diff --git a/.DS_Store b/.DS_Store index b9eb8814dfa5d84facc2a3968f698cb1a3e65d1d..c369e9e9e0ec1705fd19954c99c8a233832162c7 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/src/.DS_Store b/src/.DS_Store index d7f1aff5ffd0eb18917ef97fc5f65d9e4831c76f..163775be0cef3faffe0bf8f38af5b379344ce89b 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 81e75a373bc48d770818f3f03b22ed97af480dd4..c0565df0dac2a64c4f22a098fbdabf9655d35603 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 580810655cf8d86795892ab952c95aacda1e1002..103c7d66bf60df5f0dffa11fda741a82c009ec0a 100644 Binary files a/src/main/java/.DS_Store and b/src/main/java/.DS_Store differ diff --git a/src/main/java/object_detection/ObjectDetector.java b/src/main/java/object_detection/ObjectDetector.java index fddb5d41f366df9db7b1f8ec793165baf48f9485..82decce9ecdc42824cbfcb9b548a2f387f725d2c 100644 --- a/src/main/java/object_detection/ObjectDetector.java +++ b/src/main/java/object_detection/ObjectDetector.java @@ -21,14 +21,16 @@ public class ObjectDetector { public static void startProcess(String dataset) throws IOException, CsvValidationException { // for now, we can just set paths to the directories that hold keyframes and featurepoint CSVs - - String bbox_dir_pth = "src/main/java/vslam/tum_rgbd/BoundedInfo"; - String pose_dir_path = "src/main/java/vslam/rumrgbd/CameraPoses"; - - if(dataset.equals("1")){ - bbox_dir_pth = "src/main/java/vslam/imperial_london/BoundedInfo"; - pose_dir_path = "src/main/java/vslam/imperial_london/CameraPoses"; - } + String bbox_dir_pth = "src/main/java/vslam/BoundedInfo"; + String pose_dir_path = "src/main/java/vslam/CameraPoses"; + + if (dataset.equals("1")) { + bbox_dir_pth = "src/main/java/vslam/tum_rgbd/BoundedInfo"; + pose_dir_path = "src/main/java/vslam/tum_rgbd/CameraPoses"; + } else if (dataset.equals("2")) { + bbox_dir_pth = "src/main/java/vslam/imperial_london/BoundedInfoTUM"; + pose_dir_path = "src/main/java/vslam/imperial_london/CameraPosesTUM"; + } // get files File[] bbox_CSVs = getDirFiles(bbox_dir_pth); @@ -43,6 +45,15 @@ public class ObjectDetector { ################################################## */ CameraIntrinsics intrinsics = new CameraIntrinsics("src/main/java/vslam/CameraIntrinsics.csv"); List pointCloud = Downsampler.get_voxels("src/main/java/vslam/pointcloud.csv", 0.05F); + + if(dataset.equals("1")){ + intrinsics = new CameraIntrinsics("src/main/java/vslam/tum_rgbd/CameraIntrinsics.csv"); + pointCloud = Downsampler.get_voxels("src/main/java/vslam/tum_rgbd/pointcloud.csv", 0.05F); + } else if(dataset.equals("2")){ + intrinsics = new CameraIntrinsics("src/main/java/vslam/imperial_london/CameraIntrinsicsTUM.csv"); + pointCloud = Downsampler.get_voxels("src/main/java/vslam/imperial_london/pointcloudTUM.csv", 0.05F); + } + ObjectSet os = new ObjectSet(intrinsics, pointCloud); // iterate through each frame, create the frame, then process it @@ -92,7 +103,7 @@ public class ObjectDetector { } public static void main(String[] args) throws IOException, CsvValidationException { - startProcess(); + startProcess("1"); } } diff --git a/src/main/java/top/BackendJava.java b/src/main/java/top/BackendJava.java index 5384119209903a96641e6aaf5cedc78e7eaf1dde..e7c796bdbceae05b730da8e25a4a1b998543f0f8 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(); + ObjectDetector.startProcess(dataset); try { ObjectSet latestObjectSet = dbInteraction.retrieveLatestObjectSet(); diff --git a/target/classes/.DS_Store b/target/classes/.DS_Store deleted file mode 100644 index 580810655cf8d86795892ab952c95aacda1e1002..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/object_detection/.DS_Store b/target/classes/object_detection/.DS_Store deleted file mode 100644 index 8303d96719256ee4a20806fcab63eb45bec574c3..0000000000000000000000000000000000000000 Binary files a/target/classes/object_detection/.DS_Store and /dev/null differ 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/vid2frames/.DS_Store b/target/classes/vid2frames/.DS_Store deleted file mode 100644 index d89c2ebd6e71812c2a8943429f83ac719db3fc39..0000000000000000000000000000000000000000 Binary files a/target/classes/vid2frames/.DS_Store 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