Implement Maplab with my video

EmreOzkose commented 4 years ago

Implement Maplab with my video

Hi! Basically, I am trying to implement Maplab with my video. Here is my pipeline:

Convert video to bagfile (done)
Create map with rovioli (occur an error)
Load the map with Maplab

During following this pipeline, I achieved (1), but I could not achieve (2).

I created bagfile with this script from there.
When I run rosrun rovioli tutorial_euroc save_folder /home/MY_NAME/PycharmProjects/empyt/bagfile.bag, output is:

I1216 14:42:36.252480 22628 rovio-factory.cc:169] Loading ROVIO configuration template: /home/eramas/maplab_ws/src/maplab/applications/rovioli/share//rovio_default_config.info Set distortion parameters (Radtan) to: k1(-0.283408), k2(0.0739591), k3(0), p1(0.000193595), p2(1.76187e-05) Registered filter state update callback. I1216 14:42:36.493990 22628 map-builder-flow.cc:31] Set VIMap folder to: save_folder_8 I1216 14:42:36.494524 22628 rovioli-node.cc:105] Starting data source... I1216 14:42:36.494570 22658 datasource-rosbag.cc:194] Rosbag playback finished! I1216 14:42:36.494544 22628 rovioli-app.cc:136] Message delivery queues: subscriber-node queue-topic queue-id num elements
MapBuilderFlow LOCALIZATION_RESULT 8d0d..0000 0
MapBuilderFlow TRACKED_NFRAMES_AND_IMU 6300..0000 0
DataPublisherFlow VIO_UPDATES 5a33..0000 0
DataPublisherFlow RAW_VIMAP 3507..0000 0
DataPublisherFlow ROVIO_ESTIMATES d927..0000 0
DataPublisherFlow LOCALIZATION_RESULT f01e..0000 0
SyncedNFrameThrottlerFlow TRACKED_NFRAMES_AND_IMU 32c0..0000 0
FeatureTrackingFlow ROVIO_ESTIMATES 5e87..0000 0
RovioFlow IMAGE_MEASUREMENTS dbfb..0000 0
FeatureTrackingFlow SYNCED_NFRAMES_AND_IMU a968..0000 0
RovioFlow IMU_MEASUREMENTS e1c0..0000 0
MapBuilderFlow ROVIO_ESTIMATES 8807..0000 0
MapBuilderFlow VIO_UPDATES 3aee..0000 0
ImuCameraSynchronizerFlow IMU_MEASUREMENTS 294e..0000 0
RovioFlow LOCALIZATION_RESULT 810d..0000 0
ImuCameraSynchronizerFlow IMAGE_MEASUREMENTS 5945..0000 0
I1216 14:42:37.494823 22628 rovioli-node.cc:110] Closing data source... W1216 14:42:37.495124 22628 map-builder-flow.cc:101] Map is empty; nothing will be saved. I1216 14:42:37.495610 22628 rovioli-node.cc:110] Closing data source...

Map is empty. I coul not understand why? How can I debug this issue? Thank you in advance.

mfehr commented 4 years ago

Hi @EmreOzkose Do you have IMU data?

EmreOzkose commented 4 years ago

No, I just gave a video which has mp4 format to the script for creating bagfile and then this bagfile became input to rosrun rovioli tutorial_euroc

UPDATE: I added IMU data to bag file. I wrote topic files correctly (I guess) as /imu0 and /cam0/image_raw. At the end, when ı run rosrun rovioli tutorial_euroc, video is played and features can be found. However, the output is given below.

errors:

W1217 02:39:06.777580 31219 rovio-flow.cc:136] ROVIO rejected image measurement. Latency is too large.
W1217 02:39:07.085597 31224 vo-feature-tracking-pipeline.cc:152] Match outlier rejection RANSAC failed on camera 0.
W1217 02:39:09.612691 31199 map-builder-flow.cc:101] Map is empty; nothing will be saved.

I1217 02:39:06.523514 31199 rovio-factory.cc:169] Loading ROVIO configuration template: /home/eramas/maplab_ws/src/maplab/applications/rovioli/share//rovio_default_config.info Set distortion parameters (Radtan) to: k1(-0.283408), k2(0.0739591), k3(0), p1(0.000193595), p2(1.76187e-05) Registered filter state update callback. I1217 02:39:06.753396 31199 map-builder-flow.cc:31] Set VIMap folder to: save_folder_5 I1217 02:39:06.754057 31199 rovioli-node.cc:105] Starting data source... I1217 02:39:06.754076 31199 rovioli-app.cc:136] Message delivery queues: subscriber-node queue-topic queue-id num elements
MapBuilderFlow ROVIO_ESTIMATES b68d..0000 0
MapBuilderFlow TRACKED_NFRAMES_AND_IMU ef85..0000 0
DataPublisherFlow VIO_UPDATES 5c15..0000 0
SyncedNFrameThrottlerFlow TRACKED_NFRAMES_AND_IMU 67c0..0000 0
DataPublisherFlow RAW_VIMAP f7e2..0000 0
FeatureTrackingFlow ROVIO_ESTIMATES 3986..0000 0
RovioFlow IMAGE_MEASUREMENTS 1540..0000 0
RovioFlow IMU_MEASUREMENTS bb09..0000 0
RovioFlow LOCALIZATION_RESULT db4f..0000 0
MapBuilderFlow VIO_UPDATES 2e6f..0000 0
DataPublisherFlow ROVIO_ESTIMATES 4708..0000 0
ImuCameraSynchronizerFlow IMAGE_MEASUREMENTS c130..0000 0
MapBuilderFlow LOCALIZATION_RESULT 9494..0000 0
DataPublisherFlow LOCALIZATION_RESULT a0ff..0000 0
FeatureTrackingFlow SYNCED_NFRAMES_AND_IMU 7c62..0000 0
ImuCameraSynchronizerFlow IMU_MEASUREMENTS 8839..0000 0
-- Filter: Initializing using accel. measurement ... -- Filter: Initialized at t = 1576539345.31 [FilterBase::addUpdateMeas] Warning: included measurements at time 1576539345.31 before safeTime 1576539345.31 W1217 02:39:06.777580 31219 rovio-flow.cc:136] ROVIO rejected image measurement. Latency is too large. I1217 02:39:06.964248 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.66578 > 9.21 - count : 1. I1217 02:39:06.965023 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.65061 > 9.21 - count : 1. I1217 02:39:06.974769 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.8669 > 9.21 - count : 1. I1217 02:39:06.975304 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.3615 > 9.21 - count : 2. I1217 02:39:06.987725 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):33.014 > 9.21 - count : 1. I1217 02:39:07.011674 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.4283 > 9.21 - count : 1. I1217 02:39:07.012364 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6563 > 9.21 - count : 2. I1217 02:39:07.024754 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):35.128 > 9.21 - count : 1. I1217 02:39:07.085528 31224 match-outlier-rejection-twopt.cc:31] Too few matches to run RANSAC. W1217 02:39:07.085597 31224 vo-feature-tracking-pipeline.cc:152] Match outlier rejection RANSAC failed on camera 0. I1217 02:39:07.244483 31229 datasource-rosbag.cc:194] Rosbag playback finished! I1217 02:39:07.490535 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.156 > 9.21 - count : 1. I1217 02:39:07.506681 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7001 > 9.21 - count : 1. I1217 02:39:07.524124 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.2649 > 9.21 - count : 1. I1217 02:39:07.528076 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3354 > 9.21 - count : 1. I1217 02:39:07.531963 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.0911 > 9.21 - count : 1. I1217 02:39:07.539855 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.6019 > 9.21 - count : 1. I1217 02:39:07.540650 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38818 > 9.21 - count : 1. I1217 02:39:07.543040 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):16.1119 > 9.21 - count : 1. I1217 02:39:07.547363 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.5788 > 9.21 - count : 1. I1217 02:39:07.558768 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.7246 > 9.21 - count : 1. I1217 02:39:07.560431 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7681 > 9.21 - count : 1. I1217 02:39:07.563019 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):16.7322 > 9.21 - count : 1. I1217 02:39:07.564203 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1919 > 9.21 - count : 1. I1217 02:39:07.566093 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.2182 > 9.21 - count : 1. I1217 02:39:07.573724 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.78465 > 9.21 - count : 1. I1217 02:39:07.574448 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.4024 > 9.21 - count : 1. I1217 02:39:07.577723 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.05 > 9.21 - count : 1. I1217 02:39:07.579174 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7084 > 9.21 - count : 1. I1217 02:39:07.582201 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7918 > 9.21 - count : 1. I1217 02:39:07.591300 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.1019 > 9.21 - count : 1. I1217 02:39:07.592489 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.2314 > 9.21 - count : 1. I1217 02:39:07.594514 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.6679 > 9.21 - count : 1. I1217 02:39:07.595970 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.71472 > 9.21 - count : 1. I1217 02:39:07.605994 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.6018 > 9.21 - count : 1. I1217 02:39:07.607165 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.6883 > 9.21 - count : 1. I1217 02:39:07.608287 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.0033 > 9.21 - count : 1. I1217 02:39:07.622375 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.1071 > 9.21 - count : 1. I1217 02:39:07.623581 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.6176 > 9.21 - count : 1. I1217 02:39:07.624724 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.5238 > 9.21 - count : 1. I1217 02:39:07.637753 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3105 > 9.21 - count : 1. I1217 02:39:07.638098 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.4219 > 9.21 - count : 2. I1217 02:39:07.639271 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.1027 > 9.21 - count : 1. I1217 02:39:07.640609 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):18.9337 > 9.21 - count : 1. I1217 02:39:07.655026 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3246 > 9.21 - count : 1. I1217 02:39:07.655463 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.776 > 9.21 - count : 2. I1217 02:39:07.655902 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.656139 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.656271 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.656397 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.656522 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.656651 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.656785 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.656909 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.657037 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.657171 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.27259 > 9.21 - count : 1. I1217 02:39:07.658779 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2193 > 9.21 - count : 1. I1217 02:39:07.670188 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.4586 > 9.21 - count : 1. I1217 02:39:07.670552 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.5462 > 9.21 - count : 2. I1217 02:39:07.670904 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.72567 > 9.21 - count : 3. I1217 02:39:07.672986 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1047 > 9.21 - count : 1. I1217 02:39:07.691905 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.117 > 9.21 - count : 1. I1217 02:39:07.692236 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.1802 > 9.21 - count : 2. I1217 02:39:07.712545 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.0842 > 9.21 - count : 1. I1217 02:39:07.712920 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.6751 > 9.21 - count : 2. I1217 02:39:07.735096 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1469 > 9.21 - count : 1. I1217 02:39:07.735652 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7293 > 9.21 - count : 2. I1217 02:39:07.754267 31199 rovioli-node.cc:110] Closing data source... I1217 02:39:07.757409 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.4934 > 9.21 - count : 1. I1217 02:39:07.757740 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.5498 > 9.21 - count : 2. I1217 02:39:07.760697 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.084 > 9.21 - count : 1. I1217 02:39:07.771409 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9297 > 9.21 - count : 1. I1217 02:39:07.772922 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.68215 > 9.21 - count : 1. I1217 02:39:07.774212 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):23.1532 > 9.21 - count : 1. I1217 02:39:07.789775 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.1803 > 9.21 - count : 1. I1217 02:39:07.791014 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.6629 > 9.21 - count : 1. I1217 02:39:07.791692 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.3873 > 9.21 - count : 1. I1217 02:39:07.792091 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):18.0311 > 9.21 - count : 2. I1217 02:39:07.795930 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.6625 > 9.21 - count : 1. I1217 02:39:07.807353 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.01 > 9.21 - count : 1. I1217 02:39:07.807678 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.6929 > 9.21 - count : 2. I1217 02:39:07.808495 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.215 > 9.21 - count : 1. I1217 02:39:07.808799 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):23.282 > 9.21 - count : 2. I1217 02:39:07.812691 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):34.2917 > 9.21 - count : 1. I1217 02:39:07.824164 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.0859 > 9.21 - count : 1. I1217 02:39:07.824673 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.4615 > 9.21 - count : 2. I1217 02:39:07.825762 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):16.5203 > 9.21 - count : 1. I1217 02:39:07.826097 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.2898 > 9.21 - count : 2. I1217 02:39:07.840955 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.4021 > 9.21 - count : 1. I1217 02:39:07.841310 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.9534 > 9.21 - count : 2. I1217 02:39:07.842092 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.9034 > 9.21 - count : 1. I1217 02:39:07.849519 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3776 > 9.21 - count : 1. I1217 02:39:07.856984 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.8278 > 9.21 - count : 1. I1217 02:39:07.866405 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.9929 > 9.21 - count : 1. I1217 02:39:07.879571 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.3515 > 9.21 - count : 1. I1217 02:39:07.889430 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.30018 > 9.21 - count : 1. I1217 02:39:07.899044 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.3997 > 9.21 - count : 1. I1217 02:39:07.916781 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6061 > 9.21 - count : 1. I1217 02:39:07.940151 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):24.0378 > 9.21 - count : 1. I1217 02:39:07.940929 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.5565 > 9.21 - count : 1. I1217 02:39:07.942137 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9484 > 9.21 - count : 1. I1217 02:39:07.963290 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.928 > 9.21 - count : 1. I1217 02:39:07.966150 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.2408 > 9.21 - count : 1. I1217 02:39:07.969228 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):18.991 > 9.21 - count : 1. I1217 02:39:07.986584 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.2953 > 9.21 - count : 1. I1217 02:39:08.022436 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.022605 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.022747 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.022886 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.023041 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.023202 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.023455 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.023593 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.023730 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.023876 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29313 > 9.21 - count : 1. I1217 02:39:08.100689 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.3513 > 9.21 - count : 1. I1217 02:39:08.102880 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.0432 > 9.21 - count : 1. I1217 02:39:08.104681 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.2496 > 9.21 - count : 1. I1217 02:39:08.123688 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.1176 > 9.21 - count : 1. I1217 02:39:08.131531 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.662 > 9.21 - count : 2. I1217 02:39:08.152012 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.80503 > 9.21 - count : 1. I1217 02:39:08.189047 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.8755 > 9.21 - count : 1. I1217 02:39:08.203261 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):16.1011 > 9.21 - count : 1. I1217 02:39:08.206745 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):20.2342 > 9.21 - count : 1. I1217 02:39:08.224872 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.6853 > 9.21 - count : 1. I1217 02:39:08.235124 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):18.8835 > 9.21 - count : 1. I1217 02:39:08.235417 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.1611 > 9.21 - count : 2. I1217 02:39:08.372129 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.2749 > 9.21 - count : 1. I1217 02:39:08.394184 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.7723 > 9.21 - count : 1. I1217 02:39:08.395087 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.4579 > 9.21 - count : 1. I1217 02:39:08.419343 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.98863 > 9.21 - count : 1. I1217 02:39:08.419580 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.98867 > 9.21 - count : 1. I1217 02:39:08.419809 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.98868 > 9.21 - count : 1. I1217 02:39:08.420017 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.9887 > 9.21 - count : 1. I1217 02:39:08.420222 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.9887 > 9.21 - count : 1. I1217 02:39:08.420455 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.98872 > 9.21 - count : 1. I1217 02:39:08.473560 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.5645 > 9.21 - count : 1. I1217 02:39:08.474522 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.7811 > 9.21 - count : 1. I1217 02:39:08.722896 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):18.8827 > 9.21 - count : 1. I1217 02:39:08.725848 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.8281 > 9.21 - count : 1. I1217 02:39:08.750005 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.47347 > 9.21 - count : 1. I1217 02:39:08.750325 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.47347 > 9.21 - count : 1. I1217 02:39:08.750584 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.47347 > 9.21 - count : 1. I1217 02:39:08.750902 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.47347 > 9.21 - count : 1. I1217 02:39:08.751482 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.47347 > 9.21 - count : 1. I1217 02:39:08.751843 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.47349 > 9.21 - count : 1. I1217 02:39:08.753296 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.6316 > 9.21 - count : 1. I1217 02:39:08.764351 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.40328 > 9.21 - count : 1. I1217 02:39:08.764966 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.40319 > 9.21 - count : 1. I1217 02:39:08.765656 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.0229 > 9.21 - count : 1. I1217 02:39:08.781484 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.3398 > 9.21 - count : 1. I1217 02:39:08.781858 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.6334 > 9.21 - count : 2. I1217 02:39:08.791426 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.791580 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.791709 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.791891 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.792021 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.792148 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.792299 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.792484 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.792697 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.792913 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0495 > 9.21 - count : 1. I1217 02:39:08.795205 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.0623 > 9.21 - count : 1. I1217 02:39:08.811185 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.4901 > 9.21 - count : 1. I1217 02:39:08.822392 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.9401 > 9.21 - count : 1. I1217 02:39:08.822686 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.9399 > 9.21 - count : 1. I1217 02:39:08.822896 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.9398 > 9.21 - count : 1. I1217 02:39:08.823089 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.9397 > 9.21 - count : 1. I1217 02:39:08.823282 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.9396 > 9.21 - count : 1. I1217 02:39:08.823469 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.9395 > 9.21 - count : 1. I1217 02:39:08.823848 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.488 > 9.21 - count : 1. I1217 02:39:08.824165 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):18.2778 > 9.21 - count : 2. I1217 02:39:08.825439 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3741 > 9.21 - count : 1. I1217 02:39:08.834973 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.0734 > 9.21 - count : 1. I1217 02:39:08.841715 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):23.7962 > 9.21 - count : 1. I1217 02:39:08.842095 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.842499 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.843113 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.843758 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.844251 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.844682 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.845033 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.845468 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.846035 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.846419 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.7206 > 9.21 - count : 1. I1217 02:39:08.856340 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.86281 > 9.21 - count : 1. I1217 02:39:08.856683 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.1039 > 9.21 - count : 2. I1217 02:39:08.856973 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.0723 > 9.21 - count : 3. I1217 02:39:08.863205 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.863371 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.863512 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.863647 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.863795 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.863947 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.864085 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.864223 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.864357 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.864483 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9112 > 9.21 - count : 1. I1217 02:39:08.877056 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):16.4973 > 9.21 - count : 1. I1217 02:39:08.879271 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.26759 > 9.21 - count : 1. I1217 02:39:08.879902 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.26759 > 9.21 - count : 1. I1217 02:39:08.880422 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38542 > 9.21 - count : 1. I1217 02:39:08.884181 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.2269 > 9.21 - count : 1. I1217 02:39:08.885017 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.34426 > 9.21 - count : 1. I1217 02:39:08.894675 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.5536 > 9.21 - count : 1. I1217 02:39:08.903527 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.5139 > 9.21 - count : 1. I1217 02:39:08.915249 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):20.6931 > 9.21 - count : 1. I1217 02:39:08.917754 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.36421 > 9.21 - count : 1. I1217 02:39:08.918071 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.36419 > 9.21 - count : 1. I1217 02:39:08.918320 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.36419 > 9.21 - count : 1. I1217 02:39:08.918565 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.36418 > 9.21 - count : 1. I1217 02:39:08.918808 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.36418 > 9.21 - count : 1. I1217 02:39:08.936592 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.4122 > 9.21 - count : 1. I1217 02:39:08.937005 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.867 > 9.21 - count : 2. I1217 02:39:08.940505 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.940696 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.940889 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.941061 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.941222 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.941378 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.941534 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.941689 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.941853 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.942044 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2584 > 9.21 - count : 1. I1217 02:39:08.942411 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.4044 > 9.21 - count : 1. I1217 02:39:08.942641 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.4045 > 9.21 - count : 1. I1217 02:39:08.942922 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.4046 > 9.21 - count : 1. I1217 02:39:08.943140 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.4047 > 9.21 - count : 1. I1217 02:39:08.943393 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.4048 > 9.21 - count : 1. I1217 02:39:08.944072 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.4048 > 9.21 - count : 1. I1217 02:39:08.964639 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.964810 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.965019 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.965222 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.965422 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.965623 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.965883 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.966229 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.966544 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:08.966835 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.1948 > 9.21 - count : 1. I1217 02:39:09.003527 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7557 > 9.21 - count : 1. I1217 02:39:09.019673 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.2867 > 9.21 - count : 1. I1217 02:39:09.020052 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):20.217 > 9.21 - count : 2. I1217 02:39:09.041296 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):29.6363 > 9.21 - count : 1. I1217 02:39:09.044970 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.2741 > 9.21 - count : 1. I1217 02:39:09.046396 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.3042 > 9.21 - count : 1. I1217 02:39:09.054793 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.9906 > 9.21 - count : 1. I1217 02:39:09.066656 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):22.4123 > 9.21 - count : 1. I1217 02:39:09.066769 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.77589 > 9.21 - count : 2. I1217 02:39:09.066922 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.77589 > 9.21 - count : 3. I1217 02:39:09.067498 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3061 > 9.21 - count : 1. I1217 02:39:09.067579 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.77421 > 9.21 - count : 2. I1217 02:39:09.100653 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.779 > 9.21 - count : 1. I1217 02:39:09.102654 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.102802 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.102942 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.103082 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.103221 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.103360 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.103495 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.103624 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.103750 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.103897 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):14.2488 > 9.21 - count : 1. I1217 02:39:09.105374 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.32988 > 9.21 - count : 1. I1217 02:39:09.126673 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.1792 > 9.21 - count : 1. I1217 02:39:09.127502 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.1805 > 9.21 - count : 1. I1217 02:39:09.128159 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.1819 > 9.21 - count : 1. I1217 02:39:09.129346 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.44 > 9.21 - count : 1. I1217 02:39:09.129667 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.61245 > 9.21 - count : 2. I1217 02:39:09.133625 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.133777 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.133950 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.134097 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.134243 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.134387 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.134531 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.134672 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.134812 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.134943 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.907 > 9.21 - count : 1. I1217 02:39:09.146052 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.146214 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.146349 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.146483 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.146617 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.146750 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.146883 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.147017 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.147148 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.147280 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.481 > 9.21 - count : 1. I1217 02:39:09.166383 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.41793 > 9.21 - count : 1. I1217 02:39:09.170965 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.2133 > 9.21 - count : 1. I1217 02:39:09.179360 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.22567 > 9.21 - count : 1. I1217 02:39:09.179747 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.22566 > 9.21 - count : 1. I1217 02:39:09.180202 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.22567 > 9.21 - count : 1. I1217 02:39:09.196739 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.3175 > 9.21 - count : 1. I1217 02:39:09.197023 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.3175 > 9.21 - count : 1. I1217 02:39:09.197441 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.3175 > 9.21 - count : 1. I1217 02:39:09.197767 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.3175 > 9.21 - count : 1. I1217 02:39:09.198017 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.31751 > 9.21 - count : 1. I1217 02:39:09.198269 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.3175 > 9.21 - count : 1. I1217 02:39:09.203328 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):18.4938 > 9.21 - count : 1. I1217 02:39:09.215340 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.9963 > 9.21 - count : 1. I1217 02:39:09.222873 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.1482 > 9.21 - count : 1. I1217 02:39:09.253965 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):27.564 > 9.21 - count : 1. I1217 02:39:09.254366 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):27.564 > 9.21 - count : 1. I1217 02:39:09.254681 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):27.564 > 9.21 - count : 1. I1217 02:39:09.254997 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):27.564 > 9.21 - count : 1. I1217 02:39:09.255308 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):27.564 > 9.21 - count : 1. I1217 02:39:09.255620 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):27.564 > 9.21 - count : 1. I1217 02:39:09.263422 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):15.5892 > 9.21 - count : 1. I1217 02:39:09.273727 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.0197 > 9.21 - count : 1. I1217 02:39:09.274024 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.0197 > 9.21 - count : 1. I1217 02:39:09.274219 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.0197 > 9.21 - count : 1. I1217 02:39:09.274467 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.0197 > 9.21 - count : 1. I1217 02:39:09.274662 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.0197 > 9.21 - count : 1. I1217 02:39:09.274911 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):19.0197 > 9.21 - count : 1. I1217 02:39:09.277667 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3191 > 9.21 - count : 1. I1217 02:39:09.277882 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3191 > 9.21 - count : 1. I1217 02:39:09.278120 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3191 > 9.21 - count : 1. I1217 02:39:09.278426 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3192 > 9.21 - count : 1. I1217 02:39:09.278749 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3192 > 9.21 - count : 1. I1217 02:39:09.279072 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.3192 > 9.21 - count : 1. I1217 02:39:09.284054 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.4355 > 9.21 - count : 1. I1217 02:39:09.301872 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.302099 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.302299 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.302551 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.302803 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.302999 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.303248 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.303499 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.303696 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.303908 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38979 > 9.21 - count : 1. I1217 02:39:09.348364 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6312 > 9.21 - count : 1. I1217 02:39:09.349963 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):16.5876 > 9.21 - count : 1. I1217 02:39:09.367525 31219 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.411 > 9.21 - count : 1. I1217 02:39:09.385531 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):33.7205 > 9.21 - count : 1. I1217 02:39:09.386960 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.6501 > 9.21 - count : 1. I1217 02:39:09.390862 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.6222 > 9.21 - count : 1. I1217 02:39:09.406545 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):20.6667 > 9.21 - count : 1. I1217 02:39:09.408804 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.62512 > 9.21 - count : 1. I1217 02:39:09.423158 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.423346 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.423502 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.423656 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.423847 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.424039 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.424191 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.424342 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.424492 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.424644 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.6335 > 9.21 - count : 1. I1217 02:39:09.430167 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.430348 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.430500 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.430655 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.430869 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.431015 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.431288 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.431499 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.431792 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.432070 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.7016 > 9.21 - count : 1. I1217 02:39:09.457396 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.0655 > 9.21 - count : 1. I1217 02:39:09.471453 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.29253 > 9.21 - count : 1. I1217 02:39:09.472931 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.0569 > 9.21 - count : 1. I1217 02:39:09.494328 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38962 > 9.21 - count : 1. I1217 02:39:09.494701 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3005 > 9.21 - count : 1. I1217 02:39:09.495193 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3002 > 9.21 - count : 1. I1217 02:39:09.495626 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.2999 > 9.21 - count : 1. I1217 02:39:09.496024 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3011 > 9.21 - count : 1. I1217 02:39:09.496438 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3009 > 9.21 - count : 1. I1217 02:39:09.496734 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3006 > 9.21 - count : 1. I1217 02:39:09.497027 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3003 > 9.21 - count : 1. I1217 02:39:09.497464 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.38293 > 9.21 - count : 1. I1217 02:39:09.497763 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3013 > 9.21 - count : 1. I1217 02:39:09.498064 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.301 > 9.21 - count : 1. I1217 02:39:09.498356 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):10.3007 > 9.21 - count : 1. I1217 02:39:09.500402 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):12.5764 > 9.21 - count : 1. I1217 02:39:09.503254 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):16.0852 > 9.21 - count : 1. I1217 02:39:09.505079 31217 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):13.9243 > 9.21 - count : 1. I1217 02:39:09.541273 31218 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):11.5191 > 9.21 - count : 1. I1217 02:39:09.588296 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):17.7049 > 9.21 - count : 1. I1217 02:39:09.594313 31220 OutlierDetection.hpp:47] Detected outlier - mahalanobis (d / threshold):9.64808 > 9.21 - count : 1. W1217 02:39:09.612691 31199 map-builder-flow.cc:101] Map is empty; nothing will be saved. I1217 02:39:09.612808 31199 rovioli-node.cc:110] Closing data source...

mfehr commented 4 years ago

Probably a time sync issue, please have a look at the FAQ on some answers related to our sensor requirements

https://github.com/ethz-asl/maplab/wiki/FAQ#q-what-sensors-are-recommended-for-maplab

EmreOzkose commented 4 years ago

I solved these problems by making long videos (probably realted with feature extraction) and writing first IMU data to bagfile (writing first /imu0/ instead of /cam0/image_raw). However, when I have a video that contains a loop, map is still creted like a line. That means, map could not be created well.

I guess like you. There is a problem with creation of bagfile. Unfortunately, I do not have a tango-enabled device. Hence my videos are made by a smartphone. My pipeline is basically:

Make video with a smartphone (with IMU data)
Convert this video to bagfile with that script (as I mention before, this script is mostly from here ):

import time
import sys
import cv2
from utils import read_data, read_bag_file
import math

import ros
from ros import rosbag
import roslib, rospy
from cv_bridge import CvBridge
import csv

roslib.load_manifest("geometry_msgs")
from geometry_msgs.msg import Quaternion, Vector3
roslib.load_manifest("sensor_msgs")
from sensor_msgs.msg import Image
from sensor_msgs.msg import Imu

def read_data(csv_path, video_path):

    csv_file = open(csv_path)
    csv_reader = csv.reader(csv_file, delimiter=",")
    header_dict = {}
    row_list = []

    for line_count, row in enumerate(csv_reader):
        row_dict = {}
        if line_count == 0:
            for i, r in enumerate(row):
                header_dict[r] = i
        else:
            row_dict["Acc X"] = float(row[header_dict["Acc X"]])
            row_dict["Acc Y"] = float(row[header_dict["Acc Y"]])
            row_dict["Acc Z"] = float(row[header_dict["Acc Z"]])

            row_dict["gyro_x"] = float(row[header_dict["gyro_x"]])
            row_dict["gyro_y"] = float(row[header_dict["gyro_y"]])
            row_dict["gyro_z"] = float(row[header_dict["gyro_z"]])
            row_list.append(row_dict)

    cap = cv2.VideoCapture(video_path)
    cap.set(cv2.CAP_PROP_FPS, 15)
    ret = True

    frame_id = 0
    frame_and_imu = []

    frame_list = []
    while True:
        ret, frame = cap.read()
        if ret is False:
            break

        frame = cv2.resize(frame, (752, 480))
        frame_list.append(frame)

    cap.release()

    print(len(frame_list))
    print(len(row_list))

    frame_list_len = len(frame_list)
    row_list_len = len(row_list)

    a = np.array(range(frame_list_len), dtype=np.float) / frame_list_len
    b = np.array([int(i) for i in np.array(range(row_list_len), dtype=np.float) / row_list_len])

    a = cv2.resize(a, (1, b.shape[0]))
    a = [int(i) for i in a*frame_list_len]

    for i, j in zip(a, b):
        frame_imu_dict = dict()
        try:
            frame_imu_dict["frame"] = frame_list[i]
            frame_imu_dict["imu_data"] = row_list[j]

            frame_and_imu.append(frame_imu_dict)
        except IndexError:
            pass

    return frame_and_imu

def video2bag(video_path, bag_name):
    bag = rosbag.Bag(bag_name, 'w')
    cb = CvBridge()

    video_name = "20191219_122640"
    frame_and_imu_list = read_data(csv_path="video_plus_imu/{}.csv".format(video_name),
                                   video_path="video_plus_imu/{}.mp4".format(video_name))

    for frame_id, frame_and_imu in enumerate(frame_and_imu_list):
        print(frame_id)
        frame = frame_and_imu["frame"]
        imu_data = frame_and_imu["imu_data"]

        stamp = rospy.Time.from_sec(time.time())

        image = cb.cv2_to_imgmsg(frame, encoding='bgr8')

        image.header.seq = frame_id
        image.header.stamp = stamp
        image.header.frame_id = "imu4"

        # We currently do not know the covariance of the sensors with each other
        cov = [0, 0, 0, 0, 0, 0, 0, 0, 0]
        quat1 = [0.0, 0.0, 0.0, 1.0]
        quat = Quaternion(quat1[0] / 16384.0, quat1[1] / 16384.0, quat1[2] / 16384.0, quat1[3] / 16384.0)

        # # Normalize the quaternion and accelerometer values
        quatNorm = math.sqrt(quat.x * quat.x + quat.y * quat.y + quat.z * quat.z + quat.w * quat.w)
        # normQuat = Quaternion(quat.x / quatNorm, quat.y / quatNorm, quat.z / quatNorm, quat.w / quatNorm)
        normQuat = Quaternion(0.0, 0.0, 0.0, 1.0)

        acc = [imu_data["Acc X"], imu_data["Acc Y"], imu_data["Acc Z"]]
        gyro = [imu_data["gyro_x"], imu_data["gyro_y"], imu_data["gyro_z"]]

        normAcc = Vector3(acc[0] / 2048.0, acc[1] / 2048.0, acc[2] / 2048.0)
        normGyro = Vector3(gyro[0] / 16.0, gyro[1] / 16.0, gyro[2] / 16.0)
        imu = Imu(image.header, normQuat, cov, normGyro, cov, normAcc, cov)

        bag.write("/imu0", imu, stamp)
        bag.write("/cam0/image_raw", image, stamp)

    bag.close()

So, is it a proper way, or we must have a tango-enabled device? There are some application where you can take video with IMU data. Is there a way with a smartphone setup with these apps?

araujokth commented 4 years ago

Unfortunately maplab wont work if you dont have a good hardware platform with good time synch, which is hard to obtain from a smartphone. I would very much recommend that you try to get your hands on the Intel D435i or D455 cameras which are pretty cheap to run maplab instead of using a smartphone

ethz-asl / maplab

Implement Maplab with my video #194

Implement Maplab with my video