.6897,12049,-0.5131323,-0.1809538,2.323273 -416,143,12055,-0.7360321,-0.7559112,2.450544 -520.6,380.2,12065,-0.3475489,-0.2482482,2.365716 -525.4,80.2,12066,-0.4958063,-0.9055284,2.335312 -421,67,12067,-0.6731924,-0.7946971,2.10011 -416,89,12069,-0.6595233,-0.7307301,2.054812 -500,101,12070,-0.5055625,-0.7414827,2.090812 -321,77,12071,-0.8497522,-0.7208236,2.036997 -449,120,12074,-0.6376429,-0.7818372,2.32673 -449,135,12075,-0.639107,-0.7652314,2.377242 -441,135,12076,-0.6393386,-0.7304926,2.295256 -484,151,12077,-0.5190715,-0.6669378,2.166268 -484.6,160.6,12078,-0.534444,-0.7003802,2.319017 -402,157,12079,-0.749046,-0.700241,2.408416 -332,146,12080,-0.8352621,-0.6204953,2.156483 -306,149,12081,-0.8851816,-0.5995376,2.134234 -604,430,12084,-0.1826127,-0.2095298,2.297981 -399,397,12085,-0.5389763,-0.1729895,2.064863 -413,90,12086,-0.6761549,-0.7453032,2.101247 -500,105,12087,-0.5178606,-0.7829141,2.202297 -445,101.8,12088,-0.6573339,-0.8215714,2.313725 -271,90,12089,-0.9768425,-0.6951882,2.079207 -428,149,12090,-0.6862535,-0.7259873,2.39083 -353,149,12091,-0.7789384,-0.6175315,2.130988 -486,254,12092,-0.4697775,-0.474339,2.200733 -250.6,278.2,12093,-1.109715,-0.2911975,2.491784 -389.8,400.6,12095,-0.541882,-0.1697138,2.009733 -291,74,12096,-0.8931311,-0.7008813,1.99309 -355,143,12097,-0.795442,-0.644998,2.176596 -474,396,12098,-0.4283529,-0.1906812,2.321654 -511,95,12099,-0.4875757,-0.7485111,2.074387 -356,149,12102,-0.7804036,-0.6244012,2.156743 -319,145,12103,-0.8215227,-0.590256,2.054526 -243,169,12104,-1.283337,-0.6166253,2.555073 -598,430,12105,-0.1852263,-0.2029548,2.332761 -452,113,12106,-0.6391705,-0.8081865,2.347222 -463,251,12108,-0.5152446,-0.4714761,2.218792 -245.8,239.8,12109,-1.175819,-0.3990639,2.515753 -393,433,12113,-0.5256844,-0.1170571,2.033369 -383.8,437.8,12114,-0.5479969,-0.09723141,2.070431 -489.4,92.2,12115,-0.5492408,-0.8134745,2.218258 -248,169,12118,-1.242094,-0.6105116,2.516298 -347,430,12120,-0.597761,-0.1021034,2.001675 -331,144,12121,-0.8319016,-0.6197523,2.139766 -381,385,12122,-0.5769023,-0.1814842,2.072355 -399,117,12123,-0.7022694,-0.7026568,2.144159 -251,233,12124,-1.145295,-0.4185792,2.480644 -387,375,12125,-0.5741186,-0.2000821,2.103494 -256.6,181,12126,-1.085611,-0.5422871,2.315895 -495,161,12127,-0.5061268,-0.6854704,2.266678 -499,402,12128,-0.3773632,-0.1987456,2.281948 -365,371,12131,-0.6158409,-0.1927616,2.093695 -332,62,12132,-0.823879,-0.742991,2.012403 -494.2,135.4,12134,-0.5203132,-0.7340329,2.250046 -383.8,124.6,12135,-0.7107392,-0.6609418,2.08904 -331,146.2,12137,-0.8475165,-0.6266913,2.1798 -243.4,167.8,12138,-1.265651,-0.6130089,2.528062 -452.2,91,12140,-0.641066,-0.8370693,2.287242 -448.6,119.8,12141,-0.6443794,-0.7906483,2.346816 -265,121,12143,-1.035707,-0.6637259,2.18662 -285.4,127,12144,-0.9505531,-0.6402662,2.134092 -488.2,101.8,12146,-0.5473959,-0.7978511,2.225964 -490.6,110.44,12147,-0.5331558,-0.7678866,2.200831 -298,83,12148,-0.8660257,-0.6798845,1.98085 -440.2,136.6,12149,-0.6555682,-0.7521378,2.364157 -316.6,142.6,12150,-0.8598613,-0.6129054,2.125123 -506,186,12151,-0.4645973,-0.6142123,2.191206 -484.6,254.2,12152,-0.4761103,-0.4802975,2.252393 -251.8,229,12153,-1.110953,-0.4252598,2.412547 -240.04,296.2,12154,-1.209835,-0.2302035,2.645436 -520.84,379.72,12155,-0.3479297,-0.2483154,2.342388 -357.4,427,12157,-0.5805793,-0.1112384,2.005042 -399.88,116.2,12158,-0.6847602,-0.6844704,2.09224 -495.4,255.4,12159,-0.453814,-0.4820447,2.243552 -431.8,166.6,12161,-0.6618726,-0.6833767,2.389349 -598.6,429.4,12163,-0.1879808,-0.2051367,2.31676 -346.6,431.8,12164,-0.6021194,-0.09338877,2.024671 -355,140.2,12165,-0.7696692,-0.6278607,2.10798 -247,169,12166,-1.266508,-0.6175784,2.552764 -265,125,12168,-1.063189,-0.6690465,2.242243 -397,398.2,12169,-0.5472188,-0.1652911,2.097075 -466,87,12170,-0.6194423,-0.8636184,2.323375 -494.2,160.6,12172,-0.5094427,-0.6903445,2.279211 -436.6,245.8,12174,-0.5670416,-0.4667275,2.19799 -609,427,12177,-0.1893125,-0.224165,2.211295 -385,131.8,12178,-0.7247608,-0.668696,2.146642 -247,235,12179,-1.164951,-0.411183,2.497085 -297.4,123.4,12180,-0.8913797,-0.6325346,2.074005 -248.2,164.2,12181,-1.23347,-0.620205,2.495053 -250.12,277.48,12182,-1.102476,-0.2934412,2.472252 -253,233.8,12184,-1.162142,-0.4224704,2.523454 -352.6,391,12185,-0.6180281,-0.1579175,2.049716 -489.16,93.16,12186,-0.5420784,-0.7935683,2.17459 -297.64,101.8,12188,-0.9050329,-0.6775383,2.075831 -261.64,124.84,12189,-1.106901,-0.6856292,2.296248 -361,391.24,12191,-0.6040442,-0.1611033,2.056414 -493.48,134.92,12193,-0.5140955,-0.714501,2.194392 -433,165.16,12194,-0.634426,-0.6516094,2.272838 -251.56,228.52,12195,-1.170201,-0.4330047,2.511645 -245.8,281.8,12196,-1.161308,-0.2779928,2.565435 -494.92,101.8,12199,-0.5242493,-0.7729095,2.170083 -448.84,134.92,12200,-0.6281817,-0.7446197,2.322698 -427,149.8,12202,-0.7016253,-0.7433462,2.452774 -401.8,157,12203,-0.7583921,-0.709709,2.435295 -242.92,168.04,12204,-1.288423,-0.6208799,2.561765 -297.4,82.60001,12207,-0.8809968,-0.6907278,2.005412 -447.4,120.52,12208,-0.6463749,-0.78957,2.347898 -394.12,433,12209,-0.522396,-0.1209803,2.018652 -509.32,94.60001,12210,-0.5112248,-0.8224303,2.235588 -289,88.84,12211,-0.933602,-0.706036,2.067159 -515.08,155.08,12212,-0.4807946,-0.7494933,2.400522 -483.4,153.64,12213,-0.5293826,-0.6863309,2.235597 -258.76,178.12,12214,-1.122166,-0.5654389,2.387159 -442.6,165.4,12216,-0.6329269,-0.6832231,2.359485 -316.36,142.12,12217,-0.813924,-0.5849749,2.024971 -284.68,160.84,12218,-0.9693626,-0.5845467,2.215851 -255.88,182.44,12219,-1.125812,-0.5523481,2.383065 -494.92,257.32,12220,-0.4571634,-0.4842077,2.280102 -245.8,237.16,12222,-1.164274,-0.401301,2.498435 -370.6,382.6,12223,-0.593838,-0.1802787,2.064011 -484.84,136.36,12224,-0.5203758,-0.6829816,2.126042 -497.8,155.08,12225,-0.4986496,-0.6817796,2.213614 -509.32,257.32,12226,-0.4238544,-0.4798934,2.220326 -253,232.84,12227,-1.149279,-0.4209729,2.502367 -256.744,182.44,12229,-1.105839,-0.546038,2.355199 -541.8641,260.2,12230,-0.3670477,-0.486265,2.197418 -251.56,227.368,12231,-1.143107,-0.4349276,2.468666 -394.984,398.44,12232,-0.54673,-0.1660307,2.078753 -514.2161,154.792,12234,-0.486828,-0.7721115,2.465114 -242.92,168.616,12235,-1.329864,-0.6319111,2.627251 -509.032,258.472,12236,-0.4268668,-0.4792351,2.219817 -388.072,132.328,12238,-0.7120951,-0.6622762,2.128503 -296.488,121.96,12239,-0.8323889,-0.5961702,1.955598 -488.2961,401.896,12241,-0.3969977,-0.1771353,2.434758 -246.376,165.16,12245,-1.290365,-0.637551,2.580081 -531.496,261.928,12246,-0.3846174,-0.4912795,2.273816 -249.832,277.48,12247,-1.106488,-0.2945649,2.476972 -268.84,291.304,12248,-1.026529,-0.2737605,2.452297 -446.8241,390.8369,12249,-0.4765019,-0.1927802,2.223237 -509.032,403.624,12250,-0.3556594,-0.1900398,2.419804 -417.448,158.248,12252,-0.7059168,-0.7020493,2.407132 -268.84,298.216,12253,-0.9867387,-0.2550525,2.389726 -521.1281,261.928,12255,-0.4021747,-0.4807124,2.243428 -433,165.16,12256,-0.637111,-0.6545976,2.279882 -460.648,251.56,12257,-0.5256565,-0.4756712,2.254561 -253.288,234.28,12259,-1.125417,-0.4152952,2.457989 -484.8401,137.512,12260,-0.5356622,-0.7223907,2.236143 -278.8624,144.0784,12261,-1.098788,-0.6736843,2.396017 -436.4561,386.6897,12262,-0.5089934,-0.1823882,2.337025 -256.0529,183.4768,12263,-1.152797,-0.5594525,2.433282 -531.8417,260.2,12264,-0.3822693,-0.4650574,2.096024 -417.7937,142.0048,12265,-0.736082,-0.7670726,2.473525 -426.0881,384.6161,12267,-0.5335022,-0.178339,2.349248 -262.2737,125.416,12268,-1.093241,-0.6783217,2.277265 -243.6112,168.9616,12269,-1.28914,-0.6198865,2.569519 -253.9792,233.2432,12270,-1.109105,-0.415593,2.431014 -247.7584,283.0096,12271,-1.140486,-0.2757969,2.541096 -245.6848,237.3904,12275,-1.187027,-0.4068778,2.532324 -353.5121,388.7632,12276,-0.6160108,-0.1627662,2.044821 -266.4208,119.1952,12277,-0.9870299,-0.6418496,2.110935 -241.5376,293.3777,12278,-1.17651,-0.2406626,2.588056 -382.5424,131.6368,12280,-0.7369827,-0.6755987,2.164613 -461.3393,249.832,12281,-0.5208548,-0.4748882,2.228424 -509.0321,256.0529,12282,-0.4251668,-0.4760851,2.173705 -498.6641,154.4464,12283,-0.4898116,-0.6612777,2.151626 -249.832,276.7888,12284,-1.148538,-0.2970146,2.554359 -277.2036,145.3226,12285,-1.088201,-0.6616272,2.369468 -279.6919,162.7408,12286,-0.9740332,-0.5749621,2.202362 -284.6685,162.7408,12287,-0.9432167,-0.5683874,2.168545 -359.3182,391.6663,12288,-0.6045787,-0.1619146,2.043038 -481.2459,142.8343,12289,-0.5305108,-0.6847393,2.166399 -257.297,182.6474,12290,-1.115127,-0.548884,2.373394 -421.5262,247.3437,12291,-0.5954765,-0.4559554,2.191698 -272.227,321.9933,12292,-0.9817934,-0.1972734,2.439855 -523.5473,379.2247,12293,-0.3396898,-0.2523979,2.375587 -354.3415,391.6663,12294,-0.6212362,-0.1545086,2.073146 -242.3671,170.2058,12295,-1.328499,-0.6273167,2.628201 -247.3437,284.6685,12296,-1.139841,-0.2728161,2.535141 -262.2737,127.9044,12297,-1.08463,-0.6702278,2.267292 -516.0823,155.2759,12298,-0.4823999,-0.7682072,2.453411 -239.8788,294.6218,12300,-1.225642,-0.2329755,2.673471 -436.9538,165.2292,12302,-0.6445459,-0.6796035,2.358186 -478.7576,183.1451,12303,-0.5310087,-0.6435457,2.311629 -422.0239,383.2061,12304,-0.5371925,-0.1846801,2.293435 -242.8648,230.9208,12305,-1.230203,-0.4330863,2.570901 -251.8227,224.9489,12306,-1.142772,-0.4412981,2.46527 -514.5894,153.2852,12307,-0.4921839,-0.8067836,2.552713 -245.8508,117.4534,12308,-1.286587,-0.7642416,2.486621 -272.7246,323.4864,12309,-0.943112,-0.2015266,2.355158 -433.9678,386.192,12310,-0.5125721,-0.1858332,2.302607 -245.8508,287.6545,12311,-1.198613,-0.2621041,2.643071 -376.7364,384.2014,12312,-0.5875601,-0.1797903,2.080444 -242.8648,171.2011,12313,-1.301764,-0.6168019,2.590008 -239.8788,293.6265,12314,-1.214142,-0.2357528,2.651762 -266.1555,291.2377,12315,-1.017128,-0.2715712,2.418746 -244.6564,169.4095,12316,-1.22509,-0.593693,2.471232 -251.8227,241.0732,12317,-1.133865,-0.397061,2.47612 -398.7332,352.1518,12318,-0.6042651,-0.2340586,2.284599 -273.3218,319.9032,12319,-0.9474245,-0.208627,2.366053 -241.0732,291.2377,12320,-1.206759,-0.2481495,2.630734 -258.9891,169.4095,12321,-0.9605405,-0.5122324,2.109474 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0086.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0086.csv deleted file mode 100644 index 68ce11d8d1d0849d3b07feb14265b4547f972975..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0086.csv +++ /dev/null @@ -1,87 +0,0 @@ -301,56,11886,-0.6516635,-0.8586875,2.327513 -126,249,11891,-0.9371489,-0.2007826,2.358993 -385,402,11894,-0.1321193,-0.09252484,2.166648 -462,341,11898,0.01470846,-0.2789769,2.466413 -221,78,11916,-0.7242061,-0.6528444,2.088636 -453.4,148.6,11927,-0.176917,-0.8040143,2.525705 -391,345,11937,-0.1596515,-0.2051855,2.344327 -468,129,11939,-0.1514708,-0.8440114,2.462231 -261.4,307,11950,-0.4953226,-0.1844876,2.309232 -407,350,11952,-0.1162227,-0.209419,2.378334 -267.4,189.4,11958,-0.5790881,-0.4709068,2.253765 -327,77,11967,-0.5250142,-0.7722502,2.205326 -340,205,11979,-0.3850343,-0.4861123,2.248036 -179,278,11983,-0.6268732,-0.1920915,2.064784 -374.2,374.2,11984,-0.1697803,-0.1353559,2.23169 -427,360,12004,-0.0616026,-0.2067799,2.316335 -313,322.6,12005,-0.358508,-0.1927004,2.335488 -248.2,304.6,12017,-0.5271214,-0.1790984,2.304742 -316.6,119.8,12078,-0.534444,-0.7003802,2.319017 -324,99,12134,-0.5203132,-0.7340329,2.250046 -378,343,12163,-0.1879808,-0.2051367,2.31676 -297.4,319,12175,-0.3971592,-0.1921687,2.308967 -114,167,12195,-1.170201,-0.4330047,2.511645 -297,64,12206,-0.6525723,-0.8547834,2.33843 -337,67,12210,-0.5112248,-0.8224303,2.235588 -121,119.8,12229,-1.105839,-0.546038,2.355199 -116.2,163,12231,-1.143107,-0.4349276,2.468666 -109,209.8,12247,-1.106488,-0.2945649,2.476972 -121.96,120.52,12290,-1.115127,-0.548884,2.373394 -258.76,126.28,12326,-0.6191484,-0.5918491,2.161205 -403,163,12327,-0.2880572,-0.6815088,2.416096 -271,116.2,12328,-0.7042838,-0.7089843,2.424619 -220.6,83.8,12332,-0.7317343,-0.6458597,2.120852 -143,100,12340,-0.9960839,-0.5932886,2.256673 -329,91,12342,-0.497853,-0.7354255,2.20396 -284,133,12344,-0.5682804,-0.6087856,2.212305 -272.2,189.4,12346,-0.5524249,-0.4674144,2.230269 -117,110,12349,-1.243475,-0.6087264,2.518713 -305,321,12350,-0.3787138,-0.194239,2.322365 -363.4,153.4,12352,-0.383604,-0.6470436,2.314597 -129.4,67,12353,-1.115853,-0.6906924,2.316512 -183,278,12354,-0.6020812,-0.1970803,2.029422 -334,35,12355,-0.5320905,-0.8764564,2.189873 -280.36,310.6,12356,-0.4547214,-0.191158,2.34207 -205,297,12357,-0.5380349,-0.1762797,2.018922 -385,332,11913,-0.1860532,-0.2287183,2.422154 -284,191,11947,-0.525667,-0.4733273,2.233948 -162.28,319.24,11965,-0.5980265,-0.1042576,1.997084 -223,78,11970,-0.7240263,-0.6551422,2.092054 -333,143,12027,-0.4768179,-0.6478177,2.316354 -232.6,85,12029,-0.7160432,-0.6631648,2.140329 -284.2,191.8,12030,-0.5243939,-0.4723288,2.232593 -321,63,12115,-0.5492408,-0.8134745,2.218258 -143.8,88.60001,12117,-1.080828,-0.6643605,2.367018 -210,283,12125,-0.5741186,-0.2000821,2.103494 -293.32,84.52,12141,-0.6443794,-0.7906483,2.346816 -143,68,12144,-0.9505531,-0.6402662,2.134092 -247,111.4,12145,-0.7146437,-0.6624288,2.282096 -320.2,69.4,12146,-0.5473959,-0.7978511,2.225964 -169,86,12150,-0.8598613,-0.6129054,2.125123 -304.84,196.84,12152,-0.4761103,-0.4802975,2.252393 -326,305,12190,-0.3466847,-0.249928,2.351551 -322.6,200.2,12226,-0.4238544,-0.4798934,2.220326 -115.048,110.9008,12235,-1.329864,-0.6319111,2.627251 -311.5424,138.3553,12303,-0.5310087,-0.6435457,2.311629 -114.4674,111.4814,12321,-0.9605405,-0.5122324,2.109474 -310,46,12322,-0.6321929,-0.9061151,2.332576 -239,38,12323,-0.700421,-0.7442766,2.061738 -331,69,12324,-0.5119824,-0.7945828,2.201102 -153,64,12325,-0.90148,-0.6401752,2.096874 -308,139,12329,-0.5211042,-0.6239328,2.256992 -347,37,12330,-0.5082822,-0.896509,2.221922 -233,86,12331,-0.7032961,-0.6576769,2.128017 -246,123,12333,-0.6644489,-0.5969575,2.188266 -230,279,12334,-0.6012139,-0.2270547,2.310469 -342,37,12335,-0.5329388,-0.916893,2.261283 -335,204,12336,-0.3995501,-0.4862007,2.252083 -298,317,12337,-0.405252,-0.1924204,2.345347 -272,117,12338,-0.7204117,-0.7270091,2.486443 -323,200,12339,-0.4312656,-0.4882603,2.264765 -317,121,12341,-0.5260764,-0.6932012,2.294547 -314.2,95.8,12343,-0.5446363,-0.7354913,2.252886 -323.8,81.4,12345,-0.5298436,-0.767722,2.224856 -201.16,94.60001,12347,-0.7841993,-0.6202527,2.150352 -169,88.60001,12348,-0.8366185,-0.5978494,2.095483 -163.432,317.224,12351,-0.5886549,-0.1144335,1.979366 -162.7408,100.5328,12358,-0.9627233,-0.6186541,2.292378 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0087.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0087.csv deleted file mode 100644 index cbc801e20c0608627d8bfe3e4f0646062e2839ee..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0087.csv +++ /dev/null @@ -1,178 +0,0 @@ -480,185,11377,0.5837163,-0.6494939,2.66416 -176,277,12155,-0.3479297,-0.2483154,2.342388 -70,112,12328,-0.7042838,-0.7089843,2.424619 -415.72,204.04,12363,0.4452754,-0.5943248,2.887735 -413.8,236.2,12364,0.422944,-0.450862,2.820263 -106.6,40.6,12373,-0.5802414,-0.8892736,2.331096 -85,182,12377,-0.5600374,-0.4620293,2.209201 -104.2,298.6,12378,-0.5286903,-0.1770577,2.319983 -265,41,12380,-0.1489596,-0.9743378,2.432755 -216,338,12381,-0.2095104,-0.09745665,2.158857 -85,59,12383,-0.6442856,-0.8363464,2.346896 -218,314,12386,-0.2166356,-0.1523579,2.239872 -279,68,12399,-0.09755014,-0.8260732,2.286409 -83.8,46.6,12403,-0.6466232,-0.8672758,2.336668 -233.8,323.8,12409,-0.178516,-0.1273503,2.267152 -38,294,12422,-0.5839674,-0.1833587,2.055921 -241,290,12424,-0.1745957,-0.2147748,2.388154 -240,295,12427,-0.1832808,-0.2012517,2.483204 -271,100.6,12433,-0.1283088,-0.8559479,2.595933 -311.8,129.4,12434,0.002874899,-0.6762198,2.320126 -145,181,12435,-0.4342395,-0.4894211,2.278257 -103,50.2,12438,-0.6471322,-0.7831788,2.341496 -75.88,280.36,12439,-0.6052583,-0.2212118,2.324025 -309.16,271.72,12440,0.0222102,-0.2811311,2.474241 -239,287,12442,-0.183689,-0.2255143,2.439955 -153,295,12447,-0.4136023,-0.1925052,2.375329 -52.84,327.88,12448,-0.5320986,-0.1155541,2.017111 -47.08,350.92,12450,-0.5241913,-0.06960093,1.986544 -280,113,12455,-0.08874545,-0.7155159,2.309132 -213,335,12457,-0.2337783,-0.09299533,2.283236 -251,343,12458,-0.1260695,-0.08917324,2.192179 -280.6,38.2,12459,-0.09916547,-0.9243384,2.298412 -381.16,255.88,12460,0.2345218,-0.3396345,2.431668 -260.2,295,12461,-0.1163566,-0.2072406,2.353837 -266.2,41.8,12464,-0.1495297,-1.023934,2.516267 -280.36,75.88,12465,-0.09684131,-0.8608777,2.405297 -334.6,296.2,12467,0.09450878,-0.2145263,2.389524 -104.68,57.16,12468,-0.5538116,-0.8026826,2.246628 -391.24,264.52,12469,0.3001854,-0.3275086,2.612645 -371.08,217,12470,0.2533462,-0.5094187,2.771436 -374.2,235,12471,0.2491334,-0.4266702,2.662497 -261.64,68.68,12473,-0.2141257,-0.820138,2.538956 -275.8,316.6,12474,-0.06876008,-0.1548152,2.253742 -257.8,105.4,12475,-0.2240413,-0.7374963,2.61518 -283,132,12476,-0.07937966,-0.6975356,2.427483 -394.12,267.4,12477,0.294632,-0.3138844,2.534479 -387,201,12478,0.2935062,-0.5590648,2.685853 -112,99,12479,-0.5715875,-0.7466407,2.383933 -297.4,49,12489,-0.05108605,-0.904822,2.330626 -45,298,12490,-0.5317128,-0.1766576,1.970472 -121,298.6,12497,-0.484573,-0.1810439,2.326988 -122,106,12500,-0.4881652,-0.6617123,2.21225 -340.6,248.2,12506,0.1278302,-0.3706672,2.592505 -288,298,12513,-0.03665584,-0.2037304,2.497023 -73,182,12516,-0.613381,-0.4657797,2.261307 -109,87.4,12517,-0.5034639,-0.6766074,2.137873 -84,47,11886,-0.6516635,-0.8586875,2.327513 -257,105,11927,-0.176917,-0.8040143,2.525705 -106.6,182.2,11947,-0.525667,-0.4733273,2.233948 -116,296,11950,-0.4953226,-0.1844876,2.309232 -237,323,11984,-0.1697803,-0.1353559,2.23169 -120.52,104.68,12078,-0.534444,-0.7003802,2.319017 -54,286,12125,-0.5741186,-0.2000821,2.103494 -117,86,12134,-0.5203132,-0.7340329,2.250046 -44.2,111.4,12145,-0.7146437,-0.6624288,2.282096 -143.8,181,12226,-0.4238544,-0.4798934,2.220326 -117.9511,125.416,12303,-0.5310087,-0.6435457,2.311629 -155.8,181,12336,-0.3995501,-0.4862007,2.252083 -89.8,125.8,12344,-0.5682804,-0.6087856,2.212305 -110.2,68.2,12345,-0.5298436,-0.767722,2.224856 -93.16,183.88,12346,-0.5524249,-0.4674144,2.230269 -51.4,299.8,12357,-0.5380349,-0.1762797,2.018922 -44,111,12359,-0.6961331,-0.6464241,2.247751 -355,237,12360,0.1739941,-0.4122863,2.601197 -245,294,12361,-0.1583309,-0.2074533,2.372559 -217,341,12362,-0.2102195,-0.08845237,2.194766 -257,322,12365,-0.1197452,-0.1337657,2.28558 -198,343,12366,-0.2510939,-0.0839629,2.158689 -240,339,12367,-0.1504201,-0.1001925,2.133058 -86,76,12368,-0.6297812,-0.7815949,2.331414 -283,131.8,12369,-0.07636674,-0.6170713,2.172643 -312,273,12370,0.02945359,-0.2779038,2.460284 -356,163,12371,0.1599153,-0.6375956,2.523692 -274,294,12372,-0.07813887,-0.2121009,2.351298 -281,111,12374,-0.08898915,-0.7496338,2.397996 -397,217,12375,0.3190241,-0.4943528,2.629103 -55,98,12376,-0.66053,-0.6740937,2.222776 -211,335,12379,-0.2321673,-0.1007764,2.209016 -118.6,51.4,12382,-0.5187758,-0.8233108,2.245528 -415,205,12384,0.438583,-0.5794778,2.866416 -387,259,12385,0.2907327,-0.3494563,2.636887 -345.4,291.4,12387,0.1156223,-0.2276827,2.31038 -276,317,12388,-0.06931598,-0.151157,2.283948 -270,330,12389,-0.08198722,-0.1213292,2.19744 -82.60001,55,12390,-0.6385962,-0.833634,2.316453 -283,34,12391,-0.09311175,-0.9378356,2.300064 -391,189,12392,0.3067578,-0.5988061,2.687832 -76.60001,280.6,12393,-0.6289583,-0.2203335,2.393172 -310,273,12394,0.02805145,-0.2822512,2.523398 -46.6,353.8,12395,-0.5337635,-0.06269059,2.009714 -261,294,12396,-0.113851,-0.2083217,2.323808 -317,297,12397,0.04385145,-0.2069131,2.409123 -221,340,12398,-0.196349,-0.09437722,2.166108 -266,85,12400,-0.1395573,-0.8543757,2.47489 -271,100,12401,-0.1239539,-0.82784,2.524793 -222,343,12402,-0.1941477,-0.08760178,2.164881 -277,127,12404,-0.184107,-0.6164618,2.50273 -279,299,12405,-0.06317207,-0.2000645,2.335367 -55.72,97.48,12406,-0.6633539,-0.678789,2.232281 -122.2,105.4,12407,-0.4813923,-0.6554585,2.192669 -377,181,12408,0.2677518,-0.639833,2.756981 -244,289,12410,-0.1624214,-0.2206704,2.357167 -206.2,339.4,12411,-0.2369903,-0.08887687,2.180114 -342,305,12412,0.109793,-0.1910221,2.327017 -273.4,352.6,12413,-0.06969818,-0.07676025,2.101343 -113.8,63.4,12414,-0.516741,-0.7728258,2.206567 -162.28,182.44,12415,-0.38421,-0.4854167,2.257925 -56.2,351.4,12416,-0.5205548,-0.06730268,2.018891 -346,309,12417,0.1318084,-0.1799299,2.395893 -242,341,12418,-0.1521054,-0.08805694,2.233188 -419,293,12419,0.3469448,-0.2344829,2.415894 -52,289,12420,-0.5815449,-0.1978587,2.125852 -292,301,12421,-0.02790798,-0.1984531,2.259513 -261.4,43,12423,-0.1545295,-0.9369828,2.368613 -106.12,181,12425,-0.5236183,-0.4755861,2.24783 -45.4,287.8,12426,-0.5670523,-0.1995308,2.057515 -391,263.8,12428,0.2890824,-0.3261158,2.554034 -279.4,355,12429,-0.0567657,-0.06840585,2.13574 -117.64,51.4,12430,-0.4981295,-0.7889072,2.170922 -109,67.24001,12431,-0.492708,-0.720118,2.110707 -128.2,100.6,12432,-0.4682704,-0.6742393,2.193841 -235.72,322.12,12436,-0.1772284,-0.1282945,2.290135 -401.8,286.6,12437,0.3045118,-0.2539333,2.453355 -238.6,341.8,12441,-0.1610598,-0.08579715,2.251545 -55.72,350.92,12443,-0.5282175,-0.06595568,2.035501 -411.4,257.32,12444,0.3700509,-0.3602802,2.615838 -361,286.12,12445,0.1582953,-0.248192,2.300527 -370.6,217,12446,0.2620084,-0.5199245,2.831498 -240.04,290.44,12449,-0.3373633,-0.1424253,2.418303 -219.4,314.2,12451,-0.221391,-0.1489846,2.308274 -341.8,304.6,12452,0.1126005,-0.1923838,2.355629 -81.64,55.72,12453,-0.6291931,-0.8209139,2.288867 -112.6,100.6,12454,-0.5235226,-0.6892716,2.248227 -49.96,299.08,12456,-0.5453781,-0.1739047,2.028751 -71.8,43,12462,-0.625505,-0.8155037,2.207843 -106.12,126.28,12463,-0.5797598,-0.6586853,2.376346 -410.536,258.472,12466,0.3857346,-0.3628337,2.698809 -54.568,351.784,12472,-0.522841,-0.06679242,2.019265 -117.1216,77.72321,12480,-0.4894997,-0.7126944,2.162252 -330.7025,231.1696,12481,0.1036848,-0.4386013,2.719807 -110.9008,295.4512,12482,-0.5008943,-0.1823793,2.283634 -77.72321,83.94402,12483,-0.6773939,-0.7868547,2.411199 -102.6064,295.4512,12484,-0.5431631,-0.1831537,2.351818 -158.5936,295.4512,12485,-0.3906916,-0.191266,2.340959 -92.23841,183.4768,12486,-0.5565073,-0.4636785,2.240344 -156.52,181.4032,12487,-0.374388,-0.4673873,2.160199 -75.64961,278.8624,12488,-0.6145405,-0.2232197,2.347465 -170.2058,289.6452,12491,-0.3550441,-0.2031716,2.299161 -346.8766,249.8321,12492,0.1620485,-0.3805038,2.72031 -374.2481,281.6826,12493,0.2166282,-0.2660463,2.426081 -100.5328,297.1101,12494,-0.5569284,-0.1782911,2.377022 -319.505,232.4138,12495,0.03941296,-0.3846778,2.392421 -364.2948,229.9255,12496,0.1876497,-0.4216301,2.484107 -83.11458,329.4583,12498,-0.5263495,-0.1036909,2.179869 -329.4583,232.4138,12499,0.09701927,-0.4305636,2.674625 -266.7527,105.5095,12501,-0.1366311,-0.810704,2.532737 -99.5375,293.6265,12502,-0.5433565,-0.1875884,2.327274 -368.2761,224.9489,12503,0.118123,-0.3194039,2.622852 -356.8298,292.1335,12504,0.1542222,-0.2287394,2.35919 -289.6452,110.4861,12505,-0.06364684,-0.7773957,2.464111 -222.4605,297.1101,12507,-0.2311645,-0.1944227,2.445086 -301.9873,280.4882,12508,0.003611315,-0.2602677,2.519689 -200.0656,341.8999,12509,-0.2474696,-0.08701806,2.173582 -299.5985,115.4627,12510,-0.03387119,-0.722741,2.359439 -317.5144,239.8788,12511,0.03494276,-0.3691729,2.345424 -319.9032,262.5723,12512,0.06437634,-0.32156,2.629748 -226.7405,309.1536,12514,-0.201018,-0.1655639,2.270603 -329.4583,230.9208,12515,0.08969493,-0.4240724,2.603847 diff --git a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0088.csv b/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0088.csv deleted file mode 100644 index d93f8f8ae1a726ba1af3b68d4655b66b63870e41..0000000000000000000000000000000000000000 --- a/target/classes/vslam/tum_rgbd/KeyFramePoints/KeyFramePoints_0088.csv +++ /dev/null @@ -1,304 +0,0 @@ -212,125,12433,-0.1283088,-0.8559479,2.595933 -59.8,103,12438,-0.6471322,-0.7831788,2.341496 -55.72,376.84,12450,-0.5241913,-0.06960093,1.986544 -74,147,12454,-0.5235226,-0.6892716,2.248227 -202.6,71.56001,12464,-0.1495297,-1.023934,2.516267 -49,140.2,12519,-0.6175653,-0.7447075,2.335271 -77.8,220.6,12521,-0.5338749,-0.4803235,2.282034 -68,224,12522,-0.5532243,-0.4670387,2.251829 -321,190,12523,0.2688479,-0.6116413,2.695376 -227.8,301,12526,-0.1241859,-0.2110856,2.432966 -218.44,342.28,12529,-0.1574667,-0.09141089,2.160159 -221,349,12530,-0.1535452,-0.07290568,2.24834 -227.08,346.6,12531,-0.1358677,-0.07827312,2.208442 -356.68,251.56,12537,0.2428342,-0.1932434,2.591435 -495.4,249.4,12538,0.8337374,-0.3001764,2.433638 -204,77,12540,-0.1422158,-1.002108,2.506739 -260,156,12541,0.008952854,-0.6388326,2.277272 -216,307,12543,-0.1662933,-0.1993065,2.383177 -470.2,274.6,12545,0.7075819,-0.2188092,2.392825 -298.6,172.6,12550,0.1754543,-0.6814135,2.642323 -400.6,178.6,12551,0.5598829,-0.4476495,2.685607 -35,331,12552,-0.5876703,-0.1753069,2.056503 -439,269,12554,0.6153395,-0.2469447,2.439922 -242.2,301,12555,-0.07921463,-0.2032798,2.397304 -62,375,12558,-0.530732,-0.06405734,2.053681 -225.4,303.4,12560,-0.1331331,-0.2025239,2.400256 -202,342,12562,-0.2029869,-0.09458123,2.220868 -468,177,12566,0.8422686,-0.60294,2.596176 -342,218,12567,0.3119715,-0.477014,2.57436 -385.48,271.72,12568,0.4050602,-0.2538512,2.369573 -185,350,12571,-0.247585,-0.08494233,2.140423 -298,164,12574,0.1861806,-0.7159184,2.668956 -499.24,172.36,12577,0.9546064,-0.601714,2.550823 -115,320.2,12583,-0.4597381,-0.1824867,2.340438 -45,332,12585,-0.5487459,-0.1694526,2.004891 -499,270,12586,0.8273379,-0.2264019,2.422181 -235,327,12590,-0.111703,-0.1301229,2.269049 -238.6,135.4,12592,-0.04906382,-0.7412181,2.393626 -41,140,12598,-0.6581587,-0.7635852,2.395806 -486,119,12599,0.9812144,-0.8520861,2.639909 -59,222,12600,-0.5816983,-0.4739781,2.268209 -353.8,187,12607,0.3143279,-0.4464505,2.649217 -483,185,12625,0.8866161,-0.558672,2.560349 -430,272,12630,0.5883666,-0.2459485,2.443348 -470.44,274.6,12631,0.7123857,-0.2190367,2.401872 -54.28,352.36,12633,-0.5337752,-0.1223094,2.013344 -331,347,12635,0.143933,-0.04988773,2.139526 -90.28001,323.56,12644,-0.5248477,-0.1793346,2.32111 -320,295,12645,0.1615526,-0.1992522,2.3533 -289,217,12647,0.1291395,-0.5115659,2.67108 -320,226,12654,0.2560206,-0.4793873,2.727976 -43,323,12655,-0.5777317,-0.1948689,2.082375 -60.04,375.4,12659,-0.5386136,-0.06658858,2.060789 -400.6,289,12662,0.4066938,-0.1891982,2.265394 -480,151,12665,0.8914427,-0.6875914,2.564142 -150.76,312.04,12666,-0.3542129,-0.1948614,2.327807 -445,161.8,12667,0.7692783,-0.6721969,2.613166 -382.6,274.6,12672,0.4051192,-0.2527777,2.412598 -241.48,139.24,12675,-0.03284824,-0.73738,2.403324 -467.56,156.52,12676,0.8523043,-0.6806259,2.589672 -460.36,205.48,12677,0.8256739,-0.5022364,2.656269 -463.24,224.2,12679,0.7405194,-0.2069159,2.632122 -301.96,251.56,12680,0.1660684,-0.3728075,2.672422 -463,255.4,12681,0.7633373,-0.2989512,2.554137 -428.2,148.6,12682,0.7424904,-0.7535044,2.704906 -493.48,186.76,12683,0.9330727,-0.5532902,2.569509 -422.92,204.04,12684,0.7308701,-0.5495036,2.810799 -389.8,270.28,12685,0.4119154,-0.2541803,2.370172 -319,286.6,12686,0.174912,-0.2273019,2.418561 -296.2,293.32,12687,-0.06766063,-0.1029095,2.436385 -77.32,356.68,12688,-0.5268745,-0.09843875,2.173429 -415.72,307.72,12689,0.2161705,0.02782535,2.192198 -293.32,163.72,12690,0.1691616,-0.7212608,2.67715 -351.4,190.6,12691,0.4054005,-0.6103526,2.75769 -460.36,209.8,12692,0.8326354,-0.4869175,2.672577 -339.4,260.2,12693,0.2835538,-0.3205526,2.545427 -343.72,263.08,12694,0.2904155,-0.3044637,2.516777 -368.2,281.8,12695,0.3351631,-0.2276476,2.369609 -268.84,299.08,12696,0.004963128,-0.2007178,2.3853 -437.32,276.04,12697,0.3563062,-0.04350458,2.273327 -232.84,325,12698,-0.3032921,-0.05769155,2.384194 -257.32,349.48,12699,-0.05979998,-0.0675439,2.10129 -445.96,162.28,12701,0.7747374,-0.6711478,2.621493 -392.68,178.12,12702,0.5893539,-0.6556654,2.754653 -340.84,218.44,12704,0.3096411,-0.4765548,2.575244 -481.96,219.88,12705,0.7946444,-0.2070754,2.571866 -499.24,270.28,12706,0.8233062,-0.2245868,2.409997 -481.96,301.96,12707,0.6191386,-0.123548,2.145478 -473.32,319.24,12708,0.5765181,-0.08295424,2.124346 -185.32,349.48,12712,-0.4543507,-0.03022741,2.285823 -355.24,340.84,12713,0.0006744548,0.07095582,2.187665 -315.4,179.8,12714,0.2610509,-0.6597614,2.734708 -353.8,284.68,12716,0.2928099,-0.2194099,2.401336 -405.64,179.56,12719,0.6487386,-0.6474163,2.759525 -434.2,141.4,12721,0.6704947,-0.5537078,2.569651 -422,275,12722,0.4996149,-0.2290483,2.312182 -361,231.4,12725,0.4210612,-0.4392719,2.711422 -474,153,12727,0.8445698,-0.6804989,2.509586 -383,270,12730,0.3988408,-0.2636343,2.423812 -155.08,297.64,12731,-0.3551185,-0.2442866,2.450116 -434,141,12740,0.7519518,-0.77712,2.642663 -130.6,214.12,12763,-0.3958866,-0.4952609,2.31987 -407,180,11377,0.5837163,-0.6494939,2.66416 -202,133,11927,-0.176917,-0.8040143,2.525705 -78,220,11947,-0.525667,-0.4733273,2.233948 -154,299,12155,-0.3479297,-0.2483154,2.342388 -67.24001,224.2,12346,-0.5524249,-0.4674144,2.230269 -51,331,12357,-0.5380349,-0.1762797,2.018922 -218,304,12361,-0.1583309,-0.2074533,2.372559 -60,224,12377,-0.5600374,-0.4620293,2.209201 -89.8,325,12378,-0.5286903,-0.1770577,2.319983 -189.4,341.8,12379,-0.2321673,-0.1007764,2.209016 -74,101,12382,-0.5187758,-0.8233108,2.245528 -355,205,12384,0.438583,-0.5794778,2.866416 -336,256,12385,0.2907327,-0.3494563,2.636887 -332,194,12392,0.3067578,-0.5988061,2.687832 -272,277,12394,0.02805145,-0.2822512,2.523398 -55,379,12395,-0.5337635,-0.06269059,2.009714 -205,345,12398,-0.196349,-0.09437722,2.166108 -226.6,153.4,12404,-0.184107,-0.6164618,2.50273 -318,188,12408,0.2677518,-0.639833,2.756981 -62.2,375.4,12416,-0.5205548,-0.06730268,2.018891 -308,305,12417,0.1318084,-0.1799299,2.395893 -368,282,12419,0.3469448,-0.2344829,2.415894 -37,328,12422,-0.5839674,-0.1833587,2.055921 -78.76,221.32,12425,-0.5236183,-0.4755861,2.24783 -213,306,12427,-0.1832808,-0.2012517,2.483204 -341,260,12428,0.2890824,-0.3261158,2.554034 -256.6,349,12429,-0.0567657,-0.06840585,2.13574 -353,278,12437,0.3045118,-0.2539333,2.453355 -62.2,313,12439,-0.6052583,-0.2212118,2.324025 -271,277,12440,0.0222102,-0.2811311,2.474241 -220,344,12441,-0.1610598,-0.08579715,2.251545 -210,299,12442,-0.183689,-0.2255143,2.439955 -317,221,12446,0.2620084,-0.5199245,2.831498 -56.2,355,12448,-0.5320986,-0.1155541,2.017111 -212.2,301,12449,-0.3373633,-0.1424253,2.418303 -50.2,331,12456,-0.5453781,-0.1739047,2.028751 -332.2,253,12460,0.2345218,-0.3396345,2.431668 -219.88,104.68,12465,-0.09684131,-0.8608777,2.405297 -62.2,110.2,12468,-0.5538116,-0.8026826,2.246628 -340.6,260.2,12469,0.3001854,-0.3275086,2.612645 -201.16,101.8,12473,-0.2141257,-0.820138,2.538956 -202.6,133,12475,-0.2240413,-0.7374963,2.61518 -125.416,214.5808,12487,-0.374388,-0.4673873,2.160199 -232.84,84.52,12489,-0.05108605,-0.904822,2.330626 -329.4583,275.7106,12493,0.2166282,-0.2660463,2.426081 -104.68,322.12,12497,-0.484573,-0.1810439,2.326988 -317.0167,227.4372,12503,0.118123,-0.3194039,2.622852 -233.9068,135.3693,12505,-0.06364684,-0.7773957,2.464111 -274.7153,244.8554,12511,0.03494276,-0.3691729,2.345424 -278.6966,269.7386,12512,0.06437634,-0.32156,2.629748 -256,301,12513,-0.03665584,-0.2037304,2.497023 -201.061,317.5144,12514,-0.201018,-0.1655639,2.270603 -281.6826,239.8788,12515,0.08969493,-0.4240724,2.603847 -202,72,12518,-0.148453,-1.016591,2.497401 -37,153,12520,-0.7073877,-0.7571192,2.502767 -354,187,12524,0.4215884,-0.6286232,2.761704 -43,321,12525,-0.575736,-0.1976785,2.078241 -91,325,12527,-0.5175701,-0.1765292,2.298855 -385,292,12528,0.3666562,-0.1864927,2.291415 -467,157,12532,0.8443069,-0.6793544,2.576091 -136,212,12533,-0.373437,-0.4963098,2.303201 -131,215,12534,-0.3862766,-0.4881762,2.290645 -405,179,12535,0.6457279,-0.6500607,2.765699 -399,181,12536,0.6107317,-0.6341525,2.730657 -270,300,12539,0.0123986,-0.200092,2.414949 -431,161,12542,0.7469308,-0.7005877,2.69435 -116,321,12544,-0.4548413,-0.1804616,2.326358 -408,311,12546,0.3924094,-0.1233873,2.172725 -234,92,12547,-0.04504409,-0.939783,2.485604 -500,189,12548,0.9655406,-0.5471485,2.588768 -389,272,12549,0.4121355,-0.2522989,2.376081 -261,339,12553,-0.03980722,-0.08835249,2.197787 -244.6,304.6,12556,-0.06964192,-0.1870979,2.372535 -262,309,12557,-0.02188418,-0.1737042,2.344285 -323,235,12559,0.2523016,-0.4286734,2.65451 -254,304,12561,-0.03843665,-0.1906419,2.408345 -74,133,12563,-0.5345246,-0.7475299,2.298694 -502.6,140.2,12564,0.9814751,-0.7252017,2.543345 -351,191,12565,0.4061825,-0.6120006,2.751505 -256,323,12569,-0.05052997,-0.1306028,2.213387 -49,357,12570,-0.5397864,-0.1118175,1.996039 -237,90,12572,-0.03539318,-0.9449393,2.483702 -47.8,137.8,12573,-0.6385267,-0.7694559,2.396772 -104,217,12575,-0.4613563,-0.4835041,2.282748 -67,224.2,12576,-0.5453782,-0.4595844,2.220968 -461,210,12578,0.8348737,-0.4879842,2.671762 -482,221,12579,0.897354,-0.4343051,2.635675 -399,254,12580,0.5353937,-0.3298781,2.624727 -400,270,12581,0.4477512,-0.2552384,2.366084 -228,301,12582,-0.1252382,-0.2096467,2.409916 -439,277,12584,0.5478368,-0.2181772,2.293306 -470,274,12587,0.7045225,-0.2192351,2.38694 -401,289,12588,0.4075187,-0.1887845,2.26624 -464,285,12589,0.6579129,-0.1854479,2.348251 -80,145,12591,-0.5185055,-0.7063105,2.290604 -319,234,12593,0.2453926,-0.4419281,2.703335 -273,247,12594,0.06319052,-0.4108491,2.763252 -498,248,12595,0.8365523,-0.3012765,2.420758 -157,311,12596,-0.3430452,-0.2012119,2.365922 -332.2,343,12597,0.1508833,-0.05901007,2.132731 -402,191,12601,0.5963292,-0.579078,2.684613 -438,201,12602,0.8031828,-0.5596432,2.818177 -344,263,12603,0.2936578,-0.3052051,2.518479 -222,344,12604,-0.1473665,-0.08335859,2.226742 -202,103,12605,-0.158554,-0.9198456,2.53886 -259,157,12606,0.008489279,-0.6397319,2.287596 -393,183,12608,0.5883177,-0.6362052,2.756029 -464,229,12609,0.8644127,-0.4268865,2.746656 -495,250,12610,0.8367612,-0.2998912,2.442506 -417,309,12611,0.4253777,-0.1288383,2.178692 -223,347,12612,-0.1491844,-0.08139102,2.177008 -333,346,12613,0.1538355,-0.0510172,2.145657 -489,183,12614,0.9089516,-0.5662535,2.558147 -471,277,12615,0.6636307,-0.2036914,2.289357 -244,137,12616,-0.02500686,-0.7450451,2.409437 -242,300,12617,-0.08043388,-0.2083823,2.413697 -97.48,323.56,12618,-0.5070215,-0.1774658,2.330294 -401,179,12619,0.6231548,-0.6504436,2.751769 -226,303,12620,-0.1285363,-0.2035216,2.42795 -430.6,160.6,12621,0.7007145,-0.5066136,2.659221 -352.36,186.76,12622,0.4060577,-0.6272536,2.734959 -497.8,169.48,12623,0.9469295,-0.6120891,2.542358 -503.8,175,12624,0.985238,-0.5957001,2.5718 -502.12,189.64,12626,0.9640492,-0.5432561,2.562346 -287.8,229,12627,0.1248366,-0.4688106,2.708514 -481,220.6,12628,0.7984718,-0.2050074,2.577823 -398.44,268.84,12629,0.4436471,-0.258323,2.371118 -233.8,325,12632,-0.1148581,-0.134528,2.235703 -221.8,345.4,12634,-0.1493276,-0.08073243,2.254691 -233.8,92.2,12636,-0.04358989,-0.9467353,2.508037 -350.92,191.08,12637,0.404207,-0.6114003,2.752231 -466.6,177.4,12638,0.8312415,-0.6002719,2.578443 -488.2,183.4,12639,0.9031026,-0.5652433,2.552022 -340.6,218.2,12640,0.310032,-0.477158,2.57616 -460.6,209.8,12641,0.828927,-0.489004,2.664081 -490.6,254.44,12642,0.8025197,-0.2831805,2.416573 -421,274.6,12643,0.4977579,-0.2307827,2.311339 -437.8,277,12646,0.5404502,-0.2169077,2.282389 -154.6,298.6,12648,-0.3421001,-0.2402566,2.330942 -389.8,271,12649,0.4195938,-0.2564961,2.390555 -365.8,284.2,12650,0.3249844,-0.2191787,2.366875 -499,269.8,12651,0.8288441,-0.2275909,2.422366 -48.52,356.68,12652,-0.5528589,-0.1069918,2.038864 -466.6,157,12653,0.725782,-0.455739,2.489255 -464.2,285.4,12656,0.660274,-0.1840451,2.354565 -51.4,352.36,12657,-0.5327344,-0.1236013,1.989767 -184.6,350.2,12658,-0.2512582,-0.08341399,2.172532 -297.4,164.2,12660,0.1839783,-0.7157006,2.667751 -285.4,239.8,12661,0.1148405,-0.4347525,2.743138 -48.52,139.24,12663,-0.6211721,-0.7499048,2.343353 -485.8,118.6,12664,0.9839666,-0.8543019,2.647065 -398.2,181,12668,0.5182936,-0.4305639,2.658854 -296.2,293.8,12669,0.09421957,-0.2098749,2.398482 -123.4,214.6,12670,-0.406642,-0.4879969,2.280198 -357.4,232.6,12671,0.3360716,-0.2780187,2.781967 -403,268.6,12673,0.4509924,-0.2549227,2.344068 -416.2,308.2,12674,0.417951,-0.1301635,2.162663 -494.5169,212.5072,12678,0.9397098,-0.4541232,2.601988 -244.648,132.328,12700,-0.02141124,-0.7621416,2.418591 -66.66401,225.64,12703,-0.6954811,-0.4561076,2.418106 -130.6,215.272,12709,-0.5197837,-0.448944,2.418348 -394.984,225.64,12710,0.5819162,-0.4562598,2.777034 -149.608,313.768,12711,-0.520444,-0.1555549,2.488821 -78.76001,222.184,12715,-0.6616361,-0.4564075,2.406796 -355.24,232.552,12717,0.39589,-0.4362525,2.714403 -59.75201,225.64,12718,-0.5785964,-0.4680535,2.263784 -123.688,215.272,12720,-0.4180362,-0.498574,2.335289 -401.2049,175.1824,12723,0.6265122,-0.6645998,2.756174 -469.6337,345.2177,12724,0.4985361,-0.02054061,2.014589 -357.6592,251.9056,12726,0.2382676,-0.1925553,2.591532 -156.52,295.4512,12728,-0.3449436,-0.2455928,2.391581 -326.4724,254.8087,12729,0.2563784,-0.3538816,2.637724 -486.2225,229.9255,12732,0.9055219,-0.3762784,2.633479 -442.9258,162.2432,12733,0.7666159,-0.6764835,2.6359 -354.3415,282.1802,12734,0.3021529,-0.2336883,2.44329 -436.4561,274.7153,12735,0.367925,-0.06004773,2.299945 -257.297,346.8766,12736,-0.2933431,0.01303269,2.16005 -441.4327,187.624,12737,0.8180616,-0.6116511,2.796416 -399.1313,217.4839,12738,0.5877315,-0.4865154,2.726184 -371.7598,312.0401,12739,0.3070949,-0.1297499,2.27541 -395.15,224.9489,12741,0.5831878,-0.4617136,2.77545 -266.7527,383.2061,12742,0.01683727,0.1587614,3.173749 -257.297,160.2525,12743,0.002940177,-0.6322932,2.303576 -125.416,214.9956,12744,-0.3982376,-0.4804324,2.261153 -433.9678,200.0656,12745,0.7799014,-0.5644643,2.80997 -269.7386,272.7246,12746,-0.1195041,-0.1820822,2.533993 -185.1357,349.3649,12747,-0.2518823,-0.08258042,2.215627 -123.4254,215.9909,12748,-0.4071254,-0.4827483,2.283445 -401.1219,215.9909,12749,0.5967749,-0.4923968,2.722938 -438.1482,212.4077,12750,0.753231,-0.4924394,2.732086 -416.0519,218.9769,12751,0.6016446,-0.2777738,2.747729 -299.5985,293.6265,12752,-0.06616019,-0.1032178,2.40319 -374.2481,296.6125,12753,0.3415291,-0.1748603,2.338245 -371.2621,308.5564,12754,0.3107035,-0.1384798,2.265065 -413.0659,309.1536,12755,0.4390794,-0.1233521,2.277657 -439.9398,150.2992,12756,0.7448683,-0.7175696,2.591738 -278.6966,296.6125,12757,0.04345584,-0.2098511,2.434663 -427.3987,291.2377,12758,0.497727,-0.1617321,2.312495 -263.7667,350.3602,12759,-0.03010345,-0.05534967,2.21757 -254.8087,347.3742,12760,-0.06262416,-0.07061719,2.143338 -430.9818,151.4936,12761,0.628462,-0.5155262,2.511622 -305.5705,298.4041,12762,0.1185201,-0.1876859,2.340079 diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0002.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0002.png deleted file mode 100644 index fbce161d9c3f9cfd93665a6548c0afa3fa6141af..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0002.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0003.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0003.png deleted file mode 100644 index 39e17363f660093e14b964dcb0dede88e11dd0f1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0003.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0004.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0004.png deleted file mode 100644 index 45bcbe5956177179be07f723990e0a1f68a0d6a7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0004.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0005.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0005.png deleted file mode 100644 index 335d500c49712c6ec633bc6bfa4b1034356cd55a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0005.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0006.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0006.png deleted file mode 100644 index d884227d60081a377f47ff1b7c54aacf4b3fa259..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0006.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0007.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0007.png deleted file mode 100644 index 64dfc300a581102291c3b830b53038b26316673b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0007.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0008.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0008.png deleted file mode 100644 index 8e96580043decdd498797d92b0b2ad1a47bbd8fe..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0008.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0009.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0009.png deleted file mode 100644 index 429f2f6008d309f9642f92c885111a99823c5ffa..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0009.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0010.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0010.png deleted file mode 100644 index e04389db7b308347f854ee7793267566dcee0294..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0010.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0011.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0011.png deleted file mode 100644 index bf8a38dfb2e1e16b5c0b149fe3d0e1fc4a36cc2d..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0011.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0012.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0012.png deleted file mode 100644 index 7c6b1800f6ea487b4d96341cb0a6c8b591cd1e45..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0012.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0013.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0013.png deleted file mode 100644 index 5e2e883b38db3506180d3136fd30d854134bb281..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0013.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0014.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0014.png deleted file mode 100644 index 37b639a2127c8eeb74defb3887e0ce0d84f81fca..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0014.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0015.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0015.png deleted file mode 100644 index 74f3b09f6c9f6304ce15bc78a58e2a83aa5565d6..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0015.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0016.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0016.png deleted file mode 100644 index 3d45c7f5eb4902e181330d0f751fe4bc77c676af..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0016.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0017.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0017.png deleted file mode 100644 index a295fa228d771ecb145afdf64a4ca7b73d45271e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0017.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0018.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0018.png deleted file mode 100644 index 9697dd45f5af85dcf6180a4a14b8ce6aa53b37c3..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0018.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0019.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0019.png deleted file mode 100644 index e6cca195300a10f13d1ada221d39d73401bf3662..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0019.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0020.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0020.png deleted file mode 100644 index 9e7e58061c5dcf1d9c3ca900abd4355d844fbc56..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0020.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0021.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0021.png deleted file mode 100644 index ed0a55823138e36742e064242ee26e64212469da..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0021.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0022.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0022.png deleted file mode 100644 index 58c881b4f2aadfefdc80552456fb104029c7c9e8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0022.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0023.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0023.png deleted file mode 100644 index 3ee9b9763aab6408fabc80537aec1c076b65bcda..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0023.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0024.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0024.png deleted file mode 100644 index 4c10b50a903de6602b83969e1cc150b570970e3e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0024.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0025.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0025.png deleted file mode 100644 index 3cf9ea64d6c3df8e99f6c28578b3623d67837401..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0025.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0026.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0026.png deleted file mode 100644 index 73b1bbf1d68d8400b2d32b671799228ea3284178..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0026.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0027.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0027.png deleted file mode 100644 index 1cbfd2a12b3b21c37d524e2bf4d3234159b974ef..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0027.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0028.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0028.png deleted file mode 100644 index 00be76d3cc0b0ce0331f6b9eb581b6290a9cee1a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0028.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0029.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0029.png deleted file mode 100644 index 65ee37f540c18af3b54228783d32733f61e3134f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0029.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0030.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0030.png deleted file mode 100644 index 9d3d7d35fb5e2f9a77414f9445ec2b960bd761d2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0030.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0031.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0031.png deleted file mode 100644 index 7a331d72d262a7ab201dde8f13efe4e483d92486..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0031.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0032.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0032.png deleted file mode 100644 index 61e2b3621a8b30fc1c8587873ebde04d42377b31..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0032.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0033.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0033.png deleted file mode 100644 index 8653569ac1a812bc5dd9c75cee027f5ee6355783..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0033.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0034.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0034.png deleted file mode 100644 index a0e3452504e4525ed7869ac2ffa27f5c73b45fee..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0034.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0035.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0035.png deleted file mode 100644 index 585c5a7650074dc4a4cdbca051e59fbe984f00df..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0035.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0036.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0036.png deleted file mode 100644 index 912808f6640c610c6c42ff41a9054ccf3599b641..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0036.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0037.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0037.png deleted file mode 100644 index 3f07ed2e9cdb6575e44bfef1d40f63d5b47493d2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0037.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0038.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0038.png deleted file mode 100644 index 3199958f05e5b444e218a9c64b69058da284f913..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0038.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0039.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0039.png deleted file mode 100644 index e0f89df61397921df36fc1ccabe4e02e68ce5c56..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0039.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0040.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0040.png deleted file mode 100644 index 28750e9e5baaba52d4c0422520872d63e451dba2..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0040.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0041.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0041.png deleted file mode 100644 index febd873ac73d9d9baba70e774ea5b11234e8c4e1..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0041.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0042.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0042.png deleted file mode 100644 index aaf32f31fdade81a541dae25cbe7ad80bac1900a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0042.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0043.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0043.png deleted file mode 100644 index 628bed12ec92ce9de8a912e8ef777fca43874469..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0043.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0044.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0044.png deleted file mode 100644 index 15cc1d8821f000e2a377622578ae340247fe1ec7..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0044.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0045.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0045.png deleted file mode 100644 index 48968dbdea515c12a2d8bf2c6eab94ad65423f75..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0045.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0046.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0046.png deleted file mode 100644 index f02c1f3bdb946b489fd4ab1e09112e01aec1992e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0046.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0047.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0047.png deleted file mode 100644 index dd1a3c69c3c0b79636992b15b39a0842baf04743..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0047.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0048.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0048.png deleted file mode 100644 index f38494cb983100302e34631e883d576ea450b94f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0048.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0049.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0049.png deleted file mode 100644 index 0ac24b447530875ccd1c78f82676ee2d810f3dfd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0049.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0050.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0050.png deleted file mode 100644 index e22c69a2e27d9f6ecf9da886784b7df76f54c4de..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0050.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0051.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0051.png deleted file mode 100644 index e24a4d1794fed252485f6e2b09e2a957a5b9cbbc..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0051.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0052.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0052.png deleted file mode 100644 index 45e64f3863704c75c929c22f680269c46732e201..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0052.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0053.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0053.png deleted file mode 100644 index 2df9966e31ba9b5791957c9505ee71389f1d41cd..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0053.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0054.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0054.png deleted file mode 100644 index 9c5e9b48b8825313dcbbf43d64c88de471ba4720..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0054.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0055.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0055.png deleted file mode 100644 index 46fac2baf43216c0f9e34d822dade850caac5f29..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0055.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0056.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0056.png deleted file mode 100644 index ffa464e0bc7b23902e536e23a150de3d72943a6a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0056.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0057.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0057.png deleted file mode 100644 index d5ea798acbb252b2f8e6d1965213732da1397f22..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0057.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0058.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0058.png deleted file mode 100644 index 1b63c1456fcb2e33f9336c01386305f6af5cd78a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0058.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0059.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0059.png deleted file mode 100644 index 81571430ac1417bf7e154e6bbef9ac76fc84d277..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0059.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0060.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0060.png deleted file mode 100644 index 848fc53f52b62941681159478661445ae03cc929..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0060.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0061.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0061.png deleted file mode 100644 index 81e40e136c28c45aa64b07f4f393bb7033fe75b0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0061.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0062.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0062.png deleted file mode 100644 index 8aaf5a1da900a8ae7df4b1c502ce3599ae3df72b..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0062.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0063.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0063.png deleted file mode 100644 index 43466628594ccf135779c93481b05377780bf763..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0063.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0064.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0064.png deleted file mode 100644 index 453267a487af8297aff893a965e75a9b536e1014..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0064.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0065.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0065.png deleted file mode 100644 index d056aab54cc682b05f439bb00b875810add50397..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0065.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0066.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0066.png deleted file mode 100644 index 863b28d345d183183947972be699bb374e59b1d8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0066.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0067.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0067.png deleted file mode 100644 index a6013deb3cdb78872c81e050774099272da9d8e4..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0067.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0068.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0068.png deleted file mode 100644 index 21a66a02ff02ff739bc2cd856dd8133eba5b718f..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0068.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0069.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0069.png deleted file mode 100644 index ad320e95327f1180332778a6b4daf131e0a16f12..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0069.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0070.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0070.png deleted file mode 100644 index 4b70cb6d9573617f844bd81797b713062c549373..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0070.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0071.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0071.png deleted file mode 100644 index e6067f9072d6774df90015f7f6ff192b60e8e844..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0071.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0072.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0072.png deleted file mode 100644 index 2516fbb185c7a379a11efc29511292f044d8618a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0072.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0073.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0073.png deleted file mode 100644 index 8967bae4c76681f025559178e4965adae405b423..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0073.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0074.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0074.png deleted file mode 100644 index 122693d4065fd2ceded7591bea68098a4994d96e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0074.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0075.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0075.png deleted file mode 100644 index df7a85d56cd234a90a2c00a49c0339f02d9750b9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0075.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0076.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0076.png deleted file mode 100644 index 48bcdc8c7fc78d01daa41cb415a104318f2584f9..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0076.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0077.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0077.png deleted file mode 100644 index 224228e6dc7fc7e66d6e2ef9043fe5c4e11d8867..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0077.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0078.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0078.png deleted file mode 100644 index 2cdbc4b32e5f0f07491fd870fd34a7391a2f742e..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0078.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0079.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0079.png deleted file mode 100644 index 95a7252b483e65f94a86669522df29e88e5655bf..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0079.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0080.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0080.png deleted file mode 100644 index 7b9a94ffa544f2f6871ed57279812ef71c32f527..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0080.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0081.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0081.png deleted file mode 100644 index 65e95f0a543c515fb88caa92a79f2d24319efb86..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0081.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0082.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0082.png deleted file mode 100644 index ba64b59dfa28d3c4f83659c8005dec727f41e868..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0082.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0083.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0083.png deleted file mode 100644 index 292ac67647e44c61db4136f2481cbe20d72e7bb8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0083.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0084.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0084.png deleted file mode 100644 index 4082c91119a60884c4da64e1d3f162357541f638..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0084.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0085.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0085.png deleted file mode 100644 index a462df01a04fbeda080c348e9495618979d039f0..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0085.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0086.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0086.png deleted file mode 100644 index 16c33eddc761ef35446a7ac50ef96e6b0663a721..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0086.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0087.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0087.png deleted file mode 100644 index 0f054d0f5cb75dc2212a359260ceb5a314d5919a..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0087.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0088.png b/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0088.png deleted file mode 100644 index b449399690b94f0f7dc4beb74a33c80dbc4924b8..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/KeyFrames/KeyFrame_0088.png and /dev/null differ diff --git a/target/classes/vslam/tum_rgbd/pointcloud.csv b/target/classes/vslam/tum_rgbd/pointcloud.csv deleted file mode 100644 index 155618d2d46f2194ac8ef9bafd6ffe07df3a8dcb..0000000000000000000000000000000000000000 Binary files a/target/classes/vslam/tum_rgbd/pointcloud.csv and /dev/null differ diff --git a/target/classes/vslam/vslam_implementation.m b/target/classes/vslam/vslam_implementation.m deleted file mode 100644 index 43e5975b6eba12f47ccb27b3aa1bb8a353148d0e..0000000000000000000000000000000000000000 --- a/target/classes/vslam/vslam_implementation.m +++ /dev/null @@ -1,637 +0,0 @@ -function vslam_implementation(dataset_name) - % Import dependencies - addpath('./Mathworks_VSLAM_Example/'); - - % Define the base folder for datasets - datasetFolder = [dataset_name, '/']; - - imageFolder = [datasetFolder, 'frames/']; - - %imageFolder = datasetFolder; - %imds = imageDatastore(imageFolder); - imds = createSortedImds(imageFolder); - - % Process the image sequence - [worldPointSetOutput] = ProcessImageSequence(imds, dataset_name); - - % Save the outputs to .mat files within the dataset specific folder - save([datasetFolder 'worldPointSetOutput.mat'], 'worldPointSetOutput'); - - % Iterate over KeyFrames and execute extractPointsByViewId - keyFramesDir = [dataset_name, '/KeyFrames']; - keyFrameFiles = dir(fullfile(keyFramesDir, 'KeyFrame_*.png')); - - for i = 1:length(keyFrameFiles) - filename = keyFrameFiles(i).name; - viewId = str2double(regexp(filename, '\d+', 'match', 'once')); % Extracting the numeric part from filename - extractPointsByViewId(viewId, worldPointSetOutput); - end -end - - -% function worldPointSetOutput = ProcessImageSequence(imds) -function worldPointSetOutput = ProcessImageSequence(imds, dataset_name) - currFrameIdx = 1; - currI = readimage(imds, currFrameIdx); - - %% Map Initilization - % Set random seed for reproducibility - rng(0); - - % Create a cameraIntrinsics object to store the camera intrinsic parameters. - % The intrinsics for the dataset can be found at the following page: - % https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats - % Note that the images in the dataset are already undistorted, hence there - % is no need to specify the distortion coefficients. - focalLength = [535.4, 539.2]; % in units of pixels - principalPoint = [320.1, 247.6]; % in units of pixels - imageSize = size(currI,[1 2]); % in units of pixels - intrinsics = cameraIntrinsics(focalLength, principalPoint, imageSize); - - % Detect and extract ORB features - scaleFactor = 1.2; - numLevels = 8; - numPoints = 1000; - [preFeatures, prePoints] = helperDetectAndExtractFeatures(currI, scaleFactor, numLevels, numPoints); - - currFrameIdx = currFrameIdx + 1; - firstI = currI; % Preserve the first frame - - isMapInitialized = false; - - % Map initialization loop - while ~isMapInitialized && currFrameIdx < numel(imds.Files) - currI = readimage(imds, currFrameIdx); - - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currI, scaleFactor, numLevels, numPoints); - - currFrameIdx = currFrameIdx + 1; - - % Find putative feature matches - indexPairs = matchFeatures(preFeatures, currFeatures, Unique=true, ... - MaxRatio=0.9, MatchThreshold=40); - - preMatchedPoints = prePoints(indexPairs(:,1),:); - currMatchedPoints = currPoints(indexPairs(:,2),:); - - % If not enough matches are found, check the next frame - minMatches = 100; - if size(indexPairs, 1) < minMatches - continue - end - - preMatchedPoints = prePoints(indexPairs(:,1),:); - currMatchedPoints = currPoints(indexPairs(:,2),:); - - % Compute homography and evaluate reconstruction - [tformH, scoreH, inliersIdxH] = helperComputeHomography(preMatchedPoints, currMatchedPoints); - - % Compute fundamental matrix and evaluate reconstruction - [tformF, scoreF, inliersIdxF] = helperComputeFundamentalMatrix(preMatchedPoints, currMatchedPoints); - - % Select the model based on a heuristic - ratio = scoreH/(scoreH + scoreF); - ratioThreshold = 0.45; - if ratio > ratioThreshold - inlierTformIdx = inliersIdxH; - tform = tformH; - else - inlierTformIdx = inliersIdxF; - tform = tformF; - end - - % Computes the camera location up to scale. Use half of the - % points to reduce computation - inlierPrePoints = preMatchedPoints(inlierTformIdx); - inlierCurrPoints = currMatchedPoints(inlierTformIdx); - [relPose, validFraction] = estrelpose(tform, intrinsics, ... - inlierPrePoints(1:2:end), inlierCurrPoints(1:2:end)); - - % If not enough inliers are found, move to the next frame - if validFraction < 0.9 || numel(relPose)==3 - continue - end - - % adjustment before using pose2extr - if size(relPose, 1) > 1 - % If relPose is an array, select one based on a criterion, e.g., the first - relPose = relPose(1); - end - - - % Triangulate two views to obtain 3-D map points - minParallax = 1; % In degrees - [isValid, xyzWorldPoints, inlierTriangulationIdx] = helperTriangulateTwoFrames(... - rigidtform3d, relPose, inlierPrePoints, inlierCurrPoints, intrinsics, minParallax); - - if ~isValid - continue - end - - % Get the original index of features in the two key frames - indexPairs = indexPairs(inlierTformIdx(inlierTriangulationIdx),:); - - isMapInitialized = true; - - disp(['Map initialized with frame 1 and frame ', num2str(currFrameIdx-1)]) - end % End of map initialization loop - - %% Store initial key frames and map points - % Create an empty imageviewset object to store key frames - vSetKeyFrames = imageviewset; - - % Create an empty worldpointset object to store 3-D map points - mapPointSet = worldpointset; - - % Add the first key frame. Place the camera associated with the first - % key frame at the origin, oriented along the Z-axis - preViewId = 1; - vSetKeyFrames = addView(vSetKeyFrames, preViewId, rigidtform3d, Points=prePoints,... - Features=preFeatures.Features); - - % Add the second key frame - currViewId = 2; - vSetKeyFrames = addView(vSetKeyFrames, currViewId, relPose, Points=currPoints,... - Features=currFeatures.Features); - - % Add connection between the first and the second key frame - vSetKeyFrames = addConnection(vSetKeyFrames, preViewId, currViewId, relPose, Matches=indexPairs); - - % Add 3-D map points - [mapPointSet, newPointIdx] = addWorldPoints(mapPointSet, xyzWorldPoints); - - % Add observations of the map points - preLocations = prePoints.Location; - currLocations = currPoints.Location; - preScales = prePoints.Scale; - currScales = currPoints.Scale; - - % Add image points corresponding to the map points in the first key frame - mapPointSet = addCorrespondences(mapPointSet, preViewId, newPointIdx, indexPairs(:,1)); - - % Add image points corresponding to the map points in the second key frame - mapPointSet = addCorrespondences(mapPointSet, currViewId, newPointIdx, indexPairs(:,2)); - - % Initialize place recognition database - % Load the bag of features data created offline - bofData = load("bagOfFeaturesDataSLAM.mat"); - - % Initialize the place recognition database - loopDatabase = invertedImageIndex(bofData.bof,SaveFeatureLocations=false); - - % Add features of the first two key frames to the database - addImageFeatures(loopDatabase, preFeatures, preViewId); - addImageFeatures(loopDatabase, currFeatures, currViewId); - - %% Refine and visualize initial reconstruction - % Run full bundle adjustment on the first two key frames - tracks = findTracks(vSetKeyFrames); - cameraPoses = poses(vSetKeyFrames); - - [refinedPoints, refinedAbsPoses] = bundleAdjustment(xyzWorldPoints, tracks, ... - cameraPoses, intrinsics, FixedViewIDs=1, ... - PointsUndistorted=true, AbsoluteTolerance=1e-7,... - RelativeTolerance=1e-15, MaxIteration=20, ... - Solver="preconditioned-conjugate-gradient"); - - % Scale the map and the camera pose using the median depth of map points - medianDepth = median(vecnorm(refinedPoints.')); - refinedPoints = refinedPoints / medianDepth; - - refinedAbsPoses.AbsolutePose(currViewId).Translation = ... - refinedAbsPoses.AbsolutePose(currViewId).Translation / medianDepth; - relPose.Translation = relPose.Translation/medianDepth; - - % Update key frames with the refined poses - vSetKeyFrames = updateView(vSetKeyFrames, refinedAbsPoses); - vSetKeyFrames = updateConnection(vSetKeyFrames, preViewId, currViewId, relPose); - - % Update map points with the refined positions - mapPointSet = updateWorldPoints(mapPointSet, newPointIdx, refinedPoints); - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, newPointIdx, vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, newPointIdx, vSetKeyFrames.Views); - - % Visualize matched features in the current frame - % close(hfeature.Parent.Parent); - featurePlot = helperVisualizeMatchedFeatures(currI, currPoints(indexPairs(:,2))); - - % Visualize initial map points and camera trajectory - mapPlot = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPointSet); - - % Show legend - showLegend(mapPlot); - - %% Tracking - % ViewId of the current key frame - currKeyFrameId = currViewId; - - % ViewId of the last key frame - lastKeyFrameId = currViewId; - - % Index of the last key frame in the input image sequence - lastKeyFrameIdx = currFrameIdx - 1; - - % Indices of all the key frames in the input image sequence - addedFramesIdx = [1; lastKeyFrameIdx]; - - isLoopClosed = false; - - % Main loop (attempt to close loop while iterating over all images in - % dataset) - isLastFrameKeyFrame = true; - while ~isLoopClosed && currFrameIdx < numel(imds.Files) - currI = readimage(imds, currFrameIdx); - - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currI, scaleFactor, numLevels, numPoints); - - % Track the last key frame - % mapPointsIdx: Indices of the map points observed in the current frame - % featureIdx: Indices of the corresponding feature points in the - % current frame - [currPose, mapPointsIdx, featureIdx] = helperTrackLastKeyFrame(mapPointSet, ... - vSetKeyFrames.Views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor); - - % Track the local map and check if the current frame is a key frame. - % A frame is a key frame if both of the following conditions are satisfied: - % - % 1. At least 20 frames have passed since the last key frame or the - % current frame tracks fewer than 100 map points. - % 2. The map points tracked by the current frame are fewer than 90% of - % points tracked by the reference key frame. - % - % Tracking performance is sensitive to the value of numPointsKeyFrame. - % If tracking is lost, try a larger value. - % - % localKeyFrameIds: ViewId of the connected key frames of the current frame - numSkipFrames = 20; - numPointsKeyFrame = 80; - [localKeyFrameIds, currPose, mapPointsIdx, featureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPointSet, vSetKeyFrames, mapPointsIdx, ... - featureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - isLastFrameKeyFrame, lastKeyFrameIdx, currFrameIdx, numSkipFrames, numPointsKeyFrame); - - - % Visualize matched features - updatePlot(featurePlot, currI, currPoints(featureIdx)); - - if ~isKeyFrame - currFrameIdx = currFrameIdx + 1; - isLastFrameKeyFrame = false; - continue - else - isLastFrameKeyFrame = true; - end - - % Update current key frame ID - currKeyFrameId = currKeyFrameId + 1; - - %% Local mapping - % Add the new key frame - [mapPointSet, vSetKeyFrames] = helperAddNewKeyFrame(mapPointSet, vSetKeyFrames, ... - currPose, currFeatures, currPoints, mapPointsIdx, featureIdx, localKeyFrameIds); - - % Remove outlier map points that are observed in fewer than 3 key frames - outlierIdx = setdiff(newPointIdx, mapPointsIdx); - if ~isempty(outlierIdx) - mapPointSet = removeWorldPoints(mapPointSet, outlierIdx); - end - - % Create new map points by triangulation - minNumMatches = 10; - minParallax = 3; - [mapPointSet, vSetKeyFrames, newPointIdx] = helperCreateNewMapPoints(mapPointSet, vSetKeyFrames, ... - currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax); - - % Local bundle adjustment - [refinedViews, dist] = connectedViews(vSetKeyFrames, currKeyFrameId, MaxDistance=2); - % refinedKeyFrameIds = refinedViews.ViewId; - % fixedViewIds = refinedKeyFrameIds(dist==2); - % fixedViewIds = fixedViewIds(1:min(10, numel(fixedViewIds))); - % - % % Refine local key frames and map points - % [mapPointSet, vSetKeyFrames, mapPointIdx] = bundleAdjustment(... - % mapPointSet, vSetKeyFrames, [refinedKeyFrameIds; currKeyFrameId], intrinsics, ... - % FixedViewIDs=fixedViewIds, PointsUndistorted=true, AbsoluteTolerance=1e-7,... - % RelativeTolerance=1e-16, Solver="preconditioned-conjugate-gradient", ... - % MaxIteration=10); - - if isempty(refinedViews) - disp('No refined views found. Skipping local key frame refinement.'); - refinedKeyFrameIds = []; % Set to empty if no refined views are available - else - refinedKeyFrameIds = refinedViews.ViewId; - end - - % Continue only if there are refined key frame IDs - if ~isempty(refinedKeyFrameIds) - fixedViewIds = refinedKeyFrameIds(dist==2); - fixedViewIds = fixedViewIds(1:min(10, numel(fixedViewIds))); - - % Refine local key frames and map points - [mapPointSet, vSetKeyFrames, mapPointIdx] = bundleAdjustment(... - mapPointSet, vSetKeyFrames, [refinedKeyFrameIds; currKeyFrameId], intrinsics, ... - FixedViewIDs=fixedViewIds, PointsUndistorted=true, AbsoluteTolerance=1e-7,... - RelativeTolerance=1e-16, Solver="preconditioned-conjugate-gradient", ... - MaxIteration=10); - - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, mapPointIdx, vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, mapPointIdx, vSetKeyFrames.Views); - else - disp('Skipping bundle adjustment due to lack of refined key frames.'); - end - - % % Check if the KeyFrames directory exists; if not, create it - % keyFramesDir = './KeyFrames_Mono'; - % if ~exist(keyFramesDir, 'dir') - % mkdir(keyFramesDir); - % end - % - % % Store feature locations for this key frame - % keyFramePointsDir = './KeyFramePoints_Mono'; - % if ~exist(keyFramePointsDir, 'dir') - % mkdir(keyFramePointsDir); - % end - - keyFramesDir = [dataset_name, '/KeyFrames']; - keyFramePointsDir = [dataset_name, '/KeyFramePoints']; - - % Ensure directories are created - if ~exist(keyFramesDir, 'dir') - mkdir(keyFramesDir); - end - if ~exist(keyFramePointsDir, 'dir') - mkdir(keyFramePointsDir); - end - - % Save the current key frame image using currKeyFrameId - filename = sprintf('%s/KeyFrame_%04d.png', keyFramesDir, currKeyFrameId); - imwrite(currI, filename); - - % Save feature points information - saveKeyFramePoints(keyFramePointsDir, currKeyFrameId, currPoints(featureIdx), mapPointsIdx); - - - % Visualize 3D world points and camera trajectory - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - %% Loop closure - % Check loop closure after some key frames have been created - if currKeyFrameId > 20 - - % Minimum number of feature matches of loop edges - loopEdgeNumMatches = 50; - - % Detect possible loop closure key frame candidates - [isDetected, validLoopCandidates] = helperCheckLoopClosure(vSetKeyFrames, currKeyFrameId, ... - loopDatabase, currI, loopEdgeNumMatches); - - if isDetected - % Add loop closure connections - [isLoopClosed, mapPointSet, vSetKeyFrames] = helperAddLoopConnections(... - mapPointSet, vSetKeyFrames, validLoopCandidates, currKeyFrameId, ... - currFeatures, loopEdgeNumMatches); - end - end - - % If no loop closure is detected, add current features into the database - if ~isLoopClosed - addImageFeatures(loopDatabase, currFeatures, currKeyFrameId); - end - - % Update IDs and indices - lastKeyFrameId = currKeyFrameId; - lastKeyFrameIdx = currFrameIdx; - addedFramesIdx = [addedFramesIdx; currFrameIdx]; %#ok - currFrameIdx = currFrameIdx + 1; - end % End of main loop - - %% Optimizing - if isLoopClosed - % Optimize the poses - minNumMatches = 20; - vSetKeyFramesOptim = optimizePoses(vSetKeyFrames, minNumMatches, Tolerance=1e-16); - - % Update map points after optimizing the poses - mapPointSet = helperUpdateGlobalMap(mapPointSet, vSetKeyFrames, vSetKeyFramesOptim); - - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - % Plot the optimized camera trajectory - optimizedPoses = poses(vSetKeyFramesOptim); - plotOptimizedTrajectory(mapPlot, optimizedPoses) - - % Update legend - showLegend(mapPlot); - - worldPointSetOutput = mapPointSet; - end - -end - - -%% Helper functions -% The following funciton definitions are provied in the -% Mathworks_VSLAM_Example Directory -% helperAddLoopConnections add connections between the current keyframe and the valid loop candidate. -% helperAddNewKeyFrame add key frames to the key frame set. -% helperCheckLoopClosure detect loop candidates key frames by retrieving visually similar images from the database. -% helperCreateNewMapPoints create new map points by triangulation. -% helperORBFeatureExtractorFunction implements the ORB feature extraction used in bagOfFeatures. -% helperTrackLastKeyFrame estimate the current camera pose by tracking the last key frame. -% helperTrackLocalMap refine the current camera pose by tracking the local map. -% helperVisualizeMatchedFeatures show the matched features in a frame. -% helperVisualizeMotionAndStructure show map points and camera trajectory. -% helperImportGroundTruth import camera pose ground truth from the downloaded data. - -% helperDetectAndExtractFeatures detect and extract and ORB features from the image. -function [features, validPoints] = helperDetectAndExtractFeatures(Irgb, ... - scaleFactor, numLevels, numPoints, varargin) - - % In this example, the images are already undistorted. In a general - % workflow, uncomment the following code to undistort the images. - % - % if nargin > 4 - % intrinsics = varargin{1}; - % end - % Irgb = undistortImage(Irgb, intrinsics); - - % Detect ORB features - Igray = im2gray(Irgb); - - points = detectORBFeatures(Igray, ScaleFactor=scaleFactor, NumLevels=numLevels); - - % Select a subset of features, uniformly distributed throughout the image - points = selectUniform(points, numPoints, size(Igray, 1:2)); - - % Extract features - [features, validPoints] = extractFeatures(Igray, points); -end - -% helperComputeHomography compute homography and evaluate reconstruction. -function [H, score, inliersIndex] = helperComputeHomography(matchedPoints1, matchedPoints2) - - [H, inliersLogicalIndex] = estgeotform2d( ... - matchedPoints1, matchedPoints2, "projective", ... - MaxNumTrials=1e3, MaxDistance=4, Confidence=90); - - inlierPoints1 = matchedPoints1(inliersLogicalIndex); - inlierPoints2 = matchedPoints2(inliersLogicalIndex); - - inliersIndex = find(inliersLogicalIndex); - - locations1 = inlierPoints1.Location; - locations2 = inlierPoints2.Location; - xy1In2 = transformPointsForward(H, locations1); - xy2In1 = transformPointsInverse(H, locations2); - error1in2 = sum((locations2 - xy1In2).^2, 2); - error2in1 = sum((locations1 - xy2In1).^2, 2); - - outlierThreshold = 6; - - score = sum(max(outlierThreshold-error1in2, 0)) + ... - sum(max(outlierThreshold-error2in1, 0)); -end - -% helperComputeFundamentalMatrix compute fundamental matrix and evaluate reconstruction. -function [F, score, inliersIndex] = helperComputeFundamentalMatrix(matchedPoints1, matchedPoints2) - - [F, inliersLogicalIndex] = estimateFundamentalMatrix( ... - matchedPoints1, matchedPoints2, Method="RANSAC",... - NumTrials=1e3, DistanceThreshold=4); - - inlierPoints1 = matchedPoints1(inliersLogicalIndex); - inlierPoints2 = matchedPoints2(inliersLogicalIndex); - - inliersIndex = find(inliersLogicalIndex); - - locations1 = inlierPoints1.Location; - locations2 = inlierPoints2.Location; - - % Distance from points to epipolar line - lineIn1 = epipolarLine(F', locations2); - error2in1 = (sum([locations1, ones(size(locations1, 1),1)].* lineIn1, 2)).^2 ... - ./ sum(lineIn1(:,1:2).^2, 2); - lineIn2 = epipolarLine(F, locations1); - error1in2 = (sum([locations2, ones(size(locations2, 1),1)].* lineIn2, 2)).^2 ... - ./ sum(lineIn2(:,1:2).^2, 2); - - outlierThreshold = 4; - - score = sum(max(outlierThreshold-error1in2, 0)) + ... - sum(max(outlierThreshold-error2in1, 0)); -end - -% helperTriangulateTwoFrames triangulate two frames to initialize the map. -function [isValid, xyzPoints, inlierIdx] = helperTriangulateTwoFrames(... - pose1, pose2, matchedPoints1, matchedPoints2, intrinsics, minParallax) - - camMatrix1 = cameraProjection(intrinsics, pose2extr(pose1)); - camMatrix2 = cameraProjection(intrinsics, pose2extr(pose2)); - - [xyzPoints, reprojectionErrors, isInFront] = triangulate(matchedPoints1, ... - matchedPoints2, camMatrix1, camMatrix2); - - % Filter points by view direction and reprojection error - minReprojError = 1; - inlierIdx = isInFront & reprojectionErrors < minReprojError; - xyzPoints = xyzPoints(inlierIdx ,:); - - % A good two-view with significant parallax - ray1 = xyzPoints - pose1.Translation; - ray2 = xyzPoints - pose2.Translation; - cosAngle = sum(ray1 .* ray2, 2) ./ (vecnorm(ray1, 2, 2) .* vecnorm(ray2, 2, 2)); - - % Check parallax - isValid = all(cosAngle < cosd(minParallax) & cosAngle>0); -end - -% helperEstimateTrajectoryError calculate the tracking error. -function rmse = helperEstimateTrajectoryError(gTruth, cameraPoses) - locations = vertcat(cameraPoses.AbsolutePose.Translation); - gLocations = vertcat(gTruth.Translation); - scale = median(vecnorm(gLocations, 2, 2))/ median(vecnorm(locations, 2, 2)); - scaledLocations = locations * scale; - - rmse = sqrt(mean( sum((scaledLocations - gLocations).^2, 2) )); - disp(['Absolute RMSE for key frame trajectory (m): ', num2str(rmse)]); -end - -% helperUpdateGlobalMap update 3-D locations of map points after pose graph optimization -function mapPointSet = helperUpdateGlobalMap(... - mapPointSet, vSetKeyFrames, vSetKeyFramesOptim) - %helperUpdateGlobalMap update map points after pose graph optimization - posesOld = vSetKeyFrames.Views.AbsolutePose; - posesNew = vSetKeyFramesOptim.Views.AbsolutePose; - positionsOld = mapPointSet.WorldPoints; - positionsNew = positionsOld; - indices = 1:mapPointSet.Count; - - % Update world location of each map point based on the new absolute pose of - % the corresponding major view - for i = indices - majorViewIds = mapPointSet.RepresentativeViewId(i); - poseNew = posesNew(majorViewIds).A; - tform = affinetform3d(poseNew/posesOld(majorViewIds).A); - positionsNew(i, :) = transformPointsForward(tform, positionsOld(i, :)); - end - mapPointSet = updateWorldPoints(mapPointSet, indices, positionsNew); -end - -% function saveKeyFramePoints(dirPath, frameIndex, featurePoints) -% % Extract locations and corresponding point indices -% locations = featurePoints.Location; -% indices = (1:size(locations, 1))'; % Create an index array -% dataMatrix = [indices, locations]; -% -% % Define filename for CSV -% csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', dirPath, frameIndex); -% -% % Write matrix to CSV -% writematrix(dataMatrix, csvFilename); -% end - -function saveKeyFramePoints(dirPath, keyFrameId, featurePoints, mapPointsIdx) - % Ensure the directory exists - if ~exist(dirPath, 'dir') - mkdir(dirPath); - end - - % Define the filename for the CSV file - csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', dirPath, keyFrameId); - - % Extract pixel locations from the feature points - pixelLocations = featurePoints.Location; % This should be an Nx2 matrix - - % Combine the indices, pixel locations, and corresponding world points indices into one matrix - dataMatrix = [pixelLocations, mapPointsIdx]; % Concatenate horizontally - - % Write the combined data to a CSV file - writematrix(dataMatrix, csvFilename); -end - - -function sortedImds = createSortedImds(folderPath) - % List all frame files in the folder - filePattern = fullfile(folderPath, 'frame_*.png'); % Modify pattern if necessary - files = dir(filePattern); - - % Extract the frame numbers and sort numerically - frameNumbers = cellfun(@(f) sscanf(f, 'frame_%d.png'), {files.name}); - [~, sortOrder] = sort(frameNumbers); - sortedFiles = files(sortOrder); - - % Create full file paths - sortedFilePaths = fullfile(folderPath, {sortedFiles.name}); - - % Create imageDatastore with sorted file paths - sortedImds = imageDatastore(sortedFilePaths); -end - diff --git a/target/classes/vslam/vslam_implementation_rgbd.m b/target/classes/vslam/vslam_implementation_rgbd.m deleted file mode 100755 index b32fa8d4700cd7be40e269ab25361ddb6aaf16e6..0000000000000000000000000000000000000000 --- a/target/classes/vslam/vslam_implementation_rgbd.m +++ /dev/null @@ -1,657 +0,0 @@ -function vslam_implementation_rgbd(dataset_name) - - % Import dependencies - addpath('./Mathworks_VSLAM_RGBD/'); - - % Define the base folder for datasets - datasetFolder = [dataset_name, '/']; - - % Check if the dataset exists, if not download and prepare it - if ~exist(datasetFolder, 'dir') - if strcmp(dataset_name, 'tum_rgbd_dataset') - % Define the URL and local folder for download - baseDownloadURL = "https://cvg.cit.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz"; - dataFolder = fullfile('tum_rgbd_dataset', filesep); - tgzFileName = [dataFolder, 'fr3_office.tgz']; - - % Create a folder to save the downloaded file - if ~exist(dataFolder, 'dir') - mkdir(dataFolder); - disp('Downloading fr3_office.tgz (1.38 GB). This download can take a few minutes.'); - h = waitbar(0, 'Downloading Dataset... Please wait.', 'Name', 'Downloading fr3_office'); - websave(tgzFileName, baseDownloadURL, weboptions('Timeout', Inf)); - % Update and close waitbar after download completes - waitbar(1, h, 'Download Complete. Extracting...'); - pause(1); % Pause to show complete message - close(h); - - % Extract contents of the downloaded file - disp('Extracting fr3_office.tgz (1.38 GB) ...'); - h = waitbar(0, 'Extracting files... This may take a while.', 'Name', 'Extracting Data'); - untar(tgzFileName, dataFolder); - - % Close waitbar after extraction completes - waitbar(1, h, 'Extraction Complete.'); - pause(1); % Pause to show complete message - close(h); - end - - imageFolder = [dataFolder, 'rgbd_dataset_freiburg3_long_office_household/']; - - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - - % Note that the color and depth images are generated in an un-synchronized way in the dataset. Therefore, we need to associate color images to depth images based on the time stamp. - % Load time stamp data of color images - timeColor = helperImportTimestampFile([imageFolder, 'rgb.txt']); - - % Load time stamp data of depth images - timeDepth = helperImportTimestampFile([imageFolder, 'depth.txt']); - - % Align the time stamp - indexPairs = helperAlignTimestamp(timeColor, timeDepth); - - % Select the synchronized image data - imdsColor = subset(imdsColor, indexPairs(:, 1)); - imdsDepth = subset(imdsDepth, indexPairs(:, 2)); - - elseif strcmp(dataset_name, 'imperial_college_london') - % Define the URL and local folder for download - baseDownloadURL = "http://www.doc.ic.ac.uk/~ahanda/living_room_traj2_frei_png.tar.gz"; - dataFolder = fullfile('imperial_college_london', filesep); - tgzFileName = [dataFolder, 'living_room_traj2_frei_png.tar.gz']; - - % Create a folder to save the downloaded file - if ~exist(dataFolder, 'dir') - mkdir(dataFolder); - disp('Downloading living_room_traj2_frei_png.tar.gz (486 MB). This download can take a few minutes.'); - h = waitbar(0, 'Downloading Dataset... Please wait.', 'Name', 'Downloading living_room_traj2'); - websave(tgzFileName, baseDownloadURL, weboptions('Timeout', Inf)); - % Update and close waitbar after download completes - waitbar(1, h, 'Download Complete. Extracting...'); - pause(1); % Pause to show complete message - close(h); - - % Extract contents of the downloaded file - disp('Extracting living_room_traj2 (486 MB) ...'); - h = waitbar(0, 'Extracting files... This may take a while.', 'Name', 'Extracting Data'); - untar(tgzFileName, dataFolder); - - % Close waitbar after extraction completes - waitbar(1, h, 'Extraction Complete.'); - pause(1); % Pause to show complete message - close(h); - end - - imageFolder = [dataFolder]; - - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - else - error('Dataset name not recognized or dataset-specific download steps not defined.'); - end - else - % If dataset is already present, set the image folder path - if strcmp(dataset_name, 'tum_rgbd_dataset') - imageFolder = [datasetFolder, 'rgbd_dataset_freiburg3_long_office_household/']; - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - - % Note that the color and depth images are generated in an un-synchronized way in the dataset. Therefore, we need to associate color images to depth images based on the time stamp. - % Load time stamp data of color images - timeColor = helperImportTimestampFile([imageFolder, 'rgb.txt']); - - % Load time stamp data of depth images - timeDepth = helperImportTimestampFile([imageFolder, 'depth.txt']); - - % Align the time stamp - indexPairs = helperAlignTimestamp(timeColor, timeDepth); - - % Select the synchronized image data - imdsColor = subset(imdsColor, indexPairs(:, 1)); - imdsDepth = subset(imdsDepth, indexPairs(:, 2)); - elseif strcmp(dataset_name, 'imperial_college_london') - imageFolder = [datasetFolder]; - - % Initialize image dataset stores for color and depth images - imgFolderColor = [imageFolder, 'rgb/']; - imgFolderDepth = [imageFolder, 'depth/']; - imdsColor = imageDatastore(imgFolderColor); - imdsDepth = imageDatastore(imgFolderDepth); - end - end - - % Process the image sequence - [worldPointSetOutput, optimizedPoses, pointCloudsAll, intrinsics] = ProcessImageSequence(imdsColor, imdsDepth); - - % Save the outputs to .mat files - % save('worldPointSetOutput.mat', 'worldPointSetOutput'); - % save('optimizedPoses.mat', 'optimizedPoses'); - % save('pointCloudsAll.mat', 'pointCloudsAll'); - % save('cameraIntrinsics.mat', 'intrinsics'); - - % save outputs to CSV files in directories given as name: - savePosesToCSV(optimizedPoses, 'CameraPoses'); - savePointCloudToCSV(pointCloudsAll); - saveIntrinsicsToCSV(intrinsics); - - % Iterate over KeyFrames and execute extractPointsByViewId - keyFramesDir = './KeyFrames'; - keyFrameFiles = dir(fullfile(keyFramesDir, 'KeyFrame_*.png')); - - for i = 1:length(keyFrameFiles) - filename = keyFrameFiles(i).name; - viewId = str2double(regexp(filename, '\d+', 'match', 'once')); % Extracting the numeric part from filename - extractPointsByViewId(viewId, worldPointSetOutput); - end - -end - - -function [worldPointSetOutput, optimizedPoses, pointCloudsAll, intrinsics] = ProcessImageSequence(imdsColor, imdsDepth) - % Inspect the first RGB-D image - currFrameIdx = 1; - currIcolor = readimage(imdsColor, currFrameIdx); - currIdepth = readimage(imdsDepth, currFrameIdx); - % imshowpair(currIcolor, currIdepth, "montage"); - - % Map Initialization: The pipeline starts by initializing the map that holds 3-D world points. - % This step is crucial and has a significant impact on the accuracy of the final SLAM result. - % Initial ORB feature points are extracted from the first color image using helperDetectAndExtractFeatures. - % Their corresponding 3-D world locations can be computed from the pixel coordinates of the feature - % points and the depth value using helperReconstructFromRGBD. - - % Set random seed for reproducibility - rng(0); - - % Create a cameraIntrinsics object to store the camera intrinsic parameters. - % The intrinsics for the dataset can be found at the following page: - % https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats - focalLength = [535.4, 539.2]; % in units of pixels - principalPoint = [320.1, 247.6]; % in units of pixels - imageSize = size(currIcolor,[1,2]); % in pixels [mrows, ncols] - depthFactor = 5e3; - intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize); - - % Detect and extract ORB features from the color image - scaleFactor = 1.2; - numLevels = 8; - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currIcolor, scaleFactor, numLevels); - - initialPose = rigidtform3d(); - [xyzPoints, validIndex] = helperReconstructFromRGBD(currPoints, currIdepth, intrinsics, initialPose, depthFactor); - - % Initialize Place Recognition Database - % Loop detection is performed using the bags-of-words approach. A visual vocabulary represented as a bagOfFeatures object is created offline with the ORB descriptors extracted from a large set of images in the dataset by calling: - % bag = bagOfFeatures(imds,CustomExtractor=@helperORBFeatureExtractorFunction, TreeProperties=[5, 10], StrongestFeatures=1); - % where imds is an imageDatastore object storing the training images and helperORBFeatureExtractorFunction is the ORB feature extractor function. See Image Retrieval with Bag of Visual Words for more information. - % The loop closure process incrementally builds a database, represented as an invertedImageIndex object, that stores the visual word-to-image mapping based on the bag of ORB features. - - % Load the bag of features data created offline - bofData = load("bagOfFeaturesDataSLAM.mat"); - - % Initialize the place recognition database - loopDatabase = invertedImageIndex(bofData.bof, SaveFeatureLocations=false); - - % Add features of the first key frame to the database - currKeyFrameId = 1; - addImageFeatures(loopDatabase, currFeatures, currKeyFrameId); - - % Data Management and Visualization - % After the map is initialized using the first pair of color and depth image, you can use imageviewset and worldpointset to store the first key frames and the corresponding map points: - - % Create an empty imageviewset object to store key frames - vSetKeyFrames = imageviewset; - - % Create an empty worldpointset object to store 3-D map points - mapPointSet = worldpointset; - - % Add the first key frame - vSetKeyFrames = addView(vSetKeyFrames, currKeyFrameId, initialPose, Points=currPoints,... - Features=currFeatures.Features); - - % Add 3-D map points - [mapPointSet, rgbdMapPointsIdx] = addWorldPoints(mapPointSet, xyzPoints); - - % Add observations of the map points - mapPointSet = addCorrespondences(mapPointSet, currKeyFrameId, rgbdMapPointsIdx, validIndex); - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, rgbdMapPointsIdx, vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, rgbdMapPointsIdx, vSetKeyFrames.Views); - - % Visualize matched features in the first key frame - featurePlot = helperVisualizeMatchedFeaturesRGBD(currIcolor, currIdepth, currPoints(validIndex)); - - % Visualize initial map points and camera trajectory - xLim = [-4 4]; - yLim = [-3 1]; - zLim = [-1 6]; - mapPlot = helperVisualizeMotionAndStructure(vSetKeyFrames, mapPointSet, xLim, yLim, zLim); - - % Show legend - showLegend(mapPlot); - - % Tracking - % The tracking process is performed using every RGB-D image and determines when to insert a new key frame. - % ViewId of the last key frame - lastKeyFrameId = currKeyFrameId; - - % Index of the last key frame in the input image sequence - lastKeyFrameIdx = currFrameIdx; - - % Indices of all the key frames in the input image sequence - addedFramesIdx = lastKeyFrameIdx; - - currFrameIdx = 2; - isLoopClosed = false; - - % Each frame is processed as follows: - % ORB features are extracted for each new color image and then matched (using matchFeatures), with features in the last key frame that have known corresponding 3-D map points. - % Estimate the camera pose using Perspective-n-Point algorithm, which estimates the pose of a calibrated camera given a set of 3-D points and their corresponding 2-D projections using estworldpose. - % Given the camera pose, project the map points observed by the last key frame into the current frame and search for feature correspondences using matchFeaturesInRadius. - % With 3-D to 2-D correspondences in the current frame, refine the camera pose by performing a motion-only bundle adjustment using bundleAdjustmentMotion. - % Project the local map points into the current frame to search for more feature correspondences using matchFeaturesInRadius and refine the camera pose again using bundleAdjustmentMotion. - % The last step of tracking is to decide if the current frame should be a new key frame. A frame is a key frame if both of the following conditions are satisfied: - % At least 20 frames have passed since the last key frame or the current frame tracks fewer than 100 map points or 25% of points tracked by the reference key frame. - % The map points tracked by the current frame are fewer than 90% of points tracked by the reference key frame. - % If the current frame is to become a key frame, continue to the Local Mapping process. Otherwise, start Tracking for the next frame. - - % Main loop - isLastFrameKeyFrame = true; - while ~isLoopClosed && currFrameIdx < numel(imdsColor.Files) - - currIcolor = readimage(imdsColor, currFrameIdx); - currIdepth = readimage(imdsDepth, currFrameIdx); - - [currFeatures, currPoints] = helperDetectAndExtractFeatures(currIcolor, scaleFactor, numLevels); - - % Track the last key frame - % trackedMapPointsIdx: Indices of the map points observed in the current left frame - % trackedFeatureIdx: Indices of the corresponding feature points in the current left frame - [currPose, trackedMapPointsIdx, trackedFeatureIdx] = helperTrackLastKeyFrame(mapPointSet, ... - vSetKeyFrames.Views, currFeatures, currPoints, lastKeyFrameId, intrinsics, scaleFactor); - - if isempty(currPose) || numel(trackedMapPointsIdx) < 30 - currFrameIdx = currFrameIdx + 1; - continue - end - - % Track the local map and check if the current frame is a key frame. - % A frame is a key frame if both of the following conditions are satisfied: - % - % 1. At least 20 frames have passed since the last key frame or the - % current frame tracks fewer than 100 map points. - % 2. The map points tracked by the current frame are fewer than 90% of - % points tracked by the reference key frame. - % - % localKeyFrameIds: ViewId of the connected key frames of the current frame - numSkipFrames = 20; - numPointsKeyFrame = 100; - [localKeyFrameIds, currPose, trackedMapPointsIdx, trackedFeatureIdx, isKeyFrame] = ... - helperTrackLocalMap(mapPointSet, vSetKeyFrames, trackedMapPointsIdx, ... - trackedFeatureIdx, currPose, currFeatures, currPoints, intrinsics, scaleFactor, numLevels, ... - isLastFrameKeyFrame, lastKeyFrameIdx, currFrameIdx, numSkipFrames, numPointsKeyFrame); - - % Visualize matched features - updatePlot(featurePlot, currIcolor, currIdepth, currPoints(trackedFeatureIdx)); - - if ~isKeyFrame - currFrameIdx = currFrameIdx + 1; - isLastFrameKeyFrame = false; - continue - else - % Match feature points between the stereo images and get the 3-D world positions - [xyzPoints, validIndex] = helperReconstructFromRGBD(currPoints, currIdepth, ... - intrinsics, currPose, depthFactor); - - [untrackedFeatureIdx, ia] = setdiff(validIndex, trackedFeatureIdx); - xyzPoints = xyzPoints(ia, :); - isLastFrameKeyFrame = true; - end - - % Update current key frame ID - currKeyFrameId = currKeyFrameId + 1; - - % Local Mapping - % Local mapping is performed for every key frame. When a new key frame is determined, add it to the key frames and update the attributes of the map points observed by the new key frame. To ensure that mapPointSet contains as few outliers as possible, a valid map point must be observed in at least 3 key frames. - % New map points are created by triangulating ORB feature points in the current key frame and its connected key frames. For each unmatched feature point in the current key frame, search for a match with other unmatched points in the connected key frames using matchFeatures. The local bundle adjustment refines the pose of the current key frame, the poses of connected key frames, and all the map points observed in these key frames. - - % Add the new key frame - [mapPointSet, vSetKeyFrames] = helperAddNewKeyFrame(mapPointSet, vSetKeyFrames, ... - currPose, currFeatures, currPoints, trackedMapPointsIdx, trackedFeatureIdx, localKeyFrameIds); - - % Remove outlier map points that are observed in fewer than 3 key frames - if currKeyFrameId == 2 - triangulatedMapPointsIdx = []; - end - - [mapPointSet, trackedMapPointsIdx] = ... - helperCullRecentMapPoints(mapPointSet, trackedMapPointsIdx, triangulatedMapPointsIdx, ... - rgbdMapPointsIdx); - - % Add new map points computed from disparity - [mapPointSet, rgbdMapPointsIdx] = addWorldPoints(mapPointSet, xyzPoints); - mapPointSet = addCorrespondences(mapPointSet, currKeyFrameId, rgbdMapPointsIdx, ... - untrackedFeatureIdx); - - % Create new map points by triangulation - minNumMatches = 10; - minParallax = 0.35; - [mapPointSet, vSetKeyFrames, triangulatedMapPointsIdx, rgbdMapPointsIdx] = helperCreateNewMapPointsStereo( ... - mapPointSet, vSetKeyFrames, currKeyFrameId, intrinsics, scaleFactor, minNumMatches, minParallax, ... - untrackedFeatureIdx, rgbdMapPointsIdx); - - % Update view direction and depth - mapPointSet = updateLimitsAndDirection(mapPointSet, [triangulatedMapPointsIdx; rgbdMapPointsIdx], ... - vSetKeyFrames.Views); - - % Update representative view - mapPointSet = updateRepresentativeView(mapPointSet, [triangulatedMapPointsIdx; rgbdMapPointsIdx], ... - vSetKeyFrames.Views); - - % Local bundle adjustment - [mapPointSet, vSetKeyFrames, triangulatedMapPointsIdx, rgbdMapPointsIdx] = ... - helperLocalBundleAdjustmentStereo(mapPointSet, vSetKeyFrames, ... - currKeyFrameId, intrinsics, triangulatedMapPointsIdx, rgbdMapPointsIdx); - - % Check if the KeyFrames directory exists; if not, create it - keyFramesDir = './KeyFrames'; - if ~exist(keyFramesDir, 'dir') - mkdir(keyFramesDir); - end - - % Store feature locations for this key frame - keyFramePointsDir = './KeyFramePoints'; - if ~exist(keyFramePointsDir, 'dir') - mkdir(keyFramePointsDir); - end - - % Save the current key frame image using currKeyFrameId - filename = sprintf('%s/KeyFrame_%04d.png', keyFramesDir, currKeyFrameId); - imwrite(currIcolor, filename); - - % Save feature points information - saveKeyFramePoints(keyFramePointsDir, currKeyFrameId, currPoints(trackedFeatureIdx), trackedMapPointsIdx); - - % Visualize 3-D world points and camera trajectory - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - % Loop Closure - % The loop closure detection step takes the current key frame processed by the local mapping process and tries to detect and close the loop. Loop candidates are identified by querying images in the database that are visually similar to the current key frame using evaluateImageRetrieval. A candidate key frame is valid if it is not connected to the last key frame and three of its neighbor key frames are loop candidates. - % When a valid loop candidate is found, use estgeotform3d to compute the relative pose between the loop candidate frame and the current key frame. The relative pose represents a 3-D rigid transformation stored in a rigidtform3d object. Then add the loop connection with the relative pose and update mapPointSet and vSetKeyFrames. - % Check loop closure after some key frames have been created - if currKeyFrameId > 20 - - % Minimum number of feature matches of loop edges - loopEdgeNumMatches = 120; - - % Detect possible loop closure key frame candidates - [isDetected, validLoopCandidates] = helperCheckLoopClosure(vSetKeyFrames, currKeyFrameId, ... - loopDatabase, currIcolor, loopEdgeNumMatches); - - if isDetected - % Add loop closure connections - maxDistance = 0.1; - [isLoopClosed, mapPointSet, vSetKeyFrames] = helperAddLoopConnectionsStereo(... - mapPointSet, vSetKeyFrames, validLoopCandidates, currKeyFrameId, ... - currFeatures, currPoints, loopEdgeNumMatches, maxDistance); - end - end - - % If no loop closure is detected, add current features into the database - if ~isLoopClosed - addImageFeatures(loopDatabase, currFeatures, currKeyFrameId); - end - - % Update IDs and indices - lastKeyFrameId = currKeyFrameId; - lastKeyFrameIdx = currFrameIdx; - addedFramesIdx = [addedFramesIdx; currFrameIdx]; %#ok - currFrameIdx = currFrameIdx + 1; - end % End of main loop - - % Finally, apply pose graph optimization over the essential graph in vSetKeyFrames to correct the drift. The essential graph is created internally by removing connections with fewer than minNumMatches matches in the covisibility graph. After pose graph optimization, update the 3-D locations of the map points using the optimized poses. - - % Optimize the poses - minNumMatches = 50; - vSetKeyFramesOptim = optimizePoses(vSetKeyFrames, minNumMatches, Tolerance=1e-16); - - % Update map points after optimizing the poses - mapPointSet = helperUpdateGlobalMap(mapPointSet, vSetKeyFrames, vSetKeyFramesOptim); - - updatePlot(mapPlot, vSetKeyFrames, mapPointSet); - - % Plot the optimized camera trajectory - optimizedPoses = poses(vSetKeyFramesOptim); - plotOptimizedTrajectory(mapPlot, optimizedPoses) - - % Update legend - showLegend(mapPlot); - - worldPointSetOutput = mapPointSet; - - % Dense Reconstruction from Depth Image - % Given the refined camera poses, you can reproject all the valid image points in the associated depth images back to the 3-D space to perform dense reconstruction. - % Create an array of pointCloud objects to store the world points constructed - - % from the key frames - ptClouds = repmat(pointCloud(zeros(1, 3)), numel(addedFramesIdx), 1); - - % Ignore image points at the boundary - offset = 40; - [X, Y] = meshgrid(offset:2:imageSize(2)-offset, offset:2:imageSize(1)-offset); - - for i = 1: numel(addedFramesIdx) - Icolor = readimage(imdsColor, addedFramesIdx(i)); - Idepth = readimage(imdsDepth, addedFramesIdx(i)); - - [xyzPoints, validIndex] = helperReconstructFromRGBD([X(:), Y(:)], ... - Idepth, intrinsics, optimizedPoses.AbsolutePose(i), depthFactor); - - colors = zeros(numel(X), 1, 'like', Icolor); - for j = 1:numel(X) - colors(j, 1:3) = Icolor(Y(j), X(j), :); - end - ptClouds(i) = pointCloud(xyzPoints, Color=colors(validIndex, :)); - end - - % Concatenate the point clouds - pointCloudsAll = pccat(ptClouds); - - figure - pcshow(pointCloudsAll,VerticalAxis="y", VerticalAxisDir="down"); - xlabel('X') - ylabel('Y') - zlabel('Z') -end - -%% Helper functions - -% helperImportTimestampFile Import time stamp file - -function timestamp = helperImportTimestampFile(filename) - % Input handling - dataLines = [4, Inf]; - - %% Set up the Import Options and import the data - opts = delimitedTextImportOptions("NumVariables", 2); - - % Specify range and delimiter - opts.DataLines = dataLines; - opts.Delimiter = " "; - - % Specify column names and types - opts.VariableNames = ["VarName1", "Var2"]; - opts.SelectedVariableNames = "VarName1"; - opts.VariableTypes = ["double", "string"]; - - % Specify file level properties - opts.ExtraColumnsRule = "ignore"; - opts.EmptyLineRule = "read"; - opts.ConsecutiveDelimitersRule = "join"; - opts.LeadingDelimitersRule = "ignore"; - - % Specify variable properties - opts = setvaropts(opts, "Var2", "WhitespaceRule", "preserve"); - opts = setvaropts(opts, "Var2", "EmptyFieldRule", "auto"); - - % Import the data - data = readtable(filename, opts); - - % Convert to output type - timestamp = table2array(data); -end - -% helperAlignTimestamp align time stamp of color and depth images. -function indexPairs = helperAlignTimestamp(timeColor, timeDepth) - idxDepth = 1; - indexPairs = zeros(numel(timeColor), 2); - for i = 1:numel(timeColor) - for j = idxDepth : numel(timeDepth) - if abs(timeColor(i) - timeDepth(j)) < 1e-4 - idxDepth = j; - indexPairs(i, :) = [i, j]; - break - elseif timeDepth(j) - timeColor(i) > 1e-3 - break - end - end - end - indexPairs = indexPairs(indexPairs(:,1)>0, :); -end - -% helperDetectAndExtractFeatures detect and extract and ORB features from the image. -function [features, validPoints] = helperDetectAndExtractFeatures(Irgb, scaleFactor, numLevels) - - numPoints = 1000; - - % Detect ORB features - Igray = rgb2gray(Irgb); - - points = detectORBFeatures(Igray, ScaleFactor=scaleFactor, NumLevels=numLevels); - - % Select a subset of features, uniformly distributed throughout the image - points = selectUniform(points, numPoints, size(Igray, 1:2)); - - % Extract features - [features, validPoints] = extractFeatures(Igray, points); -end - -% helperReconstructFromRGBD reconstruct scene from color and depth image. - -function [xyzPoints, validIndex] = helperReconstructFromRGBD(points, ... - depthMap, intrinsics, currPose, depthFactor) - - ptcloud = pcfromdepth(depthMap,depthFactor,intrinsics,ImagePoints=points, DepthRange=[0.1, 5]); - - isPointValid = ~isnan(ptcloud.Location(:, 1)); - xyzPoints = ptcloud.Location(isPointValid, :); - xyzPoints = transformPointsForward(currPose, xyzPoints); - validIndex = find(isPointValid); -end - -% helperCullRecentMapPoints cull recently added map points. -function [mapPointSet, mapPointsIdx] = ... - helperCullRecentMapPoints(mapPointSet, mapPointsIdx, newPointIdx, rgbdMapPointsIndices) - outlierIdx = setdiff([newPointIdx; rgbdMapPointsIndices], mapPointsIdx); - if ~isempty(outlierIdx) - mapPointSet = removeWorldPoints(mapPointSet, outlierIdx); - mapPointsIdx = mapPointsIdx - arrayfun(@(x) nnz(x>outlierIdx), mapPointsIdx); - end -end - -% helperEstimateTrajectoryError calculate the tracking error. -function rmse = helperEstimateTrajectoryError(gTruth, cameraPoses) - locations = vertcat(cameraPoses.AbsolutePose.Translation); - gLocations = vertcat(gTruth.Translation); - scale = median(vecnorm(gLocations, 2, 2))/ median(vecnorm(locations, 2, 2)); - scaledLocations = locations * scale; - - rmse = sqrt(mean( sum((scaledLocations - gLocations).^2, 2) )); - disp(['Absolute RMSE for key frame trajectory (m): ', num2str(rmse)]); -end - -% helperUpdateGlobalMap update 3-D locations of map points after pose graph optimization -function mapPointSet = helperUpdateGlobalMap(mapPointSet, vSetKeyFrames, vSetKeyFramesOptim) - - posesOld = vSetKeyFrames.Views.AbsolutePose; - posesNew = vSetKeyFramesOptim.Views.AbsolutePose; - positionsOld = mapPointSet.WorldPoints; - positionsNew = positionsOld; - indices = 1:mapPointSet.Count; - - % Update world location of each map point based on the new absolute pose of - % the corresponding major view - for i = 1: mapPointSet.Count - majorViewIds = mapPointSet.RepresentativeViewId(i); - tform = rigidtform3d(posesNew(majorViewIds).A/posesOld(majorViewIds).A); - positionsNew(i, :) = transformPointsForward(tform, positionsOld(i, :)); - end - mapPointSet = updateWorldPoints(mapPointSet, indices, positionsNew); -end - -% CSV file creation for points within keyframe -function saveKeyFramePoints(dirPath, keyFrameId, featurePoints, mapPointsIdx) - % Ensure the directory exists - if ~exist(dirPath, 'dir') - mkdir(dirPath); - end - - % Define the filename for the CSV file - csvFilename = sprintf('%s/KeyFramePoints_%04d.csv', dirPath, keyFrameId); - - % Extract pixel locations from the feature points - pixelLocations = featurePoints.Location; % This should be an Nx2 matrix - - % Combine the indices, pixel locations, and corresponding world points indices into one matrix - dataMatrix = [pixelLocations, mapPointsIdx]; % Concatenate horizontally - - % Write the combined data to a CSV file - writematrix(dataMatrix, csvFilename); -end - - -function savePointCloudToCSV(pointCloudsAll) - mat = [pointCloudsAll.Location, cast(pointCloudsAll.Color, "single")]; - writematrix(mat, "pointcloud.csv"); -end - - -function savePosesToCSV(optimizedPoses, dirPath) - mkdir(dirPath) - - t_size = size(optimizedPoses); - for i=1:t_size(1) - p = optimizedPoses.AbsolutePose(i, 1); - % first row will be translation - % second-fifth row will be rotation - mat = [p.Translation; p.R]; - idx = optimizedPoses.ViewId(i,1); - - % save to directory - fname = sprintf('%s/Pose_%04d.csv', dirPath, idx); - writematrix(mat, fname); - end -end - - -function saveIntrinsicsToCSV(intrinsics) - mat = [intrinsics.FocalLength, 0 ; - intrinsics.PrincipalPoint, 0 ; - intrinsics.ImageSize, 0 ; - intrinsics.K]; - - writematrix(mat, 'CameraIntrinsics.csv') -end \ No newline at end of file diff --git a/target/classes/yolo/YOLODetector 2.class b/target/classes/yolo/YOLODetector 2.class deleted file mode 100644 index e3def0016b3937864a85d32d45d26b6df7d394f4..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLODetector 2.class and /dev/null differ diff --git a/target/classes/yolo/YOLODetector.class b/target/classes/yolo/YOLODetector.class deleted file mode 100644 index e3def0016b3937864a85d32d45d26b6df7d394f4..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLODetector.class and /dev/null differ diff --git a/target/classes/yolo/YOLONet 2.class b/target/classes/yolo/YOLONet 2.class deleted file mode 100644 index a46a5f89fa81c7e0bb5ac795f26ef50f6b627732..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLONet 2.class and /dev/null differ diff --git a/target/classes/yolo/YOLONet$ObjectDetectionResult 2.class b/target/classes/yolo/YOLONet$ObjectDetectionResult 2.class deleted file mode 100644 index c8b1ef244916f4a2932492116af111dfe15470d9..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLONet$ObjectDetectionResult 2.class and /dev/null differ diff --git a/target/classes/yolo/YOLONet$ObjectDetectionResult.class b/target/classes/yolo/YOLONet$ObjectDetectionResult.class deleted file mode 100644 index c8b1ef244916f4a2932492116af111dfe15470d9..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLONet$ObjectDetectionResult.class and /dev/null differ diff --git a/target/classes/yolo/YOLONet.class b/target/classes/yolo/YOLONet.class deleted file mode 100644 index a46a5f89fa81c7e0bb5ac795f26ef50f6b627732..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/YOLONet.class and /dev/null differ diff --git a/target/classes/yolo/coco 2.names b/target/classes/yolo/coco 2.names deleted file mode 100644 index 16315f2becec9705017bfaf1b9fb81ca2a83c0b0..0000000000000000000000000000000000000000 --- a/target/classes/yolo/coco 2.names +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorbike -aeroplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -sofa -pottedplant -bed -diningtable -toilet -tvmonitor -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush \ No newline at end of file diff --git a/target/classes/yolo/coco.names b/target/classes/yolo/coco.names deleted file mode 100644 index 16315f2becec9705017bfaf1b9fb81ca2a83c0b0..0000000000000000000000000000000000000000 --- a/target/classes/yolo/coco.names +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorbike -aeroplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -sofa -pottedplant -bed -diningtable -toilet -tvmonitor -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush \ No newline at end of file diff --git a/target/classes/yolo/yolov4 2.cfg b/target/classes/yolo/yolov4 2.cfg deleted file mode 100644 index 2985a313f610e032732e388ca6d0a7729ae7f267..0000000000000000000000000000000000000000 --- a/target/classes/yolo/yolov4 2.cfg +++ /dev/null @@ -1,1157 +0,0 @@ -[net] -batch=64 -subdivisions=8 -# Training -#width=512 -#height=512 -width=608 -height=608 -channels=3 -momentum=0.949 -decay=0.0005 -angle=0 -saturation = 1.5 -exposure = 1.5 -hue=.1 - -learning_rate=0.0013 -burn_in=1000 -max_batches = 500500 -policy=steps -steps=400000,450000 -scales=.1,.1 - -#cutmix=1 -mosaic=1 - -#:104x104 54:52x52 85:26x26 104:13x13 for 416 - -[convolutional] -batch_normalize=1 -filters=32 -size=3 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=32 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-7 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-10 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-28 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-28 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=1024 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-16 - -[convolutional] -batch_normalize=1 -filters=1024 -size=1 -stride=1 -pad=1 -activation=mish - -########################## - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -### SPP ### -[maxpool] -stride=1 -size=5 - -[route] -layers=-2 - -[maxpool] -stride=1 -size=9 - -[route] -layers=-4 - -[maxpool] -stride=1 -size=13 - -[route] -layers=-1,-3,-5,-6 -### End SPP ### - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[upsample] -stride=2 - -[route] -layers = 85 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[route] -layers = -1, -3 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[upsample] -stride=2 - -[route] -layers = 54 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[route] -layers = -1, -3 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -########################## - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 0,1,2 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -scale_x_y = 1.2 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 - - -[route] -layers = -4 - -[convolutional] -batch_normalize=1 -size=3 -stride=2 -pad=1 -filters=256 -activation=leaky - -[route] -layers = -1, -16 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 3,4,5 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -scale_x_y = 1.1 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 - - -[route] -layers = -4 - -[convolutional] -batch_normalize=1 -size=3 -stride=2 -pad=1 -filters=512 -activation=leaky - -[route] -layers = -1, -37 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 6,7,8 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -random=1 -scale_x_y = 1.05 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 diff --git a/target/classes/yolo/yolov4 2.weights b/target/classes/yolo/yolov4 2.weights deleted file mode 100644 index 921f4406ecaa54a53031dd695e7bcd96f5dd9be2..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/yolov4 2.weights and /dev/null differ diff --git a/target/classes/yolo/yolov4.cfg b/target/classes/yolo/yolov4.cfg deleted file mode 100644 index 2985a313f610e032732e388ca6d0a7729ae7f267..0000000000000000000000000000000000000000 --- a/target/classes/yolo/yolov4.cfg +++ /dev/null @@ -1,1157 +0,0 @@ -[net] -batch=64 -subdivisions=8 -# Training -#width=512 -#height=512 -width=608 -height=608 -channels=3 -momentum=0.949 -decay=0.0005 -angle=0 -saturation = 1.5 -exposure = 1.5 -hue=.1 - -learning_rate=0.0013 -burn_in=1000 -max_batches = 500500 -policy=steps -steps=400000,450000 -scales=.1,.1 - -#cutmix=1 -mosaic=1 - -#:104x104 54:52x52 85:26x26 104:13x13 for 416 - -[convolutional] -batch_normalize=1 -filters=32 -size=3 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=32 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-7 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=64 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=64 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-10 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=128 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-28 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=256 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-28 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -# Downsample - -[convolutional] -batch_normalize=1 -filters=1024 -size=3 -stride=2 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -2 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[convolutional] -batch_normalize=1 -filters=512 -size=3 -stride=1 -pad=1 -activation=mish - -[shortcut] -from=-3 -activation=linear - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=mish - -[route] -layers = -1,-16 - -[convolutional] -batch_normalize=1 -filters=1024 -size=1 -stride=1 -pad=1 -activation=mish - -########################## - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -### SPP ### -[maxpool] -stride=1 -size=5 - -[route] -layers=-2 - -[maxpool] -stride=1 -size=9 - -[route] -layers=-4 - -[maxpool] -stride=1 -size=13 - -[route] -layers=-1,-3,-5,-6 -### End SPP ### - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[upsample] -stride=2 - -[route] -layers = 85 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[route] -layers = -1, -3 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[upsample] -stride=2 - -[route] -layers = 54 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[route] -layers = -1, -3 - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=128 -size=1 -stride=1 -pad=1 -activation=leaky - -########################## - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=256 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 0,1,2 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -scale_x_y = 1.2 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 - - -[route] -layers = -4 - -[convolutional] -batch_normalize=1 -size=3 -stride=2 -pad=1 -filters=256 -activation=leaky - -[route] -layers = -1, -16 - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=256 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=512 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 3,4,5 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -scale_x_y = 1.1 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 - - -[route] -layers = -4 - -[convolutional] -batch_normalize=1 -size=3 -stride=2 -pad=1 -filters=512 -activation=leaky - -[route] -layers = -1, -37 - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -batch_normalize=1 -filters=512 -size=1 -stride=1 -pad=1 -activation=leaky - -[convolutional] -batch_normalize=1 -size=3 -stride=1 -pad=1 -filters=1024 -activation=leaky - -[convolutional] -size=1 -stride=1 -pad=1 -filters=255 -activation=linear - - -[yolo] -mask = 6,7,8 -anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401 -classes=80 -num=9 -jitter=.3 -ignore_thresh = .7 -truth_thresh = 1 -random=1 -scale_x_y = 1.05 -iou_thresh=0.213 -cls_normalizer=1.0 -iou_normalizer=0.07 -iou_loss=ciou -nms_kind=greedynms -beta_nms=0.6 -max_delta=5 diff --git a/target/classes/yolo/yolov4.weights b/target/classes/yolo/yolov4.weights deleted file mode 100644 index 921f4406ecaa54a53031dd695e7bcd96f5dd9be2..0000000000000000000000000000000000000000 Binary files a/target/classes/yolo/yolov4.weights and /dev/null differ diff --git a/target/test-classes/.DS_Store b/target/test-classes/.DS_Store deleted file mode 100644 index de360927acbc0a016051ba3139d5f8d64b4ac03a..0000000000000000000000000000000000000000 Binary files a/target/test-classes/.DS_Store and /dev/null differ diff --git a/target/test-classes/object_detection/BoundingBoxTests 2.class b/target/test-classes/object_detection/BoundingBoxTests 2.class deleted file mode 100644 index 4fd7ec9e65bfec2a264989b37ff19d1183fecc8b..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/BoundingBoxTests 2.class and /dev/null differ diff --git a/target/test-classes/object_detection/BoundingBoxTests.class b/target/test-classes/object_detection/BoundingBoxTests.class deleted file mode 100644 index c80b5b563d12afb7b0792fe1ce6a00a19365a524..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/BoundingBoxTests.class and /dev/null differ diff --git a/target/test-classes/object_detection/ObjectSetTests 2.class b/target/test-classes/object_detection/ObjectSetTests 2.class deleted file mode 100644 index bd4f79feabcfd3e9de11047fbdc4b7afd08edc2d..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/ObjectSetTests 2.class and /dev/null differ diff --git a/target/test-classes/object_detection/ObjectSetTests.class b/target/test-classes/object_detection/ObjectSetTests.class deleted file mode 100644 index 59d0c79732a9e5175e8f189f176bf321dfba6b53..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/ObjectSetTests.class and /dev/null differ diff --git a/target/test-classes/object_detection/PointTests 2.class b/target/test-classes/object_detection/PointTests 2.class deleted file mode 100644 index 40ded9809bea2d1e8c7c644e32828eff0909c437..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/PointTests 2.class and /dev/null differ diff --git a/target/test-classes/object_detection/PointTests.class b/target/test-classes/object_detection/PointTests.class deleted file mode 100644 index 1ec5ffb32a13920a9cfee0f8127817833e17b870..0000000000000000000000000000000000000000 Binary files a/target/test-classes/object_detection/PointTests.class and /dev/null differ diff --git a/target/test-classes/yolo/.gitkeep b/target/test-classes/yolo/.gitkeep deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000 diff --git a/target/test-classes/yolo/.gitkeep 2 b/target/test-classes/yolo/.gitkeep 2 deleted file mode 100644 index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000 diff --git a/target/test-classes/yolo/KeyFrame_0060 2.csv b/target/test-classes/yolo/KeyFrame_0060 2.csv deleted file mode 100644 index bd8544564a0d5fc5972a6dc8cc6b5b8ef7b6e8e5..0000000000000000000000000000000000000000 --- a/target/test-classes/yolo/KeyFrame_0060 2.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.966170,187,292,78,65 -tvmonitor,0.911748,64,-2,228,136 -keyboard,0.845111,25,113,245,130 diff --git a/target/test-classes/yolo/KeyFrame_0060.csv b/target/test-classes/yolo/KeyFrame_0060.csv deleted file mode 100644 index bd8544564a0d5fc5972a6dc8cc6b5b8ef7b6e8e5..0000000000000000000000000000000000000000 --- a/target/test-classes/yolo/KeyFrame_0060.csv +++ /dev/null @@ -1,4 +0,0 @@ -Class,Confidence,X,Y,Width,Height -mouse,0.966170,187,292,78,65 -tvmonitor,0.911748,64,-2,228,136 -keyboard,0.845111,25,113,245,130 diff --git a/target/test-classes/yolo/TestFrame 2.png b/target/test-classes/yolo/TestFrame 2.png deleted file mode 100644 index 3886bb1a0f80d4fb37fe4c30ca3a22fca4199216..0000000000000000000000000000000000000000 Binary files a/target/test-classes/yolo/TestFrame 2.png and /dev/null differ diff --git a/target/test-classes/yolo/TestFrame.png b/target/test-classes/yolo/TestFrame.png deleted file mode 100644 index 3886bb1a0f80d4fb37fe4c30ca3a22fca4199216..0000000000000000000000000000000000000000 Binary files a/target/test-classes/yolo/TestFrame.png and /dev/null differ diff --git a/target/test-classes/yolo/YOLOTest 2.class b/target/test-classes/yolo/YOLOTest 2.class deleted file mode 100644 index 352ef517317a693c31e5d1812e9a74429c65854c..0000000000000000000000000000000000000000 Binary files a/target/test-classes/yolo/YOLOTest 2.class and /dev/null differ diff --git a/target/test-classes/yolo/YOLOTest.class b/target/test-classes/yolo/YOLOTest.class deleted file mode 100644 index 352ef517317a693c31e5d1812e9a74429c65854c..0000000000000000000000000000000000000000 Binary files a/target/test-classes/yolo/YOLOTest.class and /dev/null differ diff --git a/target/test-classes/yolo/coco 2.names b/target/test-classes/yolo/coco 2.names deleted file mode 100644 index 16315f2becec9705017bfaf1b9fb81ca2a83c0b0..0000000000000000000000000000000000000000 --- a/target/test-classes/yolo/coco 2.names +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorbike -aeroplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -sofa -pottedplant -bed -diningtable -toilet -tvmonitor -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush \ No newline at end of file diff --git a/target/test-classes/yolo/coco.names b/target/test-classes/yolo/coco.names deleted file mode 100644 index 16315f2becec9705017bfaf1b9fb81ca2a83c0b0..0000000000000000000000000000000000000000 --- a/target/test-classes/yolo/coco.names +++ /dev/null @@ -1,80 +0,0 @@ -person -bicycle -car -motorbike -aeroplane -bus -train -truck -boat -traffic light -fire hydrant -stop sign -parking meter -bench -bird -cat -dog -horse -sheep -cow -elephant -bear -zebra -giraffe -backpack -umbrella -handbag -tie -suitcase -frisbee -skis -snowboard -sports ball -kite -baseball bat -baseball glove -skateboard -surfboard -tennis racket -bottle -wine glass -cup -fork -knife -spoon -bowl -banana -apple -sandwich -orange -broccoli -carrot -hot dog -pizza -donut -cake -chair -sofa -pottedplant -bed -diningtable -toilet -tvmonitor -laptop -mouse -remote -keyboard -cell phone -microwave -oven -toaster -sink -refrigerator -book -clock -vase -scissors -teddy bear -hair drier -toothbrush \ No newline at end of file