first_complete_REPLICA_log.md

⭐️ INFO: The output folder is output/Replica/room0/20231013_194144 ⭐️ INFO: The GT, generated and residual depth/color images can be found under output/Replica/room0/20231013_194144/tracking_vis/ and output/Replica/room0/20231013_194144/mapping_vis/ ⭐️ INFO: The mesh can be found under output/Replica/room0/20231013_194144/mesh/ ⭐️ INFO: The checkpoint can be found under output/Replica/room0/20231013_194144/ckpt/ wandb: Currently logged in as: xyz2haomingyu (haomingyu). Use wandb login --relogin to force relogin wandb: wandb version 0.15.12 is available! To upgrade, please run: wandb: $ pip install wandb --upgrade wandb: Tracking run with wandb version 0.13.9 wandb: Run data is saved locally in /home/dh/haomingyu/pointSLAM/output/wandb/run-20231013_194206-kpqxwxtk wandb: Run wandb offline to turn off syncing. wandb: Syncing run mapper_20231013_194144 wandb: ⭐️ View project at https://wandb.ai/haomingyu/Point_SLAM_replica wandb: 🚀 View run at https://wandb.ai/haomingyu/Point_SLAM_replica/runs/kpqxwxtk wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Currently logged in as: xyz2haomingyu (haomingyu). Use wandb login --relogin to force relogin wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: wandb version 0.15.12 is available! To upgrade, please run: wandb: $ pip install wandb --upgrade wandb: Tracking run with wandb version 0.13.9 wandb: Run data is saved locally in /home/dh/haomingyu/pointSLAM/output/wandb/run-20231013_194403-vx8tlhyi wandb: Run wandb offline to turn off syncing. wandb: Syncing run tracker_20231013_194144 wandb: ⭐️ View project at https://wandb.ai/haomingyu/Point_SLAM_replica wandb: 🚀 View run at https://wandb.ai/haomingyu/Point_SLAM_replica/runs/vx8tlhyi wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. �[32m Mapping Frame 0 �[0m 6949 locations to add points. 744 locations to add points based on pixel gradients. idx: 0 , time 0.088563 , geo_loss_pixel: 0.000584 , color_loss_pixel: 0.0364 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00000_1500.jpg Mapper has updated point features. �[32m Mapping Frame 1 �[0m 149 locations to add points. 143 locations to add points based on pixel gradients. idx: 1 , time 0.079386 , geo_loss_pixel: 0.000526 , color_loss_pixel: 0.0385 Mapper has updated point features. �[32m Mapping Frame 2 �[0m 173 locations to add points. 70 locations to add points based on pixel gradients. idx: 2 , time 0.080049 , geo_loss_pixel: 0.000563 , color_loss_pixel: 0.0354 Mapper has updated point features. �[32m Mapping Frame 3 �[0m 125 locations to add points. 45 locations to add points based on pixel gradients. idx: 3 , time 0.079623 , geo_loss_pixel: 0.000524 , color_loss_pixel: 0.0340 Mapper has updated point features. �[32m Mapping Frame 4 �[0m 103 locations to add points. 30 locations to add points based on pixel gradients. idx: 4 , time 0.090317 , geo_loss_pixel: 0.000502 , color_loss_pixel: 0.0327 Mapper has updated point features. �[32m Mapping Frame 5 �[0m 101 locations to add points. 19 locations to add points based on pixel gradients. idx: 5 , time 0.066817 , geo_loss_pixel: 0.000528 , color_loss_pixel: 0.0318 Mapper has updated point features. �[32m Mapping Frame 6 �[0m 76 locations to add points. 23 locations to add points based on pixel gradients. idx: 6 , time 0.104097 , geo_loss_pixel: 0.000485 , color_loss_pixel: 0.0328 Mapper has updated point features. �[32m Mapping Frame 7 �[0m 78 locations to add points. 13 locations to add points based on pixel gradients. idx: 7 , time 0.072036 , geo_loss_pixel: 0.000472 , color_loss_pixel: 0.0310 Mapper has updated point features. �[32m Mapping Frame 8 �[0m 64 locations to add points. 13 locations to add points based on pixel gradients. idx: 8 , time 0.082923 , geo_loss_pixel: 0.000454 , color_loss_pixel: 0.0300 Mapper has updated point features. �[32m Mapping Frame 9 �[0m 65 locations to add points. 21 locations to add points based on pixel gradients. idx: 9 , time 0.087420 , geo_loss_pixel: 0.000451 , color_loss_pixel: 0.0295 Mapper has updated point features. �[32m Mapping Frame 10 �[0m 54 locations to add points. 18 locations to add points based on pixel gradients. idx: 10 , time 0.082452 , geo_loss_pixel: 0.000430 , color_loss_pixel: 0.0291 Mapper has updated point features. �[32m Mapping Frame 11 �[0m 69 locations to add points. 18 locations to add points based on pixel gradients. idx: 11 , time 0.080420 , geo_loss_pixel: 0.000440 , color_loss_pixel: 0.0290 Mapper has updated point features. �[32m Mapping Frame 12 �[0m 59 locations to add points. 12 locations to add points based on pixel gradients. idx: 12 , time 0.074370 , geo_loss_pixel: 0.000451 , color_loss_pixel: 0.0289 Mapper has updated point features. �[32m Mapping Frame 13 �[0m 55 locations to add points. 9 locations to add points based on pixel gradients. idx: 13 , time 0.057299 , geo_loss_pixel: 0.000437 , color_loss_pixel: 0.0268 Mapper has updated point features. �[32m Mapping Frame 14 �[0m 68 locations to add points. 11 locations to add points based on pixel gradients. idx: 14 , time 0.061228 , geo_loss_pixel: 0.000430 , color_loss_pixel: 0.0279 Mapper has updated point features. �[32m Mapping Frame 15 �[0m 61 locations to add points. 8 locations to add points based on pixel gradients. idx: 15 , time 0.085439 , geo_loss_pixel: 0.000429 , color_loss_pixel: 0.0258 Mapper has updated point features. �[32m Mapping Frame 16 �[0m 69 locations to add points. 13 locations to add points based on pixel gradients. idx: 16 , time 0.068396 , geo_loss_pixel: 0.000437 , color_loss_pixel: 0.0258 Mapper has updated point features. �[32m Mapping Frame 17 �[0m 72 locations to add points. 9 locations to add points based on pixel gradients. idx: 17 , time 0.081424 , geo_loss_pixel: 0.000433 , color_loss_pixel: 0.0253 Mapper has updated point features. �[32m Mapping Frame 18 �[0m 48 locations to add points. 11 locations to add points based on pixel gradients. idx: 18 , time 0.065094 , geo_loss_pixel: 0.000423 , color_loss_pixel: 0.0257 Mapper has updated point features. �[32m Mapping Frame 19 �[0m 49 locations to add points. 12 locations to add points based on pixel gradients. idx: 19 , time 0.068634 , geo_loss_pixel: 0.000414 , color_loss_pixel: 0.0253 Mapper has updated point features. �[32m Mapping Frame 20 �[0m 71 locations to add points. 14 locations to add points based on pixel gradients. idx: 20 , time 0.072479 , geo_loss_pixel: 0.000415 , color_loss_pixel: 0.0254 Mapper has updated point features. �[32m Mapping Frame 25 �[0m 348 locations to add points. 24 locations to add points based on pixel gradients. idx: 25 , time 0.070198 , geo_loss_pixel: 0.000465 , color_loss_pixel: 0.0250 Mapper has updated point features. �[32m Mapping Frame 30 �[0m 267 locations to add points. 41 locations to add points based on pixel gradients. idx: 30 , time 0.080853 , geo_loss_pixel: 0.000531 , color_loss_pixel: 0.0255 Mapper has updated point features. �[32m Mapping Frame 35 �[0m 256 locations to add points. 65 locations to add points based on pixel gradients. idx: 35 , time 0.080495 , geo_loss_pixel: 0.000529 , color_loss_pixel: 0.0268 Mapper has updated point features. �[32m Mapping Frame 40 �[0m 144 locations to add points. 47 locations to add points based on pixel gradients. idx: 40 , time 0.088494 , geo_loss_pixel: 0.000534 , color_loss_pixel: 0.0264 Mapper has updated point features. �[32m Mapping Frame 45 �[0m 87 locations to add points. 45 locations to add points based on pixel gradients. idx: 45 , time 0.080582 , geo_loss_pixel: 0.000555 , color_loss_pixel: 0.0270 Mapper has updated point features. �[32m Mapping Frame 50 �[0m 112 locations to add points. 34 locations to add points based on pixel gradients. idx: 50 , time 0.076966 , geo_loss_pixel: 0.000513 , color_loss_pixel: 0.0260 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00050_0285.jpg Mapper has updated point features. �[32m Mapping Frame 55 �[0m 156 locations to add points. 40 locations to add points based on pixel gradients. idx: 55 , time 0.095276 , geo_loss_pixel: 0.000534 , color_loss_pixel: 0.0260 Mapper has updated point features. �[32m Mapping Frame 60 �[0m 175 locations to add points. 46 locations to add points based on pixel gradients. idx: 60 , time 0.094581 , geo_loss_pixel: 0.000520 , color_loss_pixel: 0.0263 Mapper has updated point features. �[32m Mapping Frame 65 �[0m 224 locations to add points. 33 locations to add points based on pixel gradients. idx: 65 , time 0.093443 , geo_loss_pixel: 0.000587 , color_loss_pixel: 0.0270 Mapper has updated point features. �[32m Mapping Frame 70 �[0m 269 locations to add points. 47 locations to add points based on pixel gradients. idx: 70 , time 0.081222 , geo_loss_pixel: 0.000608 , color_loss_pixel: 0.0252 Mapper has updated point features. �[32m Mapping Frame 75 �[0m 247 locations to add points. 53 locations to add points based on pixel gradients. idx: 75 , time 0.094705 , geo_loss_pixel: 0.000615 , color_loss_pixel: 0.0245 Mapper has updated point features. �[32m Mapping Frame 80 �[0m 217 locations to add points. 39 locations to add points based on pixel gradients. idx: 80 , time 0.069473 , geo_loss_pixel: 0.000608 , color_loss_pixel: 0.0249 Mapper has updated point features. �[32m Mapping Frame 85 �[0m 192 locations to add points. 16 locations to add points based on pixel gradients. idx: 85 , time 0.108263 , geo_loss_pixel: 0.000635 , color_loss_pixel: 0.0247 Mapper has updated point features. �[32m Mapping Frame 90 �[0m 145 locations to add points. 21 locations to add points based on pixel gradients. idx: 90 , time 0.113167 , geo_loss_pixel: 0.000576 , color_loss_pixel: 0.0249 Mapper has updated point features. �[32m Mapping Frame 95 �[0m wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. Tracker has updated the parameters from Mapper. �[35m Tracking Frame 0 �[0m �[35m Tracking Frame 1 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 2 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 3 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 4 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 5 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 6 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 7 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 8 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 9 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 10 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 11 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 12 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 13 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 14 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 15 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 16 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 17 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 18 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 19 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 20 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 21 �[0m �[35m Tracking Frame 22 �[0m �[35m Tracking Frame 23 �[0m �[35m Tracking Frame 24 �[0m �[35m Tracking Frame 25 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 26 �[0m �[35m Tracking Frame 27 �[0m �[35m Tracking Frame 28 �[0m �[35m Tracking Frame 29 �[0m �[35m Tracking Frame 30 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 31 �[0m �[35m Tracking Frame 32 �[0m �[35m Tracking Frame 33 �[0m �[35m Tracking Frame 34 �[0m �[35m Tracking Frame 35 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 36 �[0m �[35m Tracking Frame 37 �[0m �[35m Tracking Frame 38 �[0m �[35m Tracking Frame 39 �[0m �[35m Tracking Frame 40 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 41 �[0m �[35m Tracking Frame 42 �[0m �[35m Tracking Frame 43 �[0m �[35m Tracking Frame 44 �[0m �[35m Tracking Frame 45 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 46 �[0m �[35m Tracking Frame 47 �[0m �[35m Tracking Frame 48 �[0m �[35m Tracking Frame 49 �[0m �[35m Tracking Frame 50 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 51 �[0m �[35m Tracking Frame 52 �[0m �[35m Tracking Frame 53 �[0m �[35m Tracking Frame 54 �[0m �[35m Tracking Frame 55 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 56 �[0m �[35m Tracking Frame 57 �[0m �[35m Tracking Frame 58 �[0m �[35m Tracking Frame 59 �[0m �[35m Tracking Frame 60 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 61 �[0m �[35m Tracking Frame 62 �[0m �[35m Tracking Frame 63 �[0m �[35m Tracking Frame 64 �[0m �[35m Tracking Frame 65 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 66 �[0m �[35m Tracking Frame 67 �[0m �[35m Tracking Frame 68 �[0m �[35m Tracking Frame 69 �[0m �[35m Tracking Frame 70 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 71 �[0m �[35m Tracking Frame 72 �[0m �[35m Tracking Frame 73 �[0m �[35m Tracking Frame 74 �[0m �[35m Tracking Frame 75 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 76 �[0m �[35m Tracking Frame 77 �[0m �[35m Tracking Frame 78 �[0m �[35m Tracking Frame 79 �[0m �[35m Tracking Frame 80 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 81 �[0m �[35m Tracking Frame 82 �[0m �[35m Tracking Frame 83 �[0m �[35m Tracking Frame 84 �[0m �[35m Tracking Frame 85 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 86 �[0m �[35m Tracking Frame 87 �[0m �[35m Tracking Frame 88 �[0m �[35m Tracking Frame 89 �[0m �[35m Tracking Frame 90 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 91 �[0m �[35m Tracking Frame 92 �[0m �[35m Tracking Frame 93 �[0m �[35m Tracking Frame 94 �[0m �[35m Tracking Frame 95 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 96 �[0m �[35m Tracking Frame 97 �[0m �[35m Tracking Frame 98 �[0m �[35m Tracking Frame 99 �[0m �[35m Tracking Frame 100 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 101 �[0m �[35m Tracking Frame 102 �[0m �[35m Tracking Frame 103 �[0m �[35m Tracking Frame 104 �[0m �[35m Tracking Frame 105 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 106 �[0m �[35m Tracking Frame 107 �[0m �[35m Tracking Frame 108 �[0m �[35m Tracking Frame 109 �[0m �[35m Tracking Frame 110 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 111 �[0m �[35m Tracking Frame 112 �[0m �[35m Tracking Frame 113 �[0m �[35m Tracking Frame 114 �[0m �[35m Tracking Frame 115 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 116 �[0m �[35m Tracking Frame 117 �[0m �[35m Tracking Frame 118 �[0m �[35m Tracking Frame 119 �[0m �[35m Tracking Frame 120 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 121 �[0m �[35m Tracking Frame 122 �[0m �[35m Tracking Frame 123 �[0m �[35m Tracking Frame 124 �[0m �[35m Tracking Frame 125 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 126 �[0m �[35m Tracking Frame 127 �[0m �[35m Tracking Frame 128 �[0m �[35m Tracking Frame 129 �[0m �[35m Tracking Frame 130 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 131 �[0m �[35m Tracking Frame 132 �[0m �[35m Tracking Frame 133 �[0m �[35m Tracking Frame 134 �[0m �[35m Tracking Frame 135 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 136 �[0m �[35m Tracking Frame 137 �[0m �[35m Tracking Frame 138 �[0m �[35m Tracking Frame 139 �[0m �[35m Tracking Frame 140 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 141 �[0m �[35m Tracking Frame 142 �[0m �[35m Tracking Frame 143 �[0m �[35m Tracking Frame 144 �[0m �[35m Tracking Frame 145 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 146 �[0m �[35m Tracking Frame 147 �[0m �[35m Tracking Frame 148 �[0m �[35m Tracking Frame 149 �[0m �[35m Tracking Frame 150 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 151 �[0m �[35m Tracking Frame 152 �[0m �[35m Tracking Frame 153 �[0m �[35m Tracking Frame 154 �[0m �[35m Tracking Frame 155 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 156 �[0m �[35m Tracking Frame 157 �[0m �[35m Tracking Frame 158 �[0m �[35m Tracking Frame 159 �[0m �[35m Tracking Frame 160 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 161 �[0m �[35m Tracking Frame 162 �[0m �[35m Tracking Frame 163 �[0m �[35m Tracking Frame 164 �[0m �[35m Tracking Frame 165 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 166 �[0m �[35m Tracking Frame 167 �[0m �[35m Tracking Frame 168 �[0m �[35m Tracking Frame 169 �[0m �[35m Tracking Frame 170 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 171 �[0m �[35m Tracking Frame 172 �[0m �[35m Tracking Frame 173 �[0m �[35m Tracking Frame 174 �[0m �[35m Tracking Frame 175 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 176 �[0m �[35m Tracking Frame 177 �[0m �[35m Tracking Frame 178 �[0m �[35m Tracking Frame 179 �[0m �[35m Tracking Frame 180 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 181 �[0m �[35m Tracking Frame 182 �[0m �[35m Tracking Frame 183 �[0m �[35m Tracking Frame 184 �[0m �[35m Tracking Frame wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. 138 locations to add points. 102 locations to add points based on pixel gradients. idx: 95 , time 0.078134 , geo_loss_pixel: 0.000585 , color_loss_pixel: 0.0253 Mapper has updated point features. �[32m Mapping Frame 100 �[0m 114 locations to add points. 52 locations to add points based on pixel gradients. idx: 100 , time 0.093095 , geo_loss_pixel: 0.000574 , color_loss_pixel: 0.0270 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00100_0285.jpg Mapper has updated point features. �[32m Mapping Frame 105 �[0m 133 locations to add points. 51 locations to add points based on pixel gradients. idx: 105 , time 0.095786 , geo_loss_pixel: 0.000631 , color_loss_pixel: 0.0262 Mapper has updated point features. �[32m Mapping Frame 110 �[0m 161 locations to add points. 34 locations to add points based on pixel gradients. idx: 110 , time 0.090089 , geo_loss_pixel: 0.000601 , color_loss_pixel: 0.0265 Mapper has updated point features. �[32m Mapping Frame 115 �[0m 147 locations to add points. 24 locations to add points based on pixel gradients. idx: 115 , time 0.101197 , geo_loss_pixel: 0.000575 , color_loss_pixel: 0.0260 Mapper has updated point features. �[32m Mapping Frame 120 �[0m 183 locations to add points. 32 locations to add points based on pixel gradients. idx: 120 , time 0.117695 , geo_loss_pixel: 0.000584 , color_loss_pixel: 0.0271 Mapper has updated point features. �[32m Mapping Frame 125 �[0m 165 locations to add points. 18 locations to add points based on pixel gradients. idx: 125 , time 0.111738 , geo_loss_pixel: 0.000598 , color_loss_pixel: 0.0277 Mapper has updated point features. �[32m Mapping Frame 130 �[0m 134 locations to add points. 32 locations to add points based on pixel gradients. idx: 130 , time 0.084346 , geo_loss_pixel: 0.000611 , color_loss_pixel: 0.0285 Mapper has updated point features. �[32m Mapping Frame 135 �[0m 132 locations to add points. 30 locations to add points based on pixel gradients. idx: 135 , time 0.092491 , geo_loss_pixel: 0.000590 , color_loss_pixel: 0.0262 Mapper has updated point features. �[32m Mapping Frame 140 �[0m 98 locations to add points. 21 locations to add points based on pixel gradients. idx: 140 , time 0.107377 , geo_loss_pixel: 0.000573 , color_loss_pixel: 0.0277 Mapper has updated point features. �[32m Mapping Frame 145 �[0m 100 locations to add points. 18 locations to add points based on pixel gradients. idx: 145 , time 0.110164 , geo_loss_pixel: 0.000600 , color_loss_pixel: 0.0285 Mapper has updated point features. �[32m Mapping Frame 150 �[0m 113 locations to add points. 19 locations to add points based on pixel gradients. idx: 150 , time 0.110469 , geo_loss_pixel: 0.000566 , color_loss_pixel: 0.0270 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00150_0285.jpg Mapper has updated point features. �[32m Mapping Frame 155 �[0m 119 locations to add points. 29 locations to add points based on pixel gradients. idx: 155 , time 0.129138 , geo_loss_pixel: 0.000580 , color_loss_pixel: 0.0269 Mapper has updated point features. �[32m Mapping Frame 160 �[0m 163 locations to add points. 37 locations to add points based on pixel gradients. idx: 160 , time 0.130803 , geo_loss_pixel: 0.000581 , color_loss_pixel: 0.0289 Mapper has updated point features. �[32m Mapping Frame 165 �[0m 172 locations to add points. 27 locations to add points based on pixel gradients. idx: 165 , time 0.108997 , geo_loss_pixel: 0.000594 , color_loss_pixel: 0.0282 Mapper has updated point features. �[32m Mapping Frame 170 �[0m 151 locations to add points. 24 locations to add points based on pixel gradients. idx: 170 , time 0.129990 , geo_loss_pixel: 0.000570 , color_loss_pixel: 0.0264 Mapper has updated point features. �[32m Mapping Frame 175 �[0m 172 locations to add points. 11 locations to add points based on pixel gradients. idx: 175 , time 0.128903 , geo_loss_pixel: 0.000581 , color_loss_pixel: 0.0267 Mapper has updated point features. �[32m Mapping Frame 180 �[0m 223 locations to add points. 43 locations to add points based on pixel gradients. idx: 180 , time 0.148249 , geo_loss_pixel: 0.000612 , color_loss_pixel: 0.0267 Mapper has updated point features. �[32m Mapping Frame 185 �[0m 226 locations to add points. 35 locations to add points based on pixel gradients. idx: 185 , time 0.112764 , geo_loss_pixel: 0.000613 , color_loss_pixel: 0.0284 Mapper has updated point features. �[32m Mapping Frame 190 �[0m 200 locations to add points. 42 locations to add points based on pixel gradients. idx: 190 , time 0.136664 , geo_loss_pixel: 0.000614 , color_loss_pixel: 0.0272 Mapper has updated point features. �[32m Mapping Frame 195 �[0m 195 locations to add points. 48 locations to add points based on pixel gradients. idx: 195 , time 0.131870 , geo_loss_pixel: 0.000596 , color_loss_pixel: 0.0292 Mapper has updated point features. �[32m Mapping Frame 200 �[0m 208 locations to add points. 49 locations to add points based on pixel gradients. idx: 200 , time 0.133682 , geo_loss_pixel: 0.000590 , color_loss_pixel: 0.0299 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00200_0285.jpg Mapper has updated point features. �[32m Mapping Frame 205 �[0m 328 locations to add points. 36 locations to add points based on pixel gradients. idx: 205 , time 0.142501 , geo_loss_pixel: 0.000593 , color_loss_pixel: 0.0298 Mapper has updated point features. �[32m Mapping Frame 210 �[0m 256 locations to add points. 25 locations to add points based on pixel gradients. idx: 210 , time 0.124839 , geo_loss_pixel: 0.000591 , color_loss_pixel: 0.0295 Mapper has updated point features. �[32m Mapping Frame 215 �[0m 357 locations to add points. 33 locations to add points based on pixel gradients. idx: 215 , time 0.136878 , geo_loss_pixel: 0.000583 , color_loss_pixel: 0.0298 Mapper has updated point features. �[32m Mapping Frame 220 �[0m 275 locations to add points. 45 locations to add points based on pixel gradients. idx: 220 , time 0.110952 , geo_loss_pixel: 0.000600 , color_loss_pixel: 0.0294 Mapper has updated point features. �[32m Mapping Frame 225 �[0m 276 locations to add points. 40 locations to add points based on pixel gradients. idx: 225 , time 0.121839 , geo_loss_pixel: 0.000577 , color_loss_pixel: 0.0311 Mapper has updated point features. �[32m Mapping Frame 230 �[0m 224 locations to add points. 32 locations to add points based on pixel gradients. idx: 230 , time 0.126064 , geo_loss_pixel: 0.000638 , color_loss_pixel: 0.0311 Mapper has updated point features. �[32m Mapping Frame 235 �[0m 190 locations to add points. 56 locations to add points based on pixel gradients. idx: 235 , time 0.144053 , geo_loss_pixel: 0.000609 , color_loss_pixel: 0.0290 Mapper has updated point features. �[32m Mapping Frame 240 �[0m 166 locations to add points. 24 locations to add points based on pixel gradients. idx: 240 , time 0.136212 , geo_loss_pixel: 0.000626 , color_loss_pixel: 0.0297 Mapper has updated point features. �[32m Mapping Frame 245 �[0m 161 locations to add points. 21 locations to add points based on pixel gradients. idx: 245 , time 0.142499 , geo_loss_pixel: 0.000608 , color_loss_pixel: 0.0317 Mapper has updated point features. �[32m Mapping Frame 250 �[0m 147 locations to add points. 15 locations to add points based on pixel gradients. idx: 250 , time 0.133441 , geo_loss_pixel: 0.000591 , color_loss_pixel: 0.0287 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00250_0285.jpg Mapper has updated point features. �[32m Mapping Frame 255 �[0m 141 locations to add points. 13 locations to add points based on pixel gradients. idx: 255 , time 0.141261 , geo_loss_pixel: 0.000612 , color_loss_pixel: 0.0302 Mapper has updated point features. �[32m Mapping Frame 260 �[0m 139 locations to add points. 21 locations to add points based on pixel gradients. idx: 260 , time 0.141459 , geo_loss_pixel: 0.000581 , color_loss_pixel: 0.0312 wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. 185 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 186 �[0m �[35m Tracking Frame 187 �[0m �[35m Tracking Frame 188 �[0m �[35m Tracking Frame 189 �[0m �[35m Tracking Frame 190 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 191 �[0m �[35m Tracking Frame 192 �[0m �[35m Tracking Frame 193 �[0m �[35m Tracking Frame 194 �[0m �[35m Tracking Frame 195 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 196 �[0m �[35m Tracking Frame 197 �[0m �[35m Tracking Frame 198 �[0m �[35m Tracking Frame 199 �[0m �[35m Tracking Frame 200 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/00200_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 201 �[0m �[35m Tracking Frame 202 �[0m �[35m Tracking Frame 203 �[0m �[35m Tracking Frame 204 �[0m �[35m Tracking Frame 205 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 206 �[0m �[35m Tracking Frame 207 �[0m �[35m Tracking Frame 208 �[0m �[35m Tracking Frame 209 �[0m �[35m Tracking Frame 210 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 211 �[0m �[35m Tracking Frame 212 �[0m �[35m Tracking Frame 213 �[0m �[35m Tracking Frame 214 �[0m �[35m Tracking Frame 215 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 216 �[0m �[35m Tracking Frame 217 �[0m �[35m Tracking Frame 218 �[0m �[35m Tracking Frame 219 �[0m �[35m Tracking Frame 220 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 221 �[0m �[35m Tracking Frame 222 �[0m �[35m Tracking Frame 223 �[0m �[35m Tracking Frame 224 �[0m �[35m Tracking Frame 225 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 226 �[0m �[35m Tracking Frame 227 �[0m �[35m Tracking Frame 228 �[0m �[35m Tracking Frame 229 �[0m �[35m Tracking Frame 230 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 231 �[0m �[35m Tracking Frame 232 �[0m �[35m Tracking Frame 233 �[0m �[35m Tracking Frame 234 �[0m �[35m Tracking Frame 235 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 236 �[0m �[35m Tracking Frame 237 �[0m �[35m Tracking Frame 238 �[0m �[35m Tracking Frame 239 �[0m �[35m Tracking Frame 240 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 241 �[0m �[35m Tracking Frame 242 �[0m �[35m Tracking Frame 243 �[0m �[35m Tracking Frame 244 �[0m �[35m Tracking Frame 245 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 246 �[0m �[35m Tracking Frame 247 �[0m �[35m Tracking Frame 248 �[0m �[35m Tracking Frame 249 �[0m �[35m Tracking Frame 250 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 251 �[0m �[35m Tracking Frame 252 �[0m �[35m Tracking Frame 253 �[0m �[35m Tracking Frame 254 �[0m �[35m Tracking Frame 255 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 256 �[0m �[35m Tracking Frame 257 �[0m �[35m Tracking Frame 258 �[0m �[35m Tracking Frame 259 �[0m �[35m Tracking Frame 260 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 261 �[0m �[35m Tracking Frame 262 �[0m �[35m Tracking Frame 263 �[0m �[35m Tracking Frame 264 �[0m �[35m Tracking Frame 265 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 266 �[0m �[35m Tracking Frame 267 �[0m �[35m Tracking Frame 268 �[0m �[35m Tracking Frame 269 �[0m �[35m Tracking Frame 270 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 271 �[0m �[35m Tracking Frame 272 �[0m �[35m Tracking Frame 273 �[0m �[35m Tracking Frame 274 �[0m �[35m Tracking Frame 275 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 276 �[0m �[35m Tracking Frame 277 �[0m �[35m Tracking Frame 278 �[0m �[35m Tracking Frame 279 �[0m �[35m Tracking Frame 280 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 281 �[0m �[35m Tracking Frame 282 �[0m �[35m Tracking Frame 283 �[0m �[35m Tracking Frame 284 �[0m �[35m Tracking Frame 285 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 286 �[0m �[35m Tracking Frame 287 �[0m �[35m Tracking Frame 288 �[0m �[35m Tracking Frame 289 �[0m �[35m Tracking Frame 290 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 291 �[0m �[35m Tracking Frame 292 �[0m �[35m Tracking Frame 293 �[0m �[35m Tracking Frame 294 �[0m �[35m Tracking Frame 295 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 296 �[0m �[35m Tracking Frame 297 �[0m �[35m Tracking Frame 298 �[0m �[35m Tracking Frame 299 �[0m �[35m Tracking Frame 300 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 301 �[0m �[35m Tracking Frame 302 �[0m �[35m Tracking Frame 303 �[0m �[35m Tracking Frame 304 �[0m �[35m Tracking Frame 305 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 306 �[0m �[35m Tracking Frame 307 �[0m �[35m Tracking Frame 308 �[0m �[35m Tracking Frame 309 �[0m �[35m Tracking Frame 310 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 311 �[0m �[35m Tracking Frame 312 �[0m �[35m Tracking Frame 313 �[0m �[35m Tracking Frame 314 �[0m �[35m Tracking Frame 315 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 316 �[0m �[35m Tracking Frame 317 �[0m �[35m Tracking Frame 318 �[0m �[35m Tracking Frame 319 �[0m �[35m Tracking Frame 320 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 321 �[0m �[35m Tracking Frame 322 �[0m �[35m Tracking Frame 323 �[0m �[35m Tracking Frame 324 �[0m �[35m Tracking Frame 325 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 326 �[0m �[35m Tracking Frame 327 �[0m �[35m Tracking Frame 328 �[0m �[35m Tracking Frame 329 �[0m �[35m Tracking Frame 330 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 331 �[0m �[35m Tracking Frame 332 �[0m �[35m Tracking Frame 333 �[0m �[35m Tracking Frame 334 �[0m �[35m Tracking Frame 335 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 336 �[0m �[35m Tracking Frame 337 �[0m �[35m Tracking Frame 338 �[0m �[35m Tracking Frame 339 �[0m �[35m Tracking Frame 340 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 341 �[0m �[35m Tracking Frame 342 �[0m �[35m Tracking Frame 343 �[0m �[35m Tracking Frame 344 �[0m �[35m Tracking Frame 345 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 346 �[0m �[35m Tracking Frame 347 �[0m �[35m Tracking Frame 348 �[0m �[35m Tracking Frame 349 �[0m �[35m Tracking Frame 350 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 351 �[0m �[35m Tracking Frame 352 �[0m �[35m Tracking Frame 353 �[0m �[35m Tracking Frame 354 �[0m �[35m Tracking Frame 355 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 356 �[0m �[35m Tracking Frame 357 �[0m �[35m Tracking Frame 358 �[0m �[35m Tracking Frame 359 �[0m �[35m Tracking Frame 360 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 361 �[0m �[35m Tracking Frame 362 �[0m �[35m Tracking Frame 363 �[0m �[35m Tracking Frame 364 �[0m �[35m Tracking Frame 365 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 366 �[0m �[35m Tracking Frame 367 �[0m �[35m Tracking Frame 368 �[0m �[35m Tracking Frame 369 �[0m �[35m Tracking Frame 370 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 371 �[0m �[35m Tracking Frame 372 �[0m �[35m Tracking Frame 373 �[0m �[35m Tracking Frame 374 �[0m �[35m Tracking Frame 375 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 376 �[0m �[35m Tracking Frame 377 �[0m �[35m Tracking Frame 378 �[0m �[35m Tracking Frame 379 �[0m �[35m Tracking Frame 380 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 381 �[0m �[35m Tracking Frame 382 �[0m �[35m Tracking Frame 383 �[0m �[35m wandb: Network error (TransientError), entering retry loop. Mapper has updated point features. �[32m Mapping Frame 265 �[0m 119 locations to add points. 9 locations to add points based on pixel gradients. idx: 265 , time 0.140382 , geo_loss_pixel: 0.000584 , color_loss_pixel: 0.0302 Mapper has updated point features. �[32m Mapping Frame 270 �[0m 91 locations to add points. 9 locations to add points based on pixel gradients. idx: 270 , time 0.139525 , geo_loss_pixel: 0.000576 , color_loss_pixel: 0.0302 Mapper has updated point features. �[32m Mapping Frame 275 �[0m 99 locations to add points. 2 locations to add points based on pixel gradients. idx: 275 , time 0.137245 , geo_loss_pixel: 0.000595 , color_loss_pixel: 0.0287 Mapper has updated point features. �[32m Mapping Frame 280 �[0m 65 locations to add points. 3 locations to add points based on pixel gradients. idx: 280 , time 0.128073 , geo_loss_pixel: 0.000574 , color_loss_pixel: 0.0287 Mapper has updated point features. �[32m Mapping Frame 285 �[0m 68 locations to add points. 6 locations to add points based on pixel gradients. idx: 285 , time 0.121949 , geo_loss_pixel: 0.000597 , color_loss_pixel: 0.0290 Mapper has updated point features. �[32m Mapping Frame 290 �[0m 61 locations to add points. 10 locations to add points based on pixel gradients. idx: 290 , time 0.126726 , geo_loss_pixel: 0.000560 , color_loss_pixel: 0.0284 Mapper has updated point features. �[32m Mapping Frame 295 �[0m 60 locations to add points. 31 locations to add points based on pixel gradients. idx: 295 , time 0.132697 , geo_loss_pixel: 0.000573 , color_loss_pixel: 0.0302 Mapper has updated point features. �[32m Mapping Frame 300 �[0m 65 locations to add points. 40 locations to add points based on pixel gradients. idx: 300 , time 0.136064 , geo_loss_pixel: 0.000583 , color_loss_pixel: 0.0295 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00300_0285.jpg Mapper has updated point features. �[32m Mapping Frame 305 �[0m 55 locations to add points. 35 locations to add points based on pixel gradients. idx: 305 , time 0.130928 , geo_loss_pixel: 0.000618 , color_loss_pixel: 0.0297 Mapper has updated point features. �[32m Mapping Frame 310 �[0m 37 locations to add points. 42 locations to add points based on pixel gradients. idx: 310 , time 0.148642 , geo_loss_pixel: 0.000597 , color_loss_pixel: 0.0293 Mapper has updated point features. �[32m Mapping Frame 315 �[0m 50 locations to add points. 34 locations to add points based on pixel gradients. idx: 315 , time 0.124914 , geo_loss_pixel: 0.000584 , color_loss_pixel: 0.0299 Mapper has updated point features. �[32m Mapping Frame 320 �[0m 51 locations to add points. 25 locations to add points based on pixel gradients. idx: 320 , time 0.118467 , geo_loss_pixel: 0.000612 , color_loss_pixel: 0.0295 Mapper has updated point features. �[32m Mapping Frame 325 �[0m 39 locations to add points. 28 locations to add points based on pixel gradients. idx: 325 , time 0.131991 , geo_loss_pixel: 0.000582 , color_loss_pixel: 0.0313 Mapper has updated point features. �[32m Mapping Frame 330 �[0m 38 locations to add points. 23 locations to add points based on pixel gradients. idx: 330 , time 0.110620 , geo_loss_pixel: 0.000556 , color_loss_pixel: 0.0298 Mapper has updated point features. �[32m Mapping Frame 335 �[0m 34 locations to add points. 5 locations to add points based on pixel gradients. idx: 335 , time 0.128881 , geo_loss_pixel: 0.000568 , color_loss_pixel: 0.0283 Mapper has updated point features. �[32m Mapping Frame 340 �[0m 27 locations to add points. 24 locations to add points based on pixel gradients. idx: 340 , time 0.090108 , geo_loss_pixel: 0.000587 , color_loss_pixel: 0.0293 Mapper has updated point features. �[32m Mapping Frame 345 �[0m 21 locations to add points. 18 locations to add points based on pixel gradients. idx: 345 , time 0.148513 , geo_loss_pixel: 0.000564 , color_loss_pixel: 0.0282 Mapper has updated point features. �[32m Mapping Frame 350 �[0m 21 locations to add points. 25 locations to add points based on pixel gradients. idx: 350 , time 0.132868 , geo_loss_pixel: 0.000579 , color_loss_pixel: 0.0282 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00350_0285.jpg Mapper has updated point features. �[32m Mapping Frame 355 �[0m 12 locations to add points. 27 locations to add points based on pixel gradients. idx: 355 , time 0.144086 , geo_loss_pixel: 0.000548 , color_loss_pixel: 0.0292 Mapper has updated point features. �[32m Mapping Frame 360 �[0m 18 locations to add points. 28 locations to add points based on pixel gradients. idx: 360 , time 0.131504 , geo_loss_pixel: 0.000519 , color_loss_pixel: 0.0287 Mapper has updated point features. �[32m Mapping Frame 365 �[0m 15 locations to add points. 20 locations to add points based on pixel gradients. idx: 365 , time 0.115635 , geo_loss_pixel: 0.000549 , color_loss_pixel: 0.0269 Mapper has updated point features. �[32m Mapping Frame 370 �[0m 11 locations to add points. 12 locations to add points based on pixel gradients. idx: 370 , time 0.103438 , geo_loss_pixel: 0.000560 , color_loss_pixel: 0.0258 Mapper has updated point features. �[32m Mapping Frame 375 �[0m 13 locations to add points. 10 locations to add points based on pixel gradients. idx: 375 , time 0.140480 , geo_loss_pixel: 0.000565 , color_loss_pixel: 0.0295 Mapper has updated point features. �[32m Mapping Frame 380 �[0m 13 locations to add points. 8 locations to add points based on pixel gradients. idx: 380 , time 0.140219 , geo_loss_pixel: 0.000578 , color_loss_pixel: 0.0286 Mapper has updated point features. �[32m Mapping Frame 385 �[0m 11 locations to add points. 6 locations to add points based on pixel gradients. idx: 385 , time 0.125813 , geo_loss_pixel: 0.000536 , color_loss_pixel: 0.0282 Mapper has updated point features. �[32m Mapping Frame 390 �[0m 14 locations to add points. 4 locations to add points based on pixel gradients. idx: 390 , time 0.132747 , geo_loss_pixel: 0.000512 , color_loss_pixel: 0.0264 Mapper has updated point features. �[32m Mapping Frame 395 �[0m 8 locations to add points. 4 locations to add points based on pixel gradients. idx: 395 , time 0.130012 , geo_loss_pixel: 0.000558 , color_loss_pixel: 0.0275 Mapper has updated point features. �[32m Mapping Frame 400 �[0m 8 locations to add points. 3 locations to add points based on pixel gradients. idx: 400 , time 0.129447 , geo_loss_pixel: 0.000499 , color_loss_pixel: 0.0280 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00400_0285.jpg Mapper has updated point features. �[32m Mapping Frame 405 �[0m 9 locations to add points. 1 locations to add points based on pixel gradients. idx: 405 , time 0.112380 , geo_loss_pixel: 0.000540 , color_loss_pixel: 0.0259 Mapper has updated point features. �[32m Mapping Frame 410 �[0m 6 locations to add points. 3 locations to add points based on pixel gradients. idx: 410 , time 0.130120 , geo_loss_pixel: 0.000493 , color_loss_pixel: 0.0241 Mapper has updated point features. �[32m Mapping Frame 415 �[0m 4 locations to add points. 1 locations to add points based on pixel gradients. idx: 415 , time 0.140121 , geo_loss_pixel: 0.000540 , color_loss_pixel: 0.0279 Mapper has updated point features. �[32m Mapping Frame 420 �[0m 7 locations to add points. 3 locations to add points based on pixel gradients. idx: 420 , time 0.137099 , geo_loss_pixel: 0.000541 , color_loss_pixel: 0.0271 Mapper has updated point features. �[32m Mapping Frame 425 �[0m 11 locations to add points. 2 locations to add points based on pixel gradients. idx: 425 , time 0.128347 , geo_loss_pixel: 0.000504 , color_loss_pixel: 0.0265 Mapper has updated point features. �[32m Mapping Frame 430 �[0m 2 locations to add points. 6 locations to add points based on pixel gradients. idx: 430 , time 0.130432 , geo_loss_pixel: 0.000560 , color_loss_pixel: 0.0279 Mapper has updated point features. �[32m Mapping Frame 435 �[0m 6 locations to add points. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. Tracking Frame 384 �[0m �[35m Tracking Frame 385 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 386 �[0m �[35m Tracking Frame 387 �[0m �[35m Tracking Frame 388 �[0m �[35m Tracking Frame 389 �[0m �[35m Tracking Frame 390 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 391 �[0m �[35m Tracking Frame 392 �[0m �[35m Tracking Frame 393 �[0m �[35m Tracking Frame 394 �[0m �[35m Tracking Frame 395 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 396 �[0m �[35m Tracking Frame 397 �[0m �[35m Tracking Frame 398 �[0m �[35m Tracking Frame 399 �[0m �[35m Tracking Frame 400 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/00400_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 401 �[0m �[35m Tracking Frame 402 �[0m �[35m Tracking Frame 403 �[0m �[35m Tracking Frame 404 �[0m �[35m Tracking Frame 405 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 406 �[0m �[35m Tracking Frame 407 �[0m �[35m Tracking Frame 408 �[0m �[35m Tracking Frame 409 �[0m �[35m Tracking Frame 410 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 411 �[0m �[35m Tracking Frame 412 �[0m �[35m Tracking Frame 413 �[0m �[35m Tracking Frame 414 �[0m �[35m Tracking Frame 415 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 416 �[0m �[35m Tracking Frame 417 �[0m �[35m Tracking Frame 418 �[0m �[35m Tracking Frame 419 �[0m �[35m Tracking Frame 420 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 421 �[0m �[35m Tracking Frame 422 �[0m �[35m Tracking Frame 423 �[0m �[35m Tracking Frame 424 �[0m �[35m Tracking Frame 425 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 426 �[0m �[35m Tracking Frame 427 �[0m �[35m Tracking Frame 428 �[0m �[35m Tracking Frame 429 �[0m �[35m Tracking Frame 430 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 431 �[0m �[35m Tracking Frame 432 �[0m �[35m Tracking Frame 433 �[0m �[35m Tracking Frame 434 �[0m �[35m Tracking Frame 435 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 436 �[0m �[35m Tracking Frame 437 �[0m �[35m Tracking Frame 438 �[0m �[35m Tracking Frame 439 �[0m �[35m Tracking Frame 440 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 441 �[0m �[35m Tracking Frame 442 �[0m �[35m Tracking Frame 443 �[0m �[35m Tracking Frame 444 �[0m �[35m Tracking Frame 445 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 446 �[0m �[35m Tracking Frame 447 �[0m �[35m Tracking Frame 448 �[0m �[35m Tracking Frame 449 �[0m �[35m Tracking Frame 450 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 451 �[0m �[35m Tracking Frame 452 �[0m �[35m Tracking Frame 453 �[0m �[35m Tracking Frame 454 �[0m �[35m Tracking Frame 455 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 456 �[0m �[35m Tracking Frame 457 �[0m �[35m Tracking Frame 458 �[0m �[35m Tracking Frame 459 �[0m �[35m Tracking Frame 460 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 461 �[0m �[35m Tracking Frame 462 �[0m �[35m Tracking Frame 463 �[0m �[35m Tracking Frame 464 �[0m �[35m Tracking Frame 465 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 466 �[0m �[35m Tracking Frame 467 �[0m �[35m Tracking Frame 468 �[0m �[35m Tracking Frame 469 �[0m �[35m Tracking Frame 470 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 471 �[0m �[35m Tracking Frame 472 �[0m �[35m Tracking Frame 473 �[0m �[35m Tracking Frame 474 �[0m �[35m Tracking Frame 475 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 476 �[0m �[35m Tracking Frame 477 �[0m �[35m Tracking Frame 478 �[0m �[35m Tracking Frame 479 �[0m �[35m Tracking Frame 480 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 481 �[0m �[35m Tracking Frame 482 �[0m �[35m Tracking Frame 483 �[0m �[35m Tracking Frame 484 �[0m �[35m Tracking Frame 485 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 486 �[0m �[35m Tracking Frame 487 �[0m �[35m Tracking Frame 488 �[0m �[35m Tracking Frame 489 �[0m �[35m Tracking Frame 490 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 491 �[0m �[35m Tracking Frame 492 �[0m �[35m Tracking Frame 493 �[0m �[35m Tracking Frame 494 �[0m �[35m Tracking Frame 495 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 496 �[0m �[35m Tracking Frame 497 �[0m �[35m Tracking Frame 498 �[0m �[35m Tracking Frame 499 �[0m �[35m Tracking Frame 500 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 501 �[0m �[35m Tracking Frame 502 �[0m �[35m Tracking Frame 503 �[0m �[35m Tracking Frame 504 �[0m �[35m Tracking Frame 505 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 506 �[0m �[35m Tracking Frame 507 �[0m �[35m Tracking Frame 508 �[0m �[35m Tracking Frame 509 �[0m �[35m Tracking Frame 510 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 511 �[0m �[35m Tracking Frame 512 �[0m �[35m Tracking Frame 513 �[0m �[35m Tracking Frame 514 �[0m �[35m Tracking Frame 515 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 516 �[0m �[35m Tracking Frame 517 �[0m �[35m Tracking Frame 518 �[0m �[35m Tracking Frame 519 �[0m �[35m Tracking Frame 520 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 521 �[0m �[35m Tracking Frame 522 �[0m �[35m Tracking Frame 523 �[0m �[35m Tracking Frame 524 �[0m �[35m Tracking Frame 525 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 526 �[0m �[35m Tracking Frame 527 �[0m �[35m Tracking Frame 528 �[0m �[35m Tracking Frame 529 �[0m �[35m Tracking Frame 530 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 531 �[0m �[35m Tracking Frame 532 �[0m �[35m Tracking Frame 533 �[0m �[35m Tracking Frame 534 �[0m �[35m Tracking Frame 535 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 536 �[0m �[35m Tracking Frame 537 �[0m �[35m Tracking Frame 538 �[0m �[35m Tracking Frame 539 �[0m �[35m Tracking Frame 540 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 541 �[0m �[35m Tracking Frame 542 �[0m �[35m Tracking Frame 543 �[0m �[35m Tracking Frame 544 �[0m �[35m Tracking Frame 545 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 546 �[0m �[35m Tracking Frame 547 �[0m �[35m Tracking Frame 548 �[0m �[35m Tracking Frame 549 �[0m �[35m Tracking Frame 550 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 551 �[0m �[35m Tracking Frame 552 �[0m �[35m Tracking Frame 553 �[0m �[35m Tracking Frame 554 �[0m �[35m Tracking Frame 555 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 556 �[0m �[35m Tracking Frame 557 �[0m �[35m Tracking Frame 558 �[0m �[35m Tracking Frame 559 �[0m �[35m Tracking Frame 560 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 561 �[0m �[35m Tracking Frame 562 �[0m �[35m Tracking Frame 563 �[0m �[35m Tracking Frame 564 �[0m �[35m Tracking Frame 565 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 566 �[0m �[35m Tracking Frame 567 �[0m �[35m Tracking Frame 568 �[0m �[35m Tracking Frame 569 �[0m �[35m Tracking Frame 570 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 571 �[0m �[35m Tracking Frame 572 �[0m �[35m Tracking Frame 573 �[0m �[35m Tracking Frame 574 �[0m �[35m Tracking Frame 575 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 576 �[0m �[35m Tracking Frame 577 �[0m �[35m Tracking Frame 578 �[0m �[35m Tracking Frame 579 �[0m �[35m Tracking Frame 580 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 581 �[0m �[35m Tracking Frame wandb: Network error (TransientError), entering retry loop. 3 locations to add points based on pixel gradients. idx: 435 , time 0.116117 , geo_loss_pixel: 0.000536 , color_loss_pixel: 0.0266 Mapper has updated point features. �[32m Mapping Frame 440 �[0m 3 locations to add points. 12 locations to add points based on pixel gradients. idx: 440 , time 0.122048 , geo_loss_pixel: 0.000518 , color_loss_pixel: 0.0277 Mapper has updated point features. �[32m Mapping Frame 445 �[0m 8 locations to add points. 5 locations to add points based on pixel gradients. idx: 445 , time 0.117602 , geo_loss_pixel: 0.000499 , color_loss_pixel: 0.0277 Mapper has updated point features. �[32m Mapping Frame 450 �[0m 10 locations to add points. 5 locations to add points based on pixel gradients. idx: 450 , time 0.135511 , geo_loss_pixel: 0.000548 , color_loss_pixel: 0.0253 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00450_0285.jpg Mapper has updated point features. �[32m Mapping Frame 455 �[0m 10 locations to add points. 4 locations to add points based on pixel gradients. idx: 455 , time 0.136766 , geo_loss_pixel: 0.000541 , color_loss_pixel: 0.0272 Mapper has updated point features. �[32m Mapping Frame 460 �[0m 11 locations to add points. 7 locations to add points based on pixel gradients. idx: 460 , time 0.145804 , geo_loss_pixel: 0.000520 , color_loss_pixel: 0.0264 Mapper has updated point features. �[32m Mapping Frame 465 �[0m 11 locations to add points. 7 locations to add points based on pixel gradients. idx: 465 , time 0.143505 , geo_loss_pixel: 0.000542 , color_loss_pixel: 0.0277 Mapper has updated point features. �[32m Mapping Frame 470 �[0m 17 locations to add points. 12 locations to add points based on pixel gradients. idx: 470 , time 0.127997 , geo_loss_pixel: 0.000511 , color_loss_pixel: 0.0231 Mapper has updated point features. �[32m Mapping Frame 475 �[0m 13 locations to add points. 12 locations to add points based on pixel gradients. idx: 475 , time 0.119172 , geo_loss_pixel: 0.000555 , color_loss_pixel: 0.0268 Mapper has updated point features. �[32m Mapping Frame 480 �[0m 18 locations to add points. 12 locations to add points based on pixel gradients. idx: 480 , time 0.142267 , geo_loss_pixel: 0.000561 , color_loss_pixel: 0.0290 Mapper has updated point features. �[32m Mapping Frame 485 �[0m 14 locations to add points. 22 locations to add points based on pixel gradients. idx: 485 , time 0.132504 , geo_loss_pixel: 0.000584 , color_loss_pixel: 0.0287 Mapper has updated point features. �[32m Mapping Frame 490 �[0m 13 locations to add points. 26 locations to add points based on pixel gradients. idx: 490 , time 0.135308 , geo_loss_pixel: 0.000505 , color_loss_pixel: 0.0246 Mapper has updated point features. �[32m Mapping Frame 495 �[0m 29 locations to add points. 14 locations to add points based on pixel gradients. idx: 495 , time 0.157304 , geo_loss_pixel: 0.000528 , color_loss_pixel: 0.0261 Mapper has updated point features. �[32m Mapping Frame 500 �[0m 28 locations to add points. 34 locations to add points based on pixel gradients. idx: 500 , time 0.111286 , geo_loss_pixel: 0.000522 , color_loss_pixel: 0.0253 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00500_0285.jpg Mapper has updated point features. �[32m Mapping Frame 505 �[0m 46 locations to add points. 42 locations to add points based on pixel gradients. idx: 505 , time 0.132044 , geo_loss_pixel: 0.000528 , color_loss_pixel: 0.0281 Mapper has updated point features. �[32m Mapping Frame 510 �[0m 120 locations to add points. 68 locations to add points based on pixel gradients. idx: 510 , time 0.110188 , geo_loss_pixel: 0.000519 , color_loss_pixel: 0.0285 Mapper has updated point features. �[32m Mapping Frame 515 �[0m 140 locations to add points. 76 locations to add points based on pixel gradients. idx: 515 , time 0.122870 , geo_loss_pixel: 0.000544 , color_loss_pixel: 0.0263 Mapper has updated point features. �[32m Mapping Frame 520 �[0m 157 locations to add points. 94 locations to add points based on pixel gradients. idx: 520 , time 0.093662 , geo_loss_pixel: 0.000504 , color_loss_pixel: 0.0275 Mapper has updated point features. �[32m Mapping Frame 525 �[0m 172 locations to add points. 95 locations to add points based on pixel gradients. idx: 525 , time 0.150160 , geo_loss_pixel: 0.000523 , color_loss_pixel: 0.0278 Mapper has updated point features. �[32m Mapping Frame 530 �[0m 174 locations to add points. 89 locations to add points based on pixel gradients. idx: 530 , time 0.133979 , geo_loss_pixel: 0.000590 , color_loss_pixel: 0.0283 Mapper has updated point features. �[32m Mapping Frame 535 �[0m 237 locations to add points. 100 locations to add points based on pixel gradients. idx: 535 , time 0.213685 , geo_loss_pixel: 0.000523 , color_loss_pixel: 0.0288 Mapper has updated point features. �[32m Mapping Frame 540 �[0m 349 locations to add points. 90 locations to add points based on pixel gradients. idx: 540 , time 0.137165 , geo_loss_pixel: 0.000519 , color_loss_pixel: 0.0279 Mapper has updated point features. �[32m Mapping Frame 545 �[0m 392 locations to add points. 86 locations to add points based on pixel gradients. idx: 545 , time 0.129100 , geo_loss_pixel: 0.000533 , color_loss_pixel: 0.0294 Mapper has updated point features. �[32m Mapping Frame 550 �[0m 451 locations to add points. 85 locations to add points based on pixel gradients. idx: 550 , time 0.121875 , geo_loss_pixel: 0.000496 , color_loss_pixel: 0.0261 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00550_0536.jpg Mapper has updated point features. �[32m Mapping Frame 555 �[0m 390 locations to add points. 86 locations to add points based on pixel gradients. idx: 555 , time 0.125679 , geo_loss_pixel: 0.000550 , color_loss_pixel: 0.0277 Mapper has updated point features. �[32m Mapping Frame 560 �[0m 263 locations to add points. 33 locations to add points based on pixel gradients. idx: 560 , time 0.132595 , geo_loss_pixel: 0.000520 , color_loss_pixel: 0.0281 Mapper has updated point features. �[32m Mapping Frame 565 �[0m 222 locations to add points. 57 locations to add points based on pixel gradients. idx: 565 , time 0.139983 , geo_loss_pixel: 0.000567 , color_loss_pixel: 0.0290 Mapper has updated point features. �[32m Mapping Frame 570 �[0m 116 locations to add points. 30 locations to add points based on pixel gradients. idx: 570 , time 0.129159 , geo_loss_pixel: 0.000553 , color_loss_pixel: 0.0269 Mapper has updated point features. �[32m Mapping Frame 575 �[0m 67 locations to add points. 34 locations to add points based on pixel gradients. idx: 575 , time 0.146736 , geo_loss_pixel: 0.000526 , color_loss_pixel: 0.0273 Mapper has updated point features. �[32m Mapping Frame 580 �[0m 95 locations to add points. 22 locations to add points based on pixel gradients. idx: 580 , time 0.112423 , geo_loss_pixel: 0.000536 , color_loss_pixel: 0.0266 Mapper has updated point features. �[32m Mapping Frame 585 �[0m 126 locations to add points. 73 locations to add points based on pixel gradients. idx: 585 , time 0.136954 , geo_loss_pixel: 0.000514 , color_loss_pixel: 0.0260 Mapper has updated point features. �[32m Mapping Frame 590 �[0m 152 locations to add points. 114 locations to add points based on pixel gradients. idx: 590 , time 0.115375 , geo_loss_pixel: 0.000537 , color_loss_pixel: 0.0283 Mapper has updated point features. �[32m Mapping Frame 595 �[0m 191 locations to add points. 114 locations to add points based on pixel gradients. idx: 595 , time 0.121356 , geo_loss_pixel: 0.000584 , color_loss_pixel: 0.0282 Mapper has updated point features. �[32m Mapping Frame 600 �[0m 253 locations to add points. 72 locations to add points based on pixel gradients. idx: 600 , time 0.124935 , geo_loss_pixel: 0.000555 , color_loss_pixel: 0.0282 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00600_0325.jpg Mapper has updated point features. �[32m wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. Mapping Frame 605 �[0m 289 locations to add points. 41 locations to add points based on pixel gradients. idx: 605 , time 0.126016 , geo_loss_pixel: 0.000556 , color_loss_pixel: 0.0287 Mapper has updated point features. �[32m Mapping Frame 610 �[0m 286 locations to add points. 113 locations to add points based on pixel gradients. idx: 610 , time 0.145965 , geo_loss_pixel: 0.000582 , color_loss_pixel: 0.0285 Mapper has updated point features. �[32m Mapping Frame 615 �[0m 322 locations to add points. 83 locations to add points based on pixel gradients. idx: 615 , time 0.140812 , geo_loss_pixel: 0.000572 , color_loss_pixel: 0.0269 Mapper has updated point features. �[32m Mapping Frame 620 �[0m 339 locations to add points. 95 locations to add points based on pixel gradients. idx: 620 , time 0.134429 , geo_loss_pixel: 0.000617 , color_loss_pixel: 0.0270 Mapper has updated point features. �[32m Mapping Frame 625 �[0m 285 locations to add points. 89 locations to add points based on pixel gradients. idx: 625 , time 0.122998 , geo_loss_pixel: 0.000588 , color_loss_pixel: 0.0268 Mapper has updated point features. �[32m Mapping Frame 630 �[0m 340 locations to add points. 58 locations to add points based on pixel gradients. idx: 630 , time 0.121101 , geo_loss_pixel: 0.000633 , color_loss_pixel: 0.0298 Mapper has updated point features. �[32m Mapping Frame 635 �[0m 321 locations to add points. 58 locations to add points based on pixel gradients. idx: 635 , time 0.122453 , geo_loss_pixel: 0.000584 , color_loss_pixel: 0.0279 Mapper has updated point features. �[32m Mapping Frame 640 �[0m 321 locations to add points. 50 locations to add points based on pixel gradients. idx: 640 , time 0.129364 , geo_loss_pixel: 0.000592 , color_loss_pixel: 0.0282 Mapper has updated point features. �[32m Mapping Frame 645 �[0m 269 locations to add points. 78 locations to add points based on pixel gradients. idx: 645 , time 0.124244 , geo_loss_pixel: 0.000612 , color_loss_pixel: 0.0274 Mapper has updated point features. �[32m Mapping Frame 650 �[0m 248 locations to add points. 61 locations to add points based on pixel gradients. idx: 650 , time 0.130752 , geo_loss_pixel: 0.000644 , color_loss_pixel: 0.0314 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00650_0309.jpg Mapper has updated point features. �[32m Mapping Frame 655 �[0m 214 locations to add points. 52 locations to add points based on pixel gradients. idx: 655 , time 0.127127 , geo_loss_pixel: 0.000619 , color_loss_pixel: 0.0279 Mapper has updated point features. �[32m Mapping Frame 660 �[0m 196 locations to add points. 51 locations to add points based on pixel gradients. idx: 660 , time 0.135938 , geo_loss_pixel: 0.000598 , color_loss_pixel: 0.0268 Mapper has updated point features. �[32m Mapping Frame 665 �[0m 177 locations to add points. 62 locations to add points based on pixel gradients. idx: 665 , time 0.120224 , geo_loss_pixel: 0.000655 , color_loss_pixel: 0.0299 Mapper has updated point features. �[32m Mapping Frame 670 �[0m 180 locations to add points. 48 locations to add points based on pixel gradients. idx: 670 , time 0.112696 , geo_loss_pixel: 0.000678 , color_loss_pixel: 0.0293 Mapper has updated point features. �[32m Mapping Frame 675 �[0m 187 locations to add points. 44 locations to add points based on pixel gradients. idx: 675 , time 0.118521 , geo_loss_pixel: 0.000666 , color_loss_pixel: 0.0291 Mapper has updated point features. �[32m Mapping Frame 680 �[0m 219 locations to add points. 36 locations to add points based on pixel gradients. idx: 680 , time 0.140742 , geo_loss_pixel: 0.000633 , color_loss_pixel: 0.0284 Mapper has updated point features. �[32m Mapping Frame 685 �[0m 210 locations to add points. 46 locations to add points based on pixel gradients. idx: 685 , time 0.122108 , geo_loss_pixel: 0.000601 , color_loss_pixel: 0.0290 Mapper has updated point features. �[32m Mapping Frame 690 �[0m 272 locations to add points. 45 locations to add points based on pixel gradients. idx: 690 , time 0.127727 , geo_loss_pixel: 0.000655 , color_loss_pixel: 0.0286 Mapper has updated point features. �[32m Mapping Frame 695 �[0m 279 locations to add points. 51 locations to add points based on pixel gradients. idx: 695 , time 0.146191 , geo_loss_pixel: 0.000657 , color_loss_pixel: 0.0278 Mapper has updated point features. �[32m Mapping Frame 700 �[0m 381 locations to add points. 36 locations to add points based on pixel gradients. idx: 700 , time 0.139050 , geo_loss_pixel: 0.000607 , color_loss_pixel: 0.0264 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00700_0417.jpg Mapper has updated point features. �[32m Mapping Frame 705 �[0m 407 locations to add points. 50 locations to add points based on pixel gradients. idx: 705 , time 0.146021 , geo_loss_pixel: 0.000624 , color_loss_pixel: 0.0273 Mapper has updated point features. �[32m Mapping Frame 710 �[0m 500 locations to add points. 50 locations to add points based on pixel gradients. idx: 710 , time 0.148988 , geo_loss_pixel: 0.000664 , color_loss_pixel: 0.0287 Mapper has updated point features. �[32m Mapping Frame 715 �[0m 512 locations to add points. 63 locations to add points based on pixel gradients. idx: 715 , time 0.201620 , geo_loss_pixel: 0.000685 , color_loss_pixel: 0.0292 Mapper has updated point features. �[32m Mapping Frame 720 �[0m 528 locations to add points. 85 locations to add points based on pixel gradients. idx: 720 , time 0.112171 , geo_loss_pixel: 0.000600 , color_loss_pixel: 0.0279 Mapper has updated point features. �[32m Mapping Frame 725 �[0m 512 locations to add points. 130 locations to add points based on pixel gradients. idx: 725 , time 0.133189 , geo_loss_pixel: 0.000637 , color_loss_pixel: 0.0280 Mapper has updated point features. �[32m Mapping Frame 730 �[0m 408 locations to add points. 68 locations to add points based on pixel gradients. idx: 730 , time 0.125664 , geo_loss_pixel: 0.000680 , color_loss_pixel: 0.0299 Mapper has updated point features. �[32m Mapping Frame 735 �[0m 368 locations to add points. 67 locations to add points based on pixel gradients. idx: 735 , time 0.135608 , geo_loss_pixel: 0.000654 , color_loss_pixel: 0.0267 Mapper has updated point features. �[32m Mapping Frame 740 �[0m 325 locations to add points. 97 locations to add points based on pixel gradients. idx: 740 , time 0.150664 , geo_loss_pixel: 0.000638 , color_loss_pixel: 0.0287 Mapper has updated point features. �[32m Mapping Frame 745 �[0m 311 locations to add points. 70 locations to add points based on pixel gradients. idx: 745 , time 0.142200 , geo_loss_pixel: 0.000780 , color_loss_pixel: 0.0335 Mapper has updated point features. �[32m Mapping Frame 750 �[0m 342 locations to add points. 67 locations to add points based on pixel gradients. idx: 750 , time 0.122579 , geo_loss_pixel: 0.000708 , color_loss_pixel: 0.0316 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00750_0409.jpg Mapper has updated point features. �[32m Mapping Frame 755 �[0m 284 locations to add points. 78 locations to add points based on pixel gradients. idx: 755 , time 0.159414 , geo_loss_pixel: 0.000658 , color_loss_pixel: 0.0291 Mapper has updated point features. �[32m Mapping Frame 760 �[0m 313 locations to add points. 75 locations to add points based on pixel gradients. idx: 760 , time 0.165720 , geo_loss_pixel: 0.000672 , color_loss_pixel: 0.0319 Mapper has updated point features. �[32m Mapping Frame 765 �[0m 321 locations to add points. 67 locations to add points based on pixel gradients. idx: 765 , time 0.125080 , geo_loss_pixel: 0.000697 , color_loss_pixel: 0.0294 Mapper has updated point features. �[32m Mapping Frame 770 �[0m 346 locations to add points. 74 locations to add points based on pixel gradients. idx: 770 , time 0.130277 , geo_loss_pixel: 0.000763 , color_loss_pixel: 0.0324 Mapper has updated point features. �[32m Mapping Frame 775 �[0m 582 �[0m �[35m Tracking Frame 583 �[0m �[35m Tracking Frame 584 �[0m �[35m Tracking Frame 585 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 586 �[0m �[35m Tracking Frame 587 �[0m �[35m Tracking Frame 588 �[0m �[35m Tracking Frame 589 �[0m �[35m Tracking Frame 590 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 591 �[0m �[35m Tracking Frame 592 �[0m �[35m Tracking Frame 593 �[0m �[35m Tracking Frame 594 �[0m �[35m Tracking Frame 595 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 596 �[0m �[35m Tracking Frame 597 �[0m �[35m Tracking Frame 598 �[0m �[35m Tracking Frame 599 �[0m �[35m Tracking Frame 600 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/00600_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 601 �[0m �[35m Tracking Frame 602 �[0m �[35m Tracking Frame 603 �[0m �[35m Tracking Frame 604 �[0m �[35m Tracking Frame 605 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 606 �[0m �[35m Tracking Frame 607 �[0m �[35m Tracking Frame 608 �[0m �[35m Tracking Frame 609 �[0m �[35m Tracking Frame 610 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 611 �[0m �[35m Tracking Frame 612 �[0m �[35m Tracking Frame 613 �[0m �[35m Tracking Frame 614 �[0m �[35m Tracking Frame 615 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 616 �[0m �[35m Tracking Frame 617 �[0m �[35m Tracking Frame 618 �[0m �[35m Tracking Frame 619 �[0m �[35m Tracking Frame 620 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 621 �[0m �[35m Tracking Frame 622 �[0m �[35m Tracking Frame 623 �[0m �[35m Tracking Frame 624 �[0m �[35m Tracking Frame 625 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 626 �[0m �[35m Tracking Frame 627 �[0m �[35m Tracking Frame 628 �[0m �[35m Tracking Frame 629 �[0m �[35m Tracking Frame 630 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 631 �[0m �[35m Tracking Frame 632 �[0m �[35m Tracking Frame 633 �[0m �[35m Tracking Frame 634 �[0m �[35m Tracking Frame 635 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 636 �[0m �[35m Tracking Frame 637 �[0m �[35m Tracking Frame 638 �[0m �[35m Tracking Frame 639 �[0m �[35m Tracking Frame 640 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 641 �[0m �[35m Tracking Frame 642 �[0m �[35m Tracking Frame 643 �[0m �[35m Tracking Frame 644 �[0m �[35m Tracking Frame 645 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 646 �[0m �[35m Tracking Frame 647 �[0m �[35m Tracking Frame 648 �[0m �[35m Tracking Frame 649 �[0m �[35m Tracking Frame 650 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 651 �[0m �[35m Tracking Frame 652 �[0m �[35m Tracking Frame 653 �[0m �[35m Tracking Frame 654 �[0m �[35m Tracking Frame 655 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 656 �[0m �[35m Tracking Frame 657 �[0m �[35m Tracking Frame 658 �[0m �[35m Tracking Frame 659 �[0m �[35m Tracking Frame 660 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 661 �[0m �[35m Tracking Frame 662 �[0m �[35m Tracking Frame 663 �[0m �[35m Tracking Frame 664 �[0m �[35m Tracking Frame 665 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 666 �[0m �[35m Tracking Frame 667 �[0m �[35m Tracking Frame 668 �[0m �[35m Tracking Frame 669 �[0m �[35m Tracking Frame 670 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 671 �[0m �[35m Tracking Frame 672 �[0m �[35m Tracking Frame 673 �[0m �[35m Tracking Frame 674 �[0m �[35m Tracking Frame 675 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 676 �[0m �[35m Tracking Frame 677 �[0m �[35m Tracking Frame 678 �[0m �[35m Tracking Frame 679 �[0m �[35m Tracking Frame 680 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 681 �[0m �[35m Tracking Frame 682 �[0m �[35m Tracking Frame 683 �[0m �[35m Tracking Frame 684 �[0m �[35m Tracking Frame 685 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 686 �[0m �[35m Tracking Frame 687 �[0m �[35m Tracking Frame 688 �[0m �[35m Tracking Frame 689 �[0m �[35m Tracking Frame 690 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 691 �[0m �[35m Tracking Frame 692 �[0m �[35m Tracking Frame 693 �[0m �[35m Tracking Frame 694 �[0m �[35m Tracking Frame 695 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 696 �[0m �[35m Tracking Frame 697 �[0m �[35m Tracking Frame 698 �[0m �[35m Tracking Frame 699 �[0m �[35m Tracking Frame 700 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 701 �[0m �[35m Tracking Frame 702 �[0m �[35m Tracking Frame 703 �[0m �[35m Tracking Frame 704 �[0m �[35m Tracking Frame 705 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 706 �[0m �[35m Tracking Frame 707 �[0m �[35m Tracking Frame 708 �[0m �[35m Tracking Frame 709 �[0m �[35m Tracking Frame 710 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 711 �[0m �[35m Tracking Frame 712 �[0m �[35m Tracking Frame 713 �[0m �[35m Tracking Frame 714 �[0m �[35m Tracking Frame 715 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 716 �[0m �[35m Tracking Frame 717 �[0m �[35m Tracking Frame 718 �[0m �[35m Tracking Frame 719 �[0m �[35m Tracking Frame 720 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 721 �[0m �[35m Tracking Frame 722 �[0m �[35m Tracking Frame 723 �[0m �[35m Tracking Frame 724 �[0m �[35m Tracking Frame 725 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 726 �[0m �[35m Tracking Frame 727 �[0m �[35m Tracking Frame 728 �[0m �[35m Tracking Frame 729 �[0m �[35m Tracking Frame 730 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 731 �[0m �[35m Tracking Frame 732 �[0m �[35m Tracking Frame 733 �[0m �[35m Tracking Frame 734 �[0m �[35m Tracking Frame 735 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 736 �[0m �[35m Tracking Frame 737 �[0m �[35m Tracking Frame 738 �[0m �[35m Tracking Frame 739 �[0m �[35m Tracking Frame 740 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 741 �[0m �[35m Tracking Frame 742 �[0m �[35m Tracking Frame 743 �[0m �[35m Tracking Frame 744 �[0m �[35m Tracking Frame 745 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 746 �[0m �[35m Tracking Frame 747 �[0m �[35m Tracking Frame 748 �[0m �[35m Tracking Frame 749 �[0m �[35m Tracking Frame 750 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 751 �[0m �[35m Tracking Frame 752 �[0m �[35m Tracking Frame 753 �[0m �[35m Tracking Frame 754 �[0m �[35m Tracking Frame 755 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 756 �[0m �[35m Tracking Frame 757 �[0m �[35m Tracking Frame 758 �[0m �[35m Tracking Frame 759 �[0m �[35m Tracking Frame 760 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 761 �[0m �[35m Tracking Frame 762 �[0m �[35m Tracking Frame 763 �[0m �[35m Tracking Frame 764 �[0m �[35m Tracking Frame 765 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 766 �[0m �[35m Tracking Frame 767 �[0m �[35m Tracking Frame 768 �[0m �[35m Tracking Frame 769 �[0m �[35m Tracking Frame 770 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 771 �[0m �[35m Tracking Frame 772 �[0m �[35m Tracking Frame 773 �[0m �[35m Tracking Frame 774 �[0m �[35m Tracking Frame 775 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 776 �[0m �[35m Tracking Frame 777 �[0m �[35m Tracking Frame 778 �[0m �[35m Tracking Frame 779 �[0m �[35m Tracking Frame 780 �[0m Tracker has updated the parameters from Mapper. �[35mwandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. 357 locations to add points. 68 locations to add points based on pixel gradients. idx: 775 , time 0.138078 , geo_loss_pixel: 0.000679 , color_loss_pixel: 0.0315 Mapper has updated point features. �[32m Mapping Frame 780 �[0m 423 locations to add points. 50 locations to add points based on pixel gradients. idx: 780 , time 0.136660 , geo_loss_pixel: 0.000668 , color_loss_pixel: 0.0310 Mapper has updated point features. �[32m Mapping Frame 785 �[0m 430 locations to add points. 53 locations to add points based on pixel gradients. idx: 785 , time 0.105453 , geo_loss_pixel: 0.000631 , color_loss_pixel: 0.0304 Mapper has updated point features. �[32m Mapping Frame 790 �[0m 444 locations to add points. 52 locations to add points based on pixel gradients. idx: 790 , time 0.155365 , geo_loss_pixel: 0.000679 , color_loss_pixel: 0.0321 Mapper has updated point features. �[32m Mapping Frame 795 �[0m 454 locations to add points. 61 locations to add points based on pixel gradients. idx: 795 , time 0.156158 , geo_loss_pixel: 0.000704 , color_loss_pixel: 0.0342 Mapper has updated point features. �[32m Mapping Frame 800 �[0m 405 locations to add points. 66 locations to add points based on pixel gradients. idx: 800 , time 0.148836 , geo_loss_pixel: 0.000717 , color_loss_pixel: 0.0353 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00800_0471.jpg Mapper has updated point features. �[32m Mapping Frame 805 �[0m 345 locations to add points. 78 locations to add points based on pixel gradients. idx: 805 , time 0.150880 , geo_loss_pixel: 0.000859 , color_loss_pixel: 0.0386 Mapper has updated point features. �[32m Mapping Frame 810 �[0m 293 locations to add points. 61 locations to add points based on pixel gradients. idx: 810 , time 0.141447 , geo_loss_pixel: 0.000788 , color_loss_pixel: 0.0347 Mapper has updated point features. �[32m Mapping Frame 815 �[0m 241 locations to add points. 79 locations to add points based on pixel gradients. idx: 815 , time 0.141923 , geo_loss_pixel: 0.000809 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 820 �[0m 237 locations to add points. 73 locations to add points based on pixel gradients. idx: 820 , time 0.163531 , geo_loss_pixel: 0.000803 , color_loss_pixel: 0.0367 Mapper has updated point features. �[32m Mapping Frame 825 �[0m 231 locations to add points. 61 locations to add points based on pixel gradients. idx: 825 , time 0.130047 , geo_loss_pixel: 0.000838 , color_loss_pixel: 0.0382 Mapper has updated point features. �[32m Mapping Frame 830 �[0m 203 locations to add points. 99 locations to add points based on pixel gradients. idx: 830 , time 0.156971 , geo_loss_pixel: 0.000811 , color_loss_pixel: 0.0367 Mapper has updated point features. �[32m Mapping Frame 835 �[0m 189 locations to add points. 87 locations to add points based on pixel gradients. idx: 835 , time 0.149468 , geo_loss_pixel: 0.000762 , color_loss_pixel: 0.0346 Mapper has updated point features. �[32m Mapping Frame 840 �[0m 213 locations to add points. 76 locations to add points based on pixel gradients. idx: 840 , time 0.147668 , geo_loss_pixel: 0.000785 , color_loss_pixel: 0.0366 Mapper has updated point features. �[32m Mapping Frame 845 �[0m 169 locations to add points. 60 locations to add points based on pixel gradients. idx: 845 , time 0.126303 , geo_loss_pixel: 0.000783 , color_loss_pixel: 0.0374 Mapper has updated point features. �[32m Mapping Frame 850 �[0m 194 locations to add points. 61 locations to add points based on pixel gradients. idx: 850 , time 0.153636 , geo_loss_pixel: 0.000819 , color_loss_pixel: 0.0363 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00850_0285.jpg Mapper has updated point features. �[32m Mapping Frame 855 �[0m 194 locations to add points. 58 locations to add points based on pixel gradients. idx: 855 , time 0.179431 , geo_loss_pixel: 0.000724 , color_loss_pixel: 0.0320 Mapper has updated point features. �[32m Mapping Frame 860 �[0m 188 locations to add points. 56 locations to add points based on pixel gradients. idx: 860 , time 0.164860 , geo_loss_pixel: 0.000794 , color_loss_pixel: 0.0343 Mapper has updated point features. �[32m Mapping Frame 865 �[0m 168 locations to add points. 49 locations to add points based on pixel gradients. idx: 865 , time 0.135809 , geo_loss_pixel: 0.000758 , color_loss_pixel: 0.0354 Mapper has updated point features. �[32m Mapping Frame 870 �[0m 205 locations to add points. 66 locations to add points based on pixel gradients. idx: 870 , time 0.199957 , geo_loss_pixel: 0.000854 , color_loss_pixel: 0.0364 Mapper has updated point features. �[32m Mapping Frame 875 �[0m 190 locations to add points. 49 locations to add points based on pixel gradients. idx: 875 , time 0.164863 , geo_loss_pixel: 0.000806 , color_loss_pixel: 0.0370 Mapper has updated point features. �[32m Mapping Frame 880 �[0m 214 locations to add points. 47 locations to add points based on pixel gradients. idx: 880 , time 0.169395 , geo_loss_pixel: 0.000773 , color_loss_pixel: 0.0378 Mapper has updated point features. �[32m Mapping Frame 885 �[0m 188 locations to add points. 48 locations to add points based on pixel gradients. idx: 885 , time 0.153951 , geo_loss_pixel: 0.000755 , color_loss_pixel: 0.0358 Mapper has updated point features. �[32m Mapping Frame 890 �[0m 171 locations to add points. 45 locations to add points based on pixel gradients. idx: 890 , time 0.184706 , geo_loss_pixel: 0.000821 , color_loss_pixel: 0.0366 Mapper has updated point features. �[32m Mapping Frame 895 �[0m 129 locations to add points. 43 locations to add points based on pixel gradients. idx: 895 , time 0.146893 , geo_loss_pixel: 0.000770 , color_loss_pixel: 0.0354 Mapper has updated point features. �[32m Mapping Frame 900 �[0m 151 locations to add points. 74 locations to add points based on pixel gradients. idx: 900 , time 0.139160 , geo_loss_pixel: 0.000849 , color_loss_pixel: 0.0370 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00900_0285.jpg Mapper has updated point features. �[32m Mapping Frame 905 �[0m 129 locations to add points. 80 locations to add points based on pixel gradients. idx: 905 , time 0.146291 , geo_loss_pixel: 0.000866 , color_loss_pixel: 0.0393 Mapper has updated point features. �[32m Mapping Frame 910 �[0m 142 locations to add points. 82 locations to add points based on pixel gradients. idx: 910 , time 0.156667 , geo_loss_pixel: 0.000801 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 915 �[0m 156 locations to add points. 68 locations to add points based on pixel gradients. idx: 915 , time 0.115521 , geo_loss_pixel: 0.000838 , color_loss_pixel: 0.0375 Mapper has updated point features. �[32m Mapping Frame 920 �[0m 137 locations to add points. 84 locations to add points based on pixel gradients. idx: 920 , time 0.173178 , geo_loss_pixel: 0.000766 , color_loss_pixel: 0.0352 Mapper has updated point features. �[32m Mapping Frame 925 �[0m 175 locations to add points. 79 locations to add points based on pixel gradients. idx: 925 , time 0.148458 , geo_loss_pixel: 0.000858 , color_loss_pixel: 0.0379 Mapper has updated point features. �[32m Mapping Frame 930 �[0m 160 locations to add points. 56 locations to add points based on pixel gradients. idx: 930 , time 0.171566 , geo_loss_pixel: 0.000808 , color_loss_pixel: 0.0361 Mapper has updated point features. �[32m Mapping Frame 935 �[0m 156 locations to add points. 57 locations to add points based on pixel gradients. idx: 935 , time 0.223274 , geo_loss_pixel: 0.000753 , color_loss_pixel: 0.0347 Mapper has updated point features. �[32m Mapping Frame 940 �[0m 152 locations to add points. 63 locations to add points based on pixel gradients. idx: 940 , time 0.162998 , geo_loss_pixel: 0.000821 , color_loss_pixel: 0.0367 Mapper has updated point features. �[32m Mapping Frame 945 �[0m 100 locations to add points. wandb: Network error (TransientError), entering retry loop.

Tracking Frame 781 �[0m �[35m Tracking Frame 782 �[0m �[35m Tracking Frame 783 �[0m �[35m Tracking Frame 784 �[0m �[35m Tracking Frame 785 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 786 �[0m �[35m Tracking Frame 787 �[0m �[35m Tracking Frame 788 �[0m �[35m Tracking Frame 789 �[0m �[35m Tracking Frame 790 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 791 �[0m �[35m Tracking Frame 792 �[0m �[35m Tracking Frame 793 �[0m �[35m Tracking Frame 794 �[0m �[35m Tracking Frame 795 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 796 �[0m �[35m Tracking Frame 797 �[0m �[35m Tracking Frame 798 �[0m �[35m Tracking Frame 799 �[0m �[35m Tracking Frame 800 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/00800_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 801 �[0m �[35m Tracking Frame 802 �[0m �[35m Tracking Frame 803 �[0m �[35m Tracking Frame 804 �[0m �[35m Tracking Frame 805 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 806 �[0m �[35m Tracking Frame 807 �[0m �[35m Tracking Frame 808 �[0m �[35m Tracking Frame 809 �[0m �[35m Tracking Frame 810 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 811 �[0m �[35m Tracking Frame 812 �[0m �[35m Tracking Frame 813 �[0m �[35m Tracking Frame 814 �[0m �[35m Tracking Frame 815 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 816 �[0m �[35m Tracking Frame 817 �[0m �[35m Tracking Frame 818 �[0m �[35m Tracking Frame 819 �[0m �[35m Tracking Frame 820 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 821 �[0m �[35m Tracking Frame 822 �[0m �[35m Tracking Frame 823 �[0m �[35m Tracking Frame 824 �[0m �[35m Tracking Frame 825 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 826 �[0m �[35m Tracking Frame 827 �[0m �[35m Tracking Frame 828 �[0m �[35m Tracking Frame 829 �[0m �[35m Tracking Frame 830 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 831 �[0m �[35m Tracking Frame 832 �[0m �[35m Tracking Frame 833 �[0m �[35m Tracking Frame 834 �[0m �[35m Tracking Frame 835 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 836 �[0m �[35m Tracking Frame 837 �[0m �[35m Tracking Frame 838 �[0m �[35m Tracking Frame 839 �[0m �[35m Tracking Frame 840 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 841 �[0m �[35m Tracking Frame 842 �[0m �[35m Tracking Frame 843 �[0m �[35m Tracking Frame 844 �[0m �[35m Tracking Frame 845 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 846 �[0m �[35m Tracking Frame 847 �[0m �[35m Tracking Frame 848 �[0m �[35m Tracking Frame 849 �[0m �[35m Tracking Frame 850 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 851 �[0m �[35m Tracking Frame 852 �[0m �[35m Tracking Frame 853 �[0m �[35m Tracking Frame 854 �[0m �[35m Tracking Frame 855 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 856 �[0m �[35m Tracking Frame 857 �[0m �[35m Tracking Frame 858 �[0m �[35m Tracking Frame 859 �[0m �[35m Tracking Frame 860 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 861 �[0m �[35m Tracking Frame 862 �[0m �[35m Tracking Frame 863 �[0m �[35m Tracking Frame 864 �[0m �[35m Tracking Frame 865 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 866 �[0m �[35m Tracking Frame 867 �[0m �[35m Tracking Frame 868 �[0m �[35m Tracking Frame 869 �[0m �[35m Tracking Frame 870 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 871 �[0m �[35m Tracking Frame 872 �[0m �[35m Tracking Frame 873 �[0m �[35m Tracking Frame 874 �[0m �[35m Tracking Frame 875 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 876 �[0m �[35m Tracking Frame 877 �[0m �[35m Tracking Frame 878 �[0m �[35m Tracking Frame 879 �[0m �[35m Tracking Frame 880 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 881 �[0m �[35m Tracking Frame 882 �[0m �[35m Tracking Frame 883 �[0m �[35m Tracking Frame 884 �[0m �[35m Tracking Frame 885 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 886 �[0m �[35m Tracking Frame 887 �[0m �[35m Tracking Frame 888 �[0m �[35m Tracking Frame 889 �[0m �[35m Tracking Frame 890 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 891 �[0m �[35m Tracking Frame 892 �[0m �[35m Tracking Frame 893 �[0m �[35m Tracking Frame 894 �[0m �[35m Tracking Frame 895 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 896 �[0m �[35m Tracking Frame 897 �[0m �[35m Tracking Frame 898 �[0m �[35m Tracking Frame 899 �[0m �[35m Tracking Frame 900 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 901 �[0m �[35m Tracking Frame 902 �[0m �[35m Tracking Frame 903 �[0m �[35m Tracking Frame 904 �[0m �[35m Tracking Frame 905 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 906 �[0m �[35m Tracking Frame 907 �[0m �[35m Tracking Frame 908 �[0m �[35m Tracking Frame 909 �[0m �[35m Tracking Frame 910 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 911 �[0m �[35m Tracking Frame 912 �[0m �[35m Tracking Frame 913 �[0m �[35m Tracking Frame 914 �[0m �[35m Tracking Frame 915 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 916 �[0m �[35m Tracking Frame 917 �[0m �[35m Tracking Frame 918 �[0m �[35m Tracking Frame 919 �[0m �[35m Tracking Frame 920 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 921 �[0m �[35m Tracking Frame 922 �[0m �[35m Tracking Frame 923 �[0m �[35m Tracking Frame 924 �[0m �[35m Tracking Frame 925 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 926 �[0m �[35m Tracking Frame 927 �[0m �[35m Tracking Frame 928 �[0m �[35m Tracking Frame 929 �[0m �[35m Tracking Frame 930 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 931 �[0m �[35m Tracking Frame 932 �[0m �[35m Tracking Frame 933 �[0m �[35m Tracking Frame 934 �[0m �[35m Tracking Frame 935 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 936 �[0m �[35m Tracking Frame 937 �[0m �[35m Tracking Frame 938 �[0m �[35m Tracking Frame 939 �[0m �[35m Tracking Frame 940 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 941 �[0m �[35m Tracking Frame 942 �[0m �[35m Tracking Frame 943 �[0m �[35m Tracking Frame 944 �[0m �[35m Tracking Frame 945 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 946 �[0m �[35m Tracking Frame 947 �[0m �[35m Tracking Frame 948 �[0m �[35m Tracking Frame 949 �[0m �[35m Tracking Frame 950 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 951 �[0m �[35m Tracking Frame 952 �[0m �[35m Tracking Frame 953 �[0m �[35m Tracking Frame 954 �[0m �[35m Tracking Frame 955 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 956 �[0m �[35m Tracking Frame 957 �[0m �[35m Tracking Frame 958 �[0m �[35m Tracking Frame 959 �[0m �[35m Tracking Frame 960 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 961 �[0m �[35m Tracking Frame 962 �[0m �[35m Tracking Frame 963 �[0m �[35m Tracking Frame 964 �[0m �[35m Tracking Frame 965 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 966 �[0m �[35m Tracking Frame 967 �[0m �[35m Tracking Frame 968 �[0m �[35m Tracking Frame 969 �[0m �[35m Tracking Frame 970 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 971 �[0m �[35m Tracking Frame 972 �[0m �[35m Tracking Frame 973 �[0m �[35m Tracking Frame 974 �[0m �[35m Tracking Frame 975 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 976 �[0m �[35m Tracking Frame 977 �[0m �[35m Tracking Frame 978 �[0m �[35m Tracking Frame 979 �[0m �[35m Tracking Frame 980 �[0m wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. 62 locations to add points based on pixel gradients. idx: 945 , time 0.149518 , geo_loss_pixel: 0.000670 , color_loss_pixel: 0.0348 Mapper has updated point features. �[32m Mapping Frame 950 �[0m 92 locations to add points. 65 locations to add points based on pixel gradients. idx: 950 , time 0.153262 , geo_loss_pixel: 0.000799 , color_loss_pixel: 0.0386 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/00950_0285.jpg Mapper has updated point features. �[32m Mapping Frame 955 �[0m 107 locations to add points. 60 locations to add points based on pixel gradients. idx: 955 , time 0.145041 , geo_loss_pixel: 0.000839 , color_loss_pixel: 0.0383 Mapper has updated point features. �[32m Mapping Frame 960 �[0m 98 locations to add points. 71 locations to add points based on pixel gradients. idx: 960 , time 0.119797 , geo_loss_pixel: 0.000754 , color_loss_pixel: 0.0360 Mapper has updated point features. �[32m Mapping Frame 965 �[0m 89 locations to add points. 64 locations to add points based on pixel gradients. idx: 965 , time 0.172198 , geo_loss_pixel: 0.000789 , color_loss_pixel: 0.0378 Mapper has updated point features. �[32m Mapping Frame 970 �[0m 98 locations to add points. 62 locations to add points based on pixel gradients. idx: 970 , time 0.164819 , geo_loss_pixel: 0.000828 , color_loss_pixel: 0.0368 Mapper has updated point features. �[32m Mapping Frame 975 �[0m 90 locations to add points. 69 locations to add points based on pixel gradients. idx: 975 , time 0.185000 , geo_loss_pixel: 0.000788 , color_loss_pixel: 0.0338 Mapper has updated point features. �[32m Mapping Frame 980 �[0m 104 locations to add points. 47 locations to add points based on pixel gradients. idx: 980 , time 0.160588 , geo_loss_pixel: 0.000820 , color_loss_pixel: 0.0392 Mapper has updated point features. �[32m Mapping Frame 985 �[0m 111 locations to add points. 54 locations to add points based on pixel gradients. idx: 985 , time 0.166473 , geo_loss_pixel: 0.000800 , color_loss_pixel: 0.0374 Mapper has updated point features. �[32m Mapping Frame 990 �[0m 93 locations to add points. 56 locations to add points based on pixel gradients. idx: 990 , time 0.167423 , geo_loss_pixel: 0.000806 , color_loss_pixel: 0.0382 Mapper has updated point features. �[32m Mapping Frame 995 �[0m 105 locations to add points. 52 locations to add points based on pixel gradients. idx: 995 , time 0.168511 , geo_loss_pixel: 0.000772 , color_loss_pixel: 0.0373 Mapper has updated point features. �[32m Mapping Frame 1000 �[0m 80 locations to add points. 48 locations to add points based on pixel gradients. idx: 1000 , time 0.173366 , geo_loss_pixel: 0.000795 , color_loss_pixel: 0.0383 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01000_0285.jpg Mapper has updated point features. Saved checkpoints at output/Replica/room0/20231013_194144/ckpts/01000.tar �[32m Mapping Frame 1005 �[0m 84 locations to add points. 41 locations to add points based on pixel gradients. idx: 1005 , time 0.213721 , geo_loss_pixel: 0.000708 , color_loss_pixel: 0.0368 Mapper has updated point features. �[32m Mapping Frame 1010 �[0m 66 locations to add points. 48 locations to add points based on pixel gradients. idx: 1010 , time 0.172526 , geo_loss_pixel: 0.000761 , color_loss_pixel: 0.0384 Mapper has updated point features. �[32m Mapping Frame 1015 �[0m 67 locations to add points. 45 locations to add points based on pixel gradients. idx: 1015 , time 0.162268 , geo_loss_pixel: 0.000772 , color_loss_pixel: 0.0362 Mapper has updated point features. �[32m Mapping Frame 1020 �[0m 71 locations to add points. 35 locations to add points based on pixel gradients. idx: 1020 , time 0.170461 , geo_loss_pixel: 0.000702 , color_loss_pixel: 0.0354 Mapper has updated point features. �[32m Mapping Frame 1025 �[0m 70 locations to add points. 51 locations to add points based on pixel gradients. idx: 1025 , time 0.156500 , geo_loss_pixel: 0.000768 , color_loss_pixel: 0.0359 Mapper has updated point features. �[32m Mapping Frame 1030 �[0m 76 locations to add points. 56 locations to add points based on pixel gradients. idx: 1030 , time 0.159692 , geo_loss_pixel: 0.000744 , color_loss_pixel: 0.0352 Mapper has updated point features. �[32m Mapping Frame 1035 �[0m 96 locations to add points. 51 locations to add points based on pixel gradients. idx: 1035 , time 0.180992 , geo_loss_pixel: 0.000842 , color_loss_pixel: 0.0395 Mapper has updated point features. �[32m Mapping Frame 1040 �[0m 72 locations to add points. 68 locations to add points based on pixel gradients. idx: 1040 , time 0.182650 , geo_loss_pixel: 0.000816 , color_loss_pixel: 0.0400 Mapper has updated point features. �[32m Mapping Frame 1045 �[0m 85 locations to add points. 73 locations to add points based on pixel gradients. idx: 1045 , time 0.131817 , geo_loss_pixel: 0.000871 , color_loss_pixel: 0.0404 Mapper has updated point features. �[32m Mapping Frame 1050 �[0m 90 locations to add points. 61 locations to add points based on pixel gradients. idx: 1050 , time 0.148198 , geo_loss_pixel: 0.000770 , color_loss_pixel: 0.0388 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01050_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1055 �[0m 75 locations to add points. 56 locations to add points based on pixel gradients. idx: 1055 , time 0.173289 , geo_loss_pixel: 0.000837 , color_loss_pixel: 0.0399 Mapper has updated point features. �[32m Mapping Frame 1060 �[0m 80 locations to add points. 55 locations to add points based on pixel gradients. idx: 1060 , time 0.166731 , geo_loss_pixel: 0.000827 , color_loss_pixel: 0.0386 Mapper has updated point features. �[32m Mapping Frame 1065 �[0m 91 locations to add points. 43 locations to add points based on pixel gradients. idx: 1065 , time 0.348489 , geo_loss_pixel: 0.000877 , color_loss_pixel: 0.0397 Mapper has updated point features. �[32m Mapping Frame 1070 �[0m 72 locations to add points. 64 locations to add points based on pixel gradients. idx: 1070 , time 0.195882 , geo_loss_pixel: 0.000816 , color_loss_pixel: 0.0394 Mapper has updated point features. �[32m Mapping Frame 1075 �[0m 82 locations to add points. 54 locations to add points based on pixel gradients. idx: 1075 , time 0.190061 , geo_loss_pixel: 0.000818 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 1080 �[0m 70 locations to add points. 40 locations to add points based on pixel gradients. idx: 1080 , time 0.192773 , geo_loss_pixel: 0.000800 , color_loss_pixel: 0.0368 Mapper has updated point features. �[32m Mapping Frame 1085 �[0m 63 locations to add points. 47 locations to add points based on pixel gradients. idx: 1085 , time 0.152222 , geo_loss_pixel: 0.000851 , color_loss_pixel: 0.0406 Mapper has updated point features. �[32m Mapping Frame 1090 �[0m 63 locations to add points. 54 locations to add points based on pixel gradients. idx: 1090 , time 0.158891 , geo_loss_pixel: 0.000837 , color_loss_pixel: 0.0413 Mapper has updated point features. �[32m Mapping Frame 1095 �[0m 56 locations to add points. 69 locations to add points based on pixel gradients. idx: 1095 , time 0.181681 , geo_loss_pixel: 0.000867 , color_loss_pixel: 0.0404 Mapper has updated point features. �[32m Mapping Frame 1100 �[0m 71 locations to add points. 46 locations to add points based on pixel gradients. idx: 1100 , time 0.147309 , geo_loss_pixel: 0.000778 , color_loss_pixel: 0.0400 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01100_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1105 �[0m 49 locations to add points. 53 locations to add points based on pixel gradients. idx: 1105 , time 0.190693 , geo_loss_pixel: 0.000809 , color_loss_pixel: 0.0374 Mapper has updated point features. �[32m Mapping Frame 1110 �[0m 56 locations to add points. 39 locations to add points based on pixel gradients. idx: 1110 , time wandb: Network error (TransientError), entering retry loop. Tracker has updated the parameters from Mapper. �[35m Tracking Frame 981 �[0m �[35m Tracking Frame 982 �[0m �[35m Tracking Frame 983 �[0m �[35m Tracking Frame 984 �[0m �[35m Tracking Frame 985 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 986 �[0m �[35m Tracking Frame 987 �[0m �[35m Tracking Frame 988 �[0m �[35m Tracking Frame 989 �[0m �[35m Tracking Frame 990 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 991 �[0m �[35m Tracking Frame 992 �[0m �[35m Tracking Frame 993 �[0m �[35m Tracking Frame 994 �[0m �[35m Tracking Frame 995 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 996 �[0m �[35m Tracking Frame 997 �[0m �[35m Tracking Frame 998 �[0m �[35m Tracking Frame 999 �[0m �[35m Tracking Frame 1000 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/01000_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1001 �[0m �[35m Tracking Frame 1002 �[0m �[35m Tracking Frame 1003 �[0m �[35m Tracking Frame 1004 �[0m �[35m Tracking Frame 1005 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1006 �[0m �[35m Tracking Frame 1007 �[0m �[35m Tracking Frame 1008 �[0m �[35m Tracking Frame 1009 �[0m �[35m Tracking Frame 1010 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1011 �[0m �[35m Tracking Frame 1012 �[0m �[35m Tracking Frame 1013 �[0m �[35m Tracking Frame 1014 �[0m �[35m Tracking Frame 1015 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1016 �[0m �[35m Tracking Frame 1017 �[0m �[35m Tracking Frame 1018 �[0m �[35m Tracking Frame 1019 �[0m �[35m Tracking Frame 1020 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1021 �[0m �[35m Tracking Frame 1022 �[0m �[35m Tracking Frame 1023 �[0m �[35m Tracking Frame 1024 �[0m �[35m Tracking Frame 1025 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1026 �[0m �[35m Tracking Frame 1027 �[0m �[35m Tracking Frame 1028 �[0m �[35m Tracking Frame 1029 �[0m �[35m Tracking Frame 1030 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1031 �[0m �[35m Tracking Frame 1032 �[0m �[35m Tracking Frame 1033 �[0m �[35m Tracking Frame 1034 �[0m �[35m Tracking Frame 1035 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1036 �[0m �[35m Tracking Frame 1037 �[0m �[35m Tracking Frame 1038 �[0m �[35m Tracking Frame 1039 �[0m �[35m Tracking Frame 1040 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1041 �[0m �[35m Tracking Frame 1042 �[0m �[35m Tracking Frame 1043 �[0m �[35m Tracking Frame 1044 �[0m �[35m Tracking Frame 1045 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1046 �[0m �[35m Tracking Frame 1047 �[0m �[35m Tracking Frame 1048 �[0m �[35m Tracking Frame 1049 �[0m �[35m Tracking Frame 1050 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1051 �[0m �[35m Tracking Frame 1052 �[0m �[35m Tracking Frame 1053 �[0m �[35m Tracking Frame 1054 �[0m �[35m Tracking Frame 1055 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1056 �[0m �[35m Tracking Frame 1057 �[0m �[35m Tracking Frame 1058 �[0m �[35m Tracking Frame 1059 �[0m �[35m Tracking Frame 1060 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1061 �[0m �[35m Tracking Frame 1062 �[0m �[35m Tracking Frame 1063 �[0m �[35m Tracking Frame 1064 �[0m �[35m Tracking Frame 1065 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1066 �[0m �[35m Tracking Frame 1067 �[0m �[35m Tracking Frame 1068 �[0m �[35m Tracking Frame 1069 �[0m �[35m Tracking Frame 1070 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1071 �[0m �[35m Tracking Frame 1072 �[0m �[35m Tracking Frame 1073 �[0m �[35m Tracking Frame 1074 �[0m �[35m Tracking Frame 1075 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1076 �[0m �[35m Tracking Frame 1077 �[0m �[35m Tracking Frame 1078 �[0m �[35m Tracking Frame 1079 �[0m �[35m Tracking Frame 1080 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1081 �[0m �[35m Tracking Frame 1082 �[0m �[35m Tracking Frame 1083 �[0m �[35m Tracking Frame 1084 �[0m �[35m Tracking Frame 1085 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1086 �[0m �[35m Tracking Frame 1087 �[0m �[35m Tracking Frame 1088 �[0m �[35m Tracking Frame 1089 �[0m �[35m Tracking Frame 1090 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1091 �[0m �[35m Tracking Frame 1092 �[0m �[35m Tracking Frame 1093 �[0m �[35m Tracking Frame 1094 �[0m �[35m Tracking Frame 1095 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1096 �[0m �[35m Tracking Frame 1097 �[0m �[35m Tracking Frame 1098 �[0m �[35m Tracking Frame 1099 �[0m �[35m Tracking Frame 1100 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1101 �[0m �[35m Tracking Frame 1102 �[0m �[35m Tracking Frame 1103 �[0m �[35m Tracking Frame 1104 �[0m �[35m Tracking Frame 1105 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1106 �[0m �[35m Tracking Frame 1107 �[0m �[35m Tracking Frame 1108 �[0m �[35m Tracking Frame 1109 �[0m �[35m Tracking Frame 1110 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1111 �[0m �[35m Tracking Frame 1112 �[0m �[35m Tracking Frame 1113 �[0m �[35m Tracking Frame 1114 �[0m �[35m Tracking Frame 1115 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1116 �[0m �[35m Tracking Frame 1117 �[0m �[35m Tracking Frame 1118 �[0m �[35m Tracking Frame 1119 �[0m �[35m Tracking Frame 1120 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1121 �[0m �[35m Tracking Frame 1122 �[0m �[35m Tracking Frame 1123 �[0m �[35m Tracking Frame 1124 �[0m �[35m Tracking Frame 1125 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1126 �[0m �[35m Tracking Frame 1127 �[0m �[35m Tracking Frame 1128 �[0m �[35m Tracking Frame 1129 �[0m �[35m Tracking Frame 1130 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1131 �[0m �[35m Tracking Frame 1132 �[0m �[35m Tracking Frame 1133 �[0m �[35m Tracking Frame 1134 �[0m �[35m Tracking Frame 1135 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1136 �[0m �[35m Tracking Frame 1137 �[0m �[35m Tracking Frame 1138 �[0m �[35m Tracking Frame 1139 �[0m �[35m Tracking Frame 1140 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1141 �[0m �[35m Tracking Frame 1142 �[0m �[35m Tracking Frame 1143 �[0m �[35m Tracking Frame 1144 �[0m �[35m Tracking Frame 1145 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1146 �[0m �[35m Tracking Frame 1147 �[0m �[35m Tracking Frame 1148 �[0m �[35m Tracking Frame 1149 �[0m �[35m Tracking Frame 1150 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1151 �[0m �[35m Tracking Frame 1152 �[0m �[35m Tracking Frame 1153 �[0m �[35m Tracking Frame 1154 �[0m �[35m Tracking Frame 1155 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1156 �[0m �[35m Tracking Frame 1157 �[0m �[35m Tracking Frame 1158 �[0m �[35m Tracking Frame 1159 �[0m �[35m Tracking Frame 1160 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1161 �[0m �[35m Tracking Frame 1162 �[0m �[35m Tracking Frame 1163 �[0m �[35m Tracking Frame 1164 �[0m �[35m Tracking Frame 1165 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1166 �[0m �[35m Tracking Frame 1167 �[0m �[35m Tracking Frame 1168 �[0m �[35m Tracking Frame 1169 �[0m �[35m Tracking Frame 1170 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1171 �[0m �[35m Tracking Frame 1172 �[0m �[35m Tracking Frame 1173 �[0m �[35m Tracking Frame 1174 �[0m �[35m wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. 0.213131 , geo_loss_pixel: 0.000847 , color_loss_pixel: 0.0400 Mapper has updated point features. �[32m Mapping Frame 1115 �[0m 58 locations to add points. 42 locations to add points based on pixel gradients. idx: 1115 , time 0.209393 , geo_loss_pixel: 0.000860 , color_loss_pixel: 0.0420 Mapper has updated point features. �[32m Mapping Frame 1120 �[0m 63 locations to add points. 41 locations to add points based on pixel gradients. idx: 1120 , time 0.110373 , geo_loss_pixel: 0.000791 , color_loss_pixel: 0.0361 Mapper has updated point features. �[32m Mapping Frame 1125 �[0m 62 locations to add points. 45 locations to add points based on pixel gradients. idx: 1125 , time 0.178425 , geo_loss_pixel: 0.000881 , color_loss_pixel: 0.0413 Mapper has updated point features. �[32m Mapping Frame 1130 �[0m 56 locations to add points. 34 locations to add points based on pixel gradients. idx: 1130 , time 0.188135 , geo_loss_pixel: 0.000828 , color_loss_pixel: 0.0405 Mapper has updated point features. �[32m Mapping Frame 1135 �[0m 57 locations to add points. 36 locations to add points based on pixel gradients. idx: 1135 , time 0.223735 , geo_loss_pixel: 0.000828 , color_loss_pixel: 0.0405 Mapper has updated point features. �[32m Mapping Frame 1140 �[0m 58 locations to add points. 38 locations to add points based on pixel gradients. idx: 1140 , time 0.121047 , geo_loss_pixel: 0.000832 , color_loss_pixel: 0.0374 Mapper has updated point features. �[32m Mapping Frame 1145 �[0m 62 locations to add points. 26 locations to add points based on pixel gradients. idx: 1145 , time 0.183617 , geo_loss_pixel: 0.000826 , color_loss_pixel: 0.0394 Mapper has updated point features. �[32m Mapping Frame 1150 �[0m 63 locations to add points. 25 locations to add points based on pixel gradients. idx: 1150 , time 0.163440 , geo_loss_pixel: 0.000812 , color_loss_pixel: 0.0402 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01150_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1155 �[0m 48 locations to add points. 22 locations to add points based on pixel gradients. idx: 1155 , time 0.133218 , geo_loss_pixel: 0.000842 , color_loss_pixel: 0.0395 Mapper has updated point features. �[32m Mapping Frame 1160 �[0m 65 locations to add points. 25 locations to add points based on pixel gradients. idx: 1160 , time 0.182508 , geo_loss_pixel: 0.000852 , color_loss_pixel: 0.0419 Mapper has updated point features. �[32m Mapping Frame 1165 �[0m 52 locations to add points. 32 locations to add points based on pixel gradients. idx: 1165 , time 0.155608 , geo_loss_pixel: 0.000823 , color_loss_pixel: 0.0389 Mapper has updated point features. �[32m Mapping Frame 1170 �[0m 60 locations to add points. 29 locations to add points based on pixel gradients. idx: 1170 , time 0.183881 , geo_loss_pixel: 0.000849 , color_loss_pixel: 0.0437 Mapper has updated point features. �[32m Mapping Frame 1175 �[0m 69 locations to add points. 49 locations to add points based on pixel gradients. idx: 1175 , time 0.193626 , geo_loss_pixel: 0.000834 , color_loss_pixel: 0.0403 Mapper has updated point features. �[32m Mapping Frame 1180 �[0m 68 locations to add points. 44 locations to add points based on pixel gradients. idx: 1180 , time 0.201982 , geo_loss_pixel: 0.000887 , color_loss_pixel: 0.0401 Mapper has updated point features. �[32m Mapping Frame 1185 �[0m 54 locations to add points. 57 locations to add points based on pixel gradients. idx: 1185 , time 0.173914 , geo_loss_pixel: 0.000799 , color_loss_pixel: 0.0396 Mapper has updated point features. �[32m Mapping Frame 1190 �[0m 55 locations to add points. 42 locations to add points based on pixel gradients. idx: 1190 , time 0.215512 , geo_loss_pixel: 0.000917 , color_loss_pixel: 0.0431 Mapper has updated point features. �[32m Mapping Frame 1195 �[0m 74 locations to add points. 83 locations to add points based on pixel gradients. idx: 1195 , time 0.176703 , geo_loss_pixel: 0.000884 , color_loss_pixel: 0.0395 Mapper has updated point features. �[32m Mapping Frame 1200 �[0m 64 locations to add points. 61 locations to add points based on pixel gradients. idx: 1200 , time 0.210430 , geo_loss_pixel: 0.000835 , color_loss_pixel: 0.0388 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01200_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1205 �[0m 59 locations to add points. 41 locations to add points based on pixel gradients. idx: 1205 , time 0.168464 , geo_loss_pixel: 0.000883 , color_loss_pixel: 0.0404 Mapper has updated point features. �[32m Mapping Frame 1210 �[0m 61 locations to add points. 64 locations to add points based on pixel gradients. idx: 1210 , time 0.198716 , geo_loss_pixel: 0.000866 , color_loss_pixel: 0.0414 Mapper has updated point features. �[32m Mapping Frame 1215 �[0m 73 locations to add points. 58 locations to add points based on pixel gradients. idx: 1215 , time 0.185862 , geo_loss_pixel: 0.000853 , color_loss_pixel: 0.0411 Mapper has updated point features. �[32m Mapping Frame 1220 �[0m 50 locations to add points. 44 locations to add points based on pixel gradients. idx: 1220 , time 0.182105 , geo_loss_pixel: 0.000862 , color_loss_pixel: 0.0421 Mapper has updated point features. �[32m Mapping Frame 1225 �[0m 50 locations to add points. 38 locations to add points based on pixel gradients. idx: 1225 , time 0.168429 , geo_loss_pixel: 0.000884 , color_loss_pixel: 0.0411 Mapper has updated point features. �[32m Mapping Frame 1230 �[0m 58 locations to add points. 27 locations to add points based on pixel gradients. idx: 1230 , time 0.258738 , geo_loss_pixel: 0.000930 , color_loss_pixel: 0.0410 Mapper has updated point features. �[32m Mapping Frame 1235 �[0m 64 locations to add points. 48 locations to add points based on pixel gradients. idx: 1235 , time 0.353782 , geo_loss_pixel: 0.000867 , color_loss_pixel: 0.0394 Mapper has updated point features. �[32m Mapping Frame 1240 �[0m 52 locations to add points. 45 locations to add points based on pixel gradients. idx: 1240 , time 0.185920 , geo_loss_pixel: 0.000881 , color_loss_pixel: 0.0429 Mapper has updated point features. �[32m Mapping Frame 1245 �[0m 69 locations to add points. 40 locations to add points based on pixel gradients. idx: 1245 , time 0.164742 , geo_loss_pixel: 0.000820 , color_loss_pixel: 0.0394 Mapper has updated point features. �[32m Mapping Frame 1250 �[0m 54 locations to add points. 40 locations to add points based on pixel gradients. idx: 1250 , time 0.161321 , geo_loss_pixel: 0.000782 , color_loss_pixel: 0.0393 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01250_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1255 �[0m 48 locations to add points. 30 locations to add points based on pixel gradients. idx: 1255 , time 0.139920 , geo_loss_pixel: 0.000824 , color_loss_pixel: 0.0387 Mapper has updated point features. �[32m Mapping Frame 1260 �[0m 53 locations to add points. 29 locations to add points based on pixel gradients. idx: 1260 , time 0.177120 , geo_loss_pixel: 0.000893 , color_loss_pixel: 0.0420 Mapper has updated point features. �[32m Mapping Frame 1265 �[0m 45 locations to add points. 24 locations to add points based on pixel gradients. idx: 1265 , time 0.214475 , geo_loss_pixel: 0.000884 , color_loss_pixel: 0.0395 Mapper has updated point features. �[32m Mapping Frame 1270 �[0m 50 locations to add points. 16 locations to add points based on pixel gradients. idx: 1270 , time 0.198637 , geo_loss_pixel: 0.000752 , color_loss_pixel: 0.0383 Mapper has updated point features. �[32m Mapping Frame 1275 �[0m 62 locations to add points. 21 locations to add points based on pixel gradients. idx: 1275 , time 0.189562 , geo_loss_pixel: 0.000805 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 1280 �[0m 54 locations to add points. 16 locations to add points based on pixel gradients. idx: 1280 , time 0.149208 wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. Tracking Frame 1175 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1176 �[0m �[35m Tracking Frame 1177 �[0m �[35m Tracking Frame 1178 �[0m �[35m Tracking Frame 1179 �[0m �[35m Tracking Frame 1180 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1181 �[0m �[35m Tracking Frame 1182 �[0m �[35m Tracking Frame 1183 �[0m �[35m Tracking Frame 1184 �[0m �[35m Tracking Frame 1185 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1186 �[0m �[35m Tracking Frame 1187 �[0m �[35m Tracking Frame 1188 �[0m �[35m Tracking Frame 1189 �[0m �[35m Tracking Frame 1190 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1191 �[0m �[35m Tracking Frame 1192 �[0m �[35m Tracking Frame 1193 �[0m �[35m Tracking Frame 1194 �[0m �[35m Tracking Frame 1195 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1196 �[0m �[35m Tracking Frame 1197 �[0m �[35m Tracking Frame 1198 �[0m �[35m Tracking Frame 1199 �[0m �[35m Tracking Frame 1200 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/01200_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1201 �[0m �[35m Tracking Frame 1202 �[0m �[35m Tracking Frame 1203 �[0m �[35m Tracking Frame 1204 �[0m �[35m Tracking Frame 1205 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1206 �[0m �[35m Tracking Frame 1207 �[0m �[35m Tracking Frame 1208 �[0m �[35m Tracking Frame 1209 �[0m �[35m Tracking Frame 1210 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1211 �[0m �[35m Tracking Frame 1212 �[0m �[35m Tracking Frame 1213 �[0m �[35m Tracking Frame 1214 �[0m �[35m Tracking Frame 1215 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1216 �[0m �[35m Tracking Frame 1217 �[0m �[35m Tracking Frame 1218 �[0m �[35m Tracking Frame 1219 �[0m �[35m Tracking Frame 1220 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1221 �[0m �[35m Tracking Frame 1222 �[0m �[35m Tracking Frame 1223 �[0m �[35m Tracking Frame 1224 �[0m �[35m Tracking Frame 1225 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1226 �[0m �[35m Tracking Frame 1227 �[0m �[35m Tracking Frame 1228 �[0m �[35m Tracking Frame 1229 �[0m �[35m Tracking Frame 1230 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1231 �[0m �[35m Tracking Frame 1232 �[0m �[35m Tracking Frame 1233 �[0m �[35m Tracking Frame 1234 �[0m �[35m Tracking Frame 1235 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1236 �[0m �[35m Tracking Frame 1237 �[0m �[35m Tracking Frame 1238 �[0m �[35m Tracking Frame 1239 �[0m �[35m Tracking Frame 1240 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1241 �[0m �[35m Tracking Frame 1242 �[0m �[35m Tracking Frame 1243 �[0m �[35m Tracking Frame 1244 �[0m �[35m Tracking Frame 1245 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1246 �[0m �[35m Tracking Frame 1247 �[0m �[35m Tracking Frame 1248 �[0m �[35m Tracking Frame 1249 �[0m �[35m Tracking Frame 1250 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1251 �[0m �[35m Tracking Frame 1252 �[0m �[35m Tracking Frame 1253 �[0m �[35m Tracking Frame 1254 �[0m �[35m Tracking Frame 1255 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1256 �[0m �[35m Tracking Frame 1257 �[0m �[35m Tracking Frame 1258 �[0m �[35m Tracking Frame 1259 �[0m �[35m Tracking Frame 1260 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1261 �[0m �[35m Tracking Frame 1262 �[0m �[35m Tracking Frame 1263 �[0m �[35m Tracking Frame 1264 �[0m �[35m Tracking Frame 1265 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1266 �[0m �[35m Tracking Frame 1267 �[0m �[35m Tracking Frame 1268 �[0m �[35m Tracking Frame 1269 �[0m �[35m Tracking Frame 1270 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1271 �[0m �[35m Tracking Frame 1272 �[0m �[35m Tracking Frame 1273 �[0m �[35m Tracking Frame 1274 �[0m �[35m Tracking Frame 1275 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1276 �[0m �[35m Tracking Frame 1277 �[0m �[35m Tracking Frame 1278 �[0m �[35m Tracking Frame 1279 �[0m �[35m Tracking Frame 1280 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1281 �[0m �[35m Tracking Frame 1282 �[0m �[35m Tracking Frame 1283 �[0m �[35m Tracking Frame 1284 �[0m �[35m Tracking Frame 1285 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1286 �[0m �[35m Tracking Frame 1287 �[0m �[35m Tracking Frame 1288 �[0m �[35m Tracking Frame 1289 �[0m �[35m Tracking Frame 1290 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1291 �[0m �[35m Tracking Frame 1292 �[0m �[35m Tracking Frame 1293 �[0m �[35m Tracking Frame 1294 �[0m �[35m 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1319 �[0m �[35m Tracking Frame 1320 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1321 �[0m �[35m Tracking Frame 1322 �[0m �[35m Tracking Frame 1323 �[0m �[35m Tracking Frame 1324 �[0m �[35m Tracking Frame 1325 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1326 �[0m �[35m Tracking Frame 1327 �[0m �[35m Tracking Frame 1328 �[0m �[35m Tracking Frame 1329 �[0m �[35m Tracking Frame 1330 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1331 �[0m �[35m Tracking Frame 1332 �[0m �[35m Tracking Frame 1333 �[0m �[35m Tracking Frame 1334 �[0m �[35m Tracking Frame 1335 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1336 �[0m �[35m Tracking Frame 1337 �[0m �[35m Tracking Frame 1338 �[0m �[35m Tracking Frame 1339 �[0m �[35m Tracking Frame 1340 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1341 �[0m �[35m Tracking Frame 1342 �[0m �[35m Tracking Frame 1343 �[0m �[35m Tracking Frame 1344 �[0m �[35m Tracking Frame 1345 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1346 �[0m �[35m Tracking Frame 1347 �[0m �[35m Tracking Frame 1348 �[0m �[35m Tracking Frame 1349 �[0m �[35m Tracking Frame 1350 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1351 �[0m �[35m Tracking Frame 1352 �[0m �[35m Tracking Frame 1353 �[0m �[35m Tracking Frame 1354 �[0m �[35m Tracking Frame 1355 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1356 �[0m �[35m Tracking Frame 1357 �[0m �[35m Tracking Frame 1358 �[0m �[35m Tracking Frame 1359 �[0m �[35m Tracking Frame 1360 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1361 �[0m �[35m Tracking Frame 1362 �[0m �[35m Tracking Frame 1363 �[0m �[35m Tracking Frame 1364 �[0m �[35m Tracking Frame 1365 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1366 �[0m �[35m Tracking Frame 1367 �[0m �[35m Tracking Frame 1368 �[0mwandb: Network error (TransientError), entering retry loop. , geo_loss_pixel: 0.000778 , color_loss_pixel: 0.0389 Mapper has updated point features. �[32m Mapping Frame 1285 �[0m 66 locations to add points. 18 locations to add points based on pixel gradients. idx: 1285 , time 0.189945 , geo_loss_pixel: 0.000928 , color_loss_pixel: 0.0419 Mapper has updated point features. �[32m Mapping Frame 1290 �[0m 69 locations to add points. 19 locations to add points based on pixel gradients. idx: 1290 , time 0.190278 , geo_loss_pixel: 0.000907 , color_loss_pixel: 0.0404 Mapper has updated point features. �[32m Mapping Frame 1295 �[0m 61 locations to add points. 21 locations to add points based on pixel gradients. idx: 1295 , time 0.190410 , geo_loss_pixel: 0.000869 , color_loss_pixel: 0.0400 Mapper has updated point features. �[32m Mapping Frame 1300 �[0m 55 locations to add points. 5 locations to add points based on pixel gradients. idx: 1300 , time 0.189586 , geo_loss_pixel: 0.000815 , color_loss_pixel: 0.0390 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01300_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1305 �[0m 57 locations to add points. 18 locations to add points based on pixel gradients. idx: 1305 , time 0.194942 , geo_loss_pixel: 0.000814 , color_loss_pixel: 0.0375 Mapper has updated point features. �[32m Mapping Frame 1310 �[0m 40 locations to add points. 10 locations to add points based on pixel gradients. idx: 1310 , time 0.177567 , geo_loss_pixel: 0.000782 , color_loss_pixel: 0.0395 Mapper has updated point features. �[32m Mapping Frame 1315 �[0m 65 locations to add points. 17 locations to add points based on pixel gradients. idx: 1315 , time 0.197246 , geo_loss_pixel: 0.000679 , color_loss_pixel: 0.0336 Mapper has updated point features. �[32m Mapping Frame 1320 �[0m 40 locations to add points. 17 locations to add points based on pixel gradients. idx: 1320 , time 0.184349 , geo_loss_pixel: 0.000754 , color_loss_pixel: 0.0384 Mapper has updated point features. �[32m Mapping Frame 1325 �[0m 33 locations to add points. 16 locations to add points based on pixel gradients. idx: 1325 , time 0.187095 , geo_loss_pixel: 0.000791 , color_loss_pixel: 0.0369 Mapper has updated point features. �[32m Mapping Frame 1330 �[0m 35 locations to add points. 14 locations to add points based on pixel gradients. idx: 1330 , time 0.146103 , geo_loss_pixel: 0.000732 , color_loss_pixel: 0.0356 Mapper has updated point features. �[32m Mapping Frame 1335 �[0m 37 locations to add points. 27 locations to add points based on pixel gradients. idx: 1335 , time 0.160625 , geo_loss_pixel: 0.000878 , color_loss_pixel: 0.0417 Mapper has updated point features. �[32m Mapping Frame 1340 �[0m 39 locations to add points. 21 locations to add points based on pixel gradients. idx: 1340 , time 0.150442 , geo_loss_pixel: 0.000662 , color_loss_pixel: 0.0336 Mapper has updated point features. �[32m Mapping Frame 1345 �[0m 31 locations to add points. 16 locations to add points based on pixel gradients. idx: 1345 , time 0.191771 , geo_loss_pixel: 0.000654 , color_loss_pixel: 0.0340 Mapper has updated point features. �[32m Mapping Frame 1350 �[0m 32 locations to add points. 18 locations to add points based on pixel gradients. idx: 1350 , time 0.207932 , geo_loss_pixel: 0.000690 , color_loss_pixel: 0.0366 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01350_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1355 �[0m 30 locations to add points. 20 locations to add points based on pixel gradients. idx: 1355 , time 0.221512 , geo_loss_pixel: 0.000732 , color_loss_pixel: 0.0376 Mapper has updated point features. �[32m Mapping Frame 1360 �[0m 25 locations to add points. 31 locations to add points based on pixel gradients. idx: 1360 , time 0.235891 , geo_loss_pixel: 0.000806 , color_loss_pixel: 0.0385 Mapper has updated point features. �[32m Mapping Frame 1365 �[0m 34 locations to add points. 34 locations to add points based on pixel gradients. idx: 1365 , time 0.204223 , geo_loss_pixel: 0.000736 , color_loss_pixel: 0.0357 Mapper has updated point features. �[32m Mapping Frame 1370 �[0m 29 locations to add points. 25 locations to add points based on pixel gradients. idx: 1370 , time 0.184489 , geo_loss_pixel: 0.000726 , color_loss_pixel: 0.0377 Mapper has updated point features. �[32m Mapping Frame 1375 �[0m 30 locations to add points. 27 locations to add points based on pixel gradients. idx: 1375 , time 0.182172 , geo_loss_pixel: 0.000794 , color_loss_pixel: 0.0364 Mapper has updated point features. �[32m Mapping Frame 1380 �[0m 26 locations to add points. 25 locations to add points based on pixel gradients. idx: 1380 , time 0.167101 , geo_loss_pixel: 0.000744 , color_loss_pixel: 0.0371 Mapper has updated point features. �[32m Mapping Frame 1385 �[0m 30 locations to add points. 21 locations to add points based on pixel gradients. idx: 1385 , time 0.160610 , geo_loss_pixel: 0.000698 , color_loss_pixel: 0.0362 Mapper has updated point features. �[32m Mapping Frame 1390 �[0m 29 locations to add points. 35 locations to add points based on pixel gradients. idx: 1390 , time 0.179782 , geo_loss_pixel: 0.000763 , color_loss_pixel: 0.0368 Mapper has updated point features. �[32m Mapping Frame 1395 �[0m 40 locations to add points. 31 locations to add points based on pixel gradients. idx: 1395 , time 0.126721 , geo_loss_pixel: 0.000718 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 1400 �[0m 53 locations to add points. 28 locations to add points based on pixel gradients. idx: 1400 , time 0.343669 , geo_loss_pixel: 0.000815 , color_loss_pixel: 0.0391 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01400_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1405 �[0m 40 locations to add points. 26 locations to add points based on pixel gradients. idx: 1405 , time 0.207788 , geo_loss_pixel: 0.000745 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 1410 �[0m 35 locations to add points. 26 locations to add points based on pixel gradients. idx: 1410 , time 0.138840 , geo_loss_pixel: 0.000793 , color_loss_pixel: 0.0382 Mapper has updated point features. �[32m Mapping Frame 1415 �[0m 42 locations to add points. 34 locations to add points based on pixel gradients. idx: 1415 , time 0.185291 , geo_loss_pixel: 0.000699 , color_loss_pixel: 0.0361 Mapper has updated point features. �[32m Mapping Frame 1420 �[0m 31 locations to add points. 23 locations to add points based on pixel gradients. idx: 1420 , time 0.200266 , geo_loss_pixel: 0.000837 , color_loss_pixel: 0.0390 Mapper has updated point features. �[32m Mapping Frame 1425 �[0m 43 locations to add points. 24 locations to add points based on pixel gradients. idx: 1425 , time 0.184677 , geo_loss_pixel: 0.000855 , color_loss_pixel: 0.0412 Mapper has updated point features. �[32m Mapping Frame 1430 �[0m 22 locations to add points. 17 locations to add points based on pixel gradients. idx: 1430 , time 0.179313 , geo_loss_pixel: 0.000767 , color_loss_pixel: 0.0397 Mapper has updated point features. �[32m Mapping Frame 1435 �[0m 41 locations to add points. 28 locations to add points based on pixel gradients. idx: 1435 , time 0.231480 , geo_loss_pixel: 0.000776 , color_loss_pixel: 0.0371 Mapper has updated point features. �[32m Mapping Frame 1440 �[0m 31 locations to add points. 31 locations to add points based on pixel gradients. idx: 1440 , time 0.200569 , geo_loss_pixel: 0.000780 , color_loss_pixel: 0.0392 Mapper has updated point features. �[32m Mapping Frame 1445 �[0m 47 locations to add points. 29 locations to add points based on pixel gradients. idx: 1445 , time 0.204551 , geo_loss_pixel: 0.000764 , color_loss_pixel: 0.0385 Mapper has updated point features. �[32m Mapping Frame 1450 �[0m 33 locations to add points. 28 locations to add points based on pixel gradients. idx: 1450 , time 0.176482 , geo_loss_pixel: wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop.

�[35m Tracking Frame 1369 �[0m �[35m Tracking Frame 1370 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1371 �[0m �[35m Tracking Frame 1372 �[0m �[35m Tracking Frame 1373 �[0m �[35m Tracking Frame 1374 �[0m �[35m Tracking Frame 1375 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1376 �[0m �[35m Tracking Frame 1377 �[0m �[35m Tracking Frame 1378 �[0m �[35m Tracking Frame 1379 �[0m �[35m Tracking Frame 1380 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1381 �[0m �[35m Tracking Frame 1382 �[0m �[35m Tracking Frame 1383 �[0m �[35m Tracking Frame 1384 �[0m �[35m Tracking Frame 1385 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1386 �[0m �[35m Tracking Frame 1387 �[0m �[35m Tracking Frame 1388 �[0m �[35m Tracking Frame 1389 �[0m �[35m Tracking Frame 1390 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1391 �[0m �[35m Tracking Frame 1392 �[0m �[35m Tracking Frame 1393 �[0m �[35m Tracking Frame 1394 �[0m �[35m Tracking Frame 1395 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1396 �[0m �[35m Tracking Frame 1397 �[0m �[35m Tracking Frame 1398 �[0m �[35m Tracking Frame 1399 �[0m �[35m Tracking Frame 1400 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/01400_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1401 �[0m �[35m Tracking Frame 1402 �[0m �[35m Tracking Frame 1403 �[0m �[35m Tracking Frame 1404 �[0m �[35m Tracking Frame 1405 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1406 �[0m �[35m Tracking Frame 1407 �[0m �[35m Tracking Frame 1408 �[0m �[35m Tracking Frame 1409 �[0m �[35m Tracking Frame 1410 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1411 �[0m �[35m Tracking Frame 1412 �[0m �[35m Tracking Frame 1413 �[0m �[35m Tracking Frame 1414 �[0m �[35m Tracking Frame 1415 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1416 �[0m �[35m Tracking Frame 1417 �[0m �[35m Tracking Frame 1418 �[0m �[35m Tracking Frame 1419 �[0m �[35m Tracking Frame 1420 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1421 �[0m �[35m Tracking Frame 1422 �[0m �[35m Tracking Frame 1423 �[0m �[35m Tracking Frame 1424 �[0m �[35m Tracking Frame 1425 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1426 �[0m �[35m Tracking Frame 1427 �[0m �[35m Tracking Frame 1428 �[0m �[35m Tracking Frame 1429 �[0m �[35m Tracking Frame 1430 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1431 �[0m �[35m Tracking Frame 1432 �[0m �[35m Tracking Frame 1433 �[0m �[35m Tracking Frame 1434 �[0m �[35m Tracking Frame 1435 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1436 �[0m �[35m Tracking Frame 1437 �[0m �[35m Tracking Frame 1438 �[0m �[35m Tracking Frame 1439 �[0m �[35m Tracking Frame 1440 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1441 �[0m �[35m Tracking Frame 1442 �[0m �[35m Tracking Frame 1443 �[0m �[35m Tracking Frame 1444 �[0m �[35m Tracking Frame 1445 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1446 �[0m �[35m Tracking Frame 1447 �[0m �[35m Tracking Frame 1448 �[0m �[35m Tracking Frame 1449 �[0m �[35m Tracking Frame 1450 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1451 �[0m �[35m Tracking Frame 1452 �[0m �[35m Tracking Frame 1453 �[0m �[35m Tracking Frame 1454 �[0m �[35m Tracking Frame 1455 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1456 �[0m �[35m Tracking Frame 1457 �[0m �[35m Tracking Frame 1458 �[0m �[35m Tracking Frame 1459 �[0m �[35m Tracking Frame 1460 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1461 �[0m �[35m Tracking Frame 1462 �[0m �[35m Tracking Frame 1463 �[0m �[35m Tracking Frame 1464 �[0m �[35m Tracking Frame 1465 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1466 �[0m �[35m Tracking Frame 1467 �[0m �[35m Tracking Frame 1468 �[0m �[35m Tracking Frame 1469 �[0m �[35m Tracking Frame 1470 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1471 �[0m �[35m Tracking Frame 1472 �[0m �[35m Tracking Frame 1473 �[0m �[35m Tracking Frame 1474 �[0m �[35m Tracking Frame 1475 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1476 �[0m �[35m Tracking Frame 1477 �[0m �[35m Tracking Frame 1478 �[0m �[35m Tracking Frame 1479 �[0m �[35m Tracking Frame 1480 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1481 �[0m �[35m Tracking Frame 1482 �[0m �[35m Tracking Frame 1483 �[0m �[35m Tracking Frame 1484 �[0m �[35m Tracking Frame 1485 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1486 �[0m �[35m Tracking Frame 1487 �[0m �[35m Tracking Frame 1488 �[0m �[35m Tracking Frame 1489 �[0m �[35m Tracking Frame 1490 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1491 �[0m �[35m Tracking Frame 1492 �[0m �[35m Tracking Frame 1493 �[0m �[35m Tracking Frame 1494 �[0m �[35m Tracking Frame 1495 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1496 �[0m �[35m Tracking Frame 1497 �[0m �[35m Tracking Frame 1498 �[0m �[35m Tracking Frame 1499 �[0m �[35m Tracking Frame 1500 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1501 �[0m �[35m Tracking Frame 1502 �[0m �[35m Tracking Frame 1503 �[0m �[35m Tracking Frame 1504 �[0m �[35m Tracking Frame 1505 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1506 �[0m �[35m Tracking Frame 1507 �[0m �[35m Tracking Frame 1508 �[0m �[35m Tracking Frame 1509 �[0m �[35m Tracking Frame 1510 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1511 �[0m �[35m Tracking Frame 1512 �[0m �[35m Tracking Frame 1513 �[0m �[35m Tracking Frame 1514 �[0m �[35m Tracking Frame 1515 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1516 �[0m �[35m Tracking Frame 1517 �[0m �[35m Tracking Frame 1518 �[0m �[35m Tracking Frame 1519 �[0m �[35m Tracking Frame 1520 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1521 �[0m �[35m Tracking Frame 1522 �[0m �[35m Tracking Frame 1523 �[0m �[35m Tracking Frame 1524 �[0m �[35m Tracking Frame 1525 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1526 �[0m �[35m Tracking Frame 1527 �[0m �[35m Tracking Frame 1528 �[0m �[35m Tracking Frame 1529 �[0m �[35m Tracking Frame 1530 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1531 �[0m �[35m Tracking Frame 1532 �[0m �[35m Tracking Frame 1533 �[0m �[35m Tracking Frame 1534 �[0m �[35m Tracking Frame 1535 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1536 �[0m �[35m Tracking Frame 1537 �[0m �[35m Tracking Frame 1538 �[0m �[35m Tracking Frame 1539 �[0m �[35m Tracking Frame 1540 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1541 �[0m �[35m Tracking Frame 1542 �[0m �[35m Tracking Frame 1543 �[0m �[35m Tracking Frame 1544 �[0m �[35m Tracking Frame 1545 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1546 �[0m �[35m Tracking Frame 1547 �[0m �[35m Tracking Frame 1548 �[0m �[35m Tracking Frame 1549 �[0m �[35m Tracking Frame 1550 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1551 �[0m �[35m Tracking Frame 1552 �[0m �[35m Tracking Frame 1553 �[0m �[35m Tracking Frame 1554 �[0m �[35m Tracking Frame 1555 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1556 �[0m �[35m Tracking Frame 1557 �[0m �[35m Tracking Frame 1558 �[0m �[35m Tracking Frame 1559 �[0m �[35m Tracking Frame 1560 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1561 �[0m �[35m Tracking Frame wandb: Network error (TransientError), entering retry loop. 0.000796 , color_loss_pixel: 0.0383 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01450_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1455 �[0m 44 locations to add points. 37 locations to add points based on pixel gradients. idx: 1455 , time 0.182121 , geo_loss_pixel: 0.000777 , color_loss_pixel: 0.0373 Mapper has updated point features. �[32m Mapping Frame 1460 �[0m 40 locations to add points. 24 locations to add points based on pixel gradients. idx: 1460 , time 0.180784 , geo_loss_pixel: 0.000828 , color_loss_pixel: 0.0402 Mapper has updated point features. �[32m Mapping Frame 1465 �[0m 42 locations to add points. 38 locations to add points based on pixel gradients. idx: 1465 , time 0.178919 , geo_loss_pixel: 0.000759 , color_loss_pixel: 0.0367 Mapper has updated point features. �[32m Mapping Frame 1470 �[0m 55 locations to add points. 38 locations to add points based on pixel gradients. idx: 1470 , time 0.221620 , geo_loss_pixel: 0.000862 , color_loss_pixel: 0.0397 Mapper has updated point features. �[32m Mapping Frame 1475 �[0m 55 locations to add points. 44 locations to add points based on pixel gradients. idx: 1475 , time 0.213889 , geo_loss_pixel: 0.000810 , color_loss_pixel: 0.0381 Mapper has updated point features. �[32m Mapping Frame 1480 �[0m 34 locations to add points. 29 locations to add points based on pixel gradients. idx: 1480 , time 0.159956 , geo_loss_pixel: 0.000745 , color_loss_pixel: 0.0350 Mapper has updated point features. �[32m Mapping Frame 1485 �[0m 50 locations to add points. 27 locations to add points based on pixel gradients. idx: 1485 , time 0.183476 , geo_loss_pixel: 0.000790 , color_loss_pixel: 0.0358 Mapper has updated point features. �[32m Mapping Frame 1490 �[0m 56 locations to add points. 18 locations to add points based on pixel gradients. idx: 1490 , time 0.186088 , geo_loss_pixel: 0.000765 , color_loss_pixel: 0.0350 Mapper has updated point features. �[32m Mapping Frame 1495 �[0m 48 locations to add points. 26 locations to add points based on pixel gradients. idx: 1495 , time 0.152769 , geo_loss_pixel: 0.000819 , color_loss_pixel: 0.0380 Mapper has updated point features. �[32m Mapping Frame 1500 �[0m 40 locations to add points. 32 locations to add points based on pixel gradients. idx: 1500 , time 0.168053 , geo_loss_pixel: 0.000779 , color_loss_pixel: 0.0358 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01500_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1505 �[0m 56 locations to add points. 18 locations to add points based on pixel gradients. idx: 1505 , time 0.131389 , geo_loss_pixel: 0.000781 , color_loss_pixel: 0.0349 Mapper has updated point features. �[32m Mapping Frame 1510 �[0m 57 locations to add points. 11 locations to add points based on pixel gradients. idx: 1510 , time 0.200862 , geo_loss_pixel: 0.000846 , color_loss_pixel: 0.0382 Mapper has updated point features. �[32m Mapping Frame 1515 �[0m 28 locations to add points. 13 locations to add points based on pixel gradients. idx: 1515 , time 0.197127 , geo_loss_pixel: 0.000786 , color_loss_pixel: 0.0376 Mapper has updated point features. �[32m Mapping Frame 1520 �[0m 46 locations to add points. 17 locations to add points based on pixel gradients. idx: 1520 , time 0.373556 , geo_loss_pixel: 0.000809 , color_loss_pixel: 0.0370 Mapper has updated point features. �[32m Mapping Frame 1525 �[0m 35 locations to add points. 14 locations to add points based on pixel gradients. idx: 1525 , time 0.222010 , geo_loss_pixel: 0.000734 , color_loss_pixel: 0.0360 Mapper has updated point features. �[32m Mapping Frame 1530 �[0m 31 locations to add points. 15 locations to add points based on pixel gradients. idx: 1530 , time 0.231123 , geo_loss_pixel: 0.000836 , color_loss_pixel: 0.0409 Mapper has updated point features. �[32m Mapping Frame 1535 �[0m 30 locations to add points. 15 locations to add points based on pixel gradients. idx: 1535 , time 0.221689 , geo_loss_pixel: 0.000821 , color_loss_pixel: 0.0365 Mapper has updated point features. �[32m Mapping Frame 1540 �[0m 22 locations to add points. 23 locations to add points based on pixel gradients. idx: 1540 , time 0.229770 , geo_loss_pixel: 0.000768 , color_loss_pixel: 0.0356 Mapper has updated point features. �[32m Mapping Frame 1545 �[0m 27 locations to add points. 11 locations to add points based on pixel gradients. idx: 1545 , time 0.191463 , geo_loss_pixel: 0.000744 , color_loss_pixel: 0.0359 Mapper has updated point features. �[32m Mapping Frame 1550 �[0m 32 locations to add points. 12 locations to add points based on pixel gradients. idx: 1550 , time 0.191559 , geo_loss_pixel: 0.000722 , color_loss_pixel: 0.0364 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01550_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1555 �[0m 24 locations to add points. 20 locations to add points based on pixel gradients. idx: 1555 , time 0.170429 , geo_loss_pixel: 0.000720 , color_loss_pixel: 0.0383 Mapper has updated point features. �[32m Mapping Frame 1560 �[0m 39 locations to add points. 18 locations to add points based on pixel gradients. idx: 1560 , time 0.201007 , geo_loss_pixel: 0.000734 , color_loss_pixel: 0.0378 Mapper has updated point features. �[32m Mapping Frame 1565 �[0m 41 locations to add points. 21 locations to add points based on pixel gradients. idx: 1565 , time 0.148596 , geo_loss_pixel: 0.000746 , color_loss_pixel: 0.0383 Mapper has updated point features. �[32m Mapping Frame 1570 �[0m 42 locations to add points. 22 locations to add points based on pixel gradients. idx: 1570 , time 0.218725 , geo_loss_pixel: 0.000653 , color_loss_pixel: 0.0335 Mapper has updated point features. �[32m Mapping Frame 1575 �[0m 34 locations to add points. 17 locations to add points based on pixel gradients. idx: 1575 , time 0.182341 , geo_loss_pixel: 0.000685 , color_loss_pixel: 0.0358 Mapper has updated point features. �[32m Mapping Frame 1580 �[0m 23 locations to add points. 35 locations to add points based on pixel gradients. idx: 1580 , time 0.193229 , geo_loss_pixel: 0.000665 , color_loss_pixel: 0.0355 Mapper has updated point features. �[32m Mapping Frame 1585 �[0m 52 locations to add points. 25 locations to add points based on pixel gradients. idx: 1585 , time 0.217474 , geo_loss_pixel: 0.000690 , color_loss_pixel: 0.0361 Mapper has updated point features. �[32m Mapping Frame 1590 �[0m 39 locations to add points. 37 locations to add points based on pixel gradients. idx: 1590 , time 0.175169 , geo_loss_pixel: 0.000658 , color_loss_pixel: 0.0344 Mapper has updated point features. �[32m Mapping Frame 1595 �[0m 45 locations to add points. 43 locations to add points based on pixel gradients. idx: 1595 , time 0.215606 , geo_loss_pixel: 0.000762 , color_loss_pixel: 0.0384 Mapper has updated point features. �[32m Mapping Frame 1600 �[0m 30 locations to add points. 23 locations to add points based on pixel gradients. idx: 1600 , time 0.170440 , geo_loss_pixel: 0.000665 , color_loss_pixel: 0.0362 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01600_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1605 �[0m 46 locations to add points. 28 locations to add points based on pixel gradients. idx: 1605 , time 0.195668 , geo_loss_pixel: 0.000623 , color_loss_pixel: 0.0332 Mapper has updated point features. �[32m Mapping Frame 1610 �[0m 47 locations to add points. 25 locations to add points based on pixel gradients. idx: 1610 , time 0.236592 , geo_loss_pixel: 0.000622 , color_loss_pixel: 0.0347 Mapper has updated point features. �[32m Mapping Frame 1615 �[0m 26 locations to add points. 24 locations to add points based on pixel gradients. idx: 1615 , time 0.324105 , geo_loss_pixel: 0.000716 , color_loss_pixel: 0.0345 Mapper has updated point features. �[32m Mapping Frame 1620 �[0m 51 locations to add points.wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. 1562 �[0m �[35m Tracking Frame 1563 �[0m �[35m Tracking Frame 1564 �[0m �[35m Tracking Frame 1565 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1566 �[0m �[35m Tracking Frame 1567 �[0m �[35m Tracking Frame 1568 �[0m �[35m Tracking Frame 1569 �[0m �[35m Tracking Frame 1570 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1571 �[0m �[35m Tracking Frame 1572 �[0m �[35m Tracking Frame 1573 �[0m �[35m Tracking Frame 1574 �[0m �[35m Tracking Frame 1575 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1576 �[0m �[35m Tracking Frame 1577 �[0m �[35m Tracking Frame 1578 �[0m �[35m Tracking Frame 1579 �[0m �[35m Tracking Frame 1580 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1581 �[0m �[35m Tracking Frame 1582 �[0m �[35m Tracking Frame 1583 �[0m �[35m Tracking Frame 1584 �[0m �[35m Tracking Frame 1585 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1586 �[0m �[35m Tracking Frame 1587 �[0m �[35m Tracking Frame 1588 �[0m �[35m Tracking Frame 1589 �[0m �[35m Tracking Frame 1590 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1591 �[0m �[35m Tracking Frame 1592 �[0m �[35m Tracking Frame 1593 �[0m �[35m Tracking Frame 1594 �[0m �[35m Tracking Frame 1595 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1596 �[0m �[35m Tracking Frame 1597 �[0m �[35m Tracking Frame 1598 �[0m �[35m Tracking Frame 1599 �[0m �[35m Tracking Frame 1600 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/01600_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1601 �[0m �[35m Tracking Frame 1602 �[0m �[35m Tracking Frame 1603 �[0m �[35m Tracking Frame 1604 �[0m �[35m Tracking Frame 1605 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1606 �[0m �[35m Tracking Frame 1607 �[0m �[35m Tracking Frame 1608 �[0m �[35m Tracking Frame 1609 �[0m �[35m Tracking Frame 1610 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1611 �[0m �[35m Tracking Frame 1612 �[0m �[35m Tracking Frame 1613 �[0m �[35m Tracking Frame 1614 �[0m �[35m Tracking Frame 1615 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1616 �[0m �[35m Tracking Frame 1617 �[0m �[35m Tracking Frame 1618 �[0m �[35m Tracking Frame 1619 �[0m �[35m Tracking Frame 1620 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1621 �[0m �[35m Tracking Frame 1622 �[0m �[35m Tracking Frame 1623 �[0m �[35m Tracking Frame 1624 �[0m �[35m Tracking Frame 1625 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1626 �[0m �[35m Tracking Frame 1627 �[0m �[35m Tracking Frame 1628 �[0m �[35m Tracking Frame 1629 �[0m �[35m Tracking Frame 1630 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1631 �[0m �[35m Tracking Frame 1632 �[0m �[35m Tracking Frame 1633 �[0m �[35m Tracking Frame 1634 �[0m �[35m Tracking Frame 1635 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1636 �[0m �[35m Tracking Frame 1637 �[0m �[35m Tracking Frame 1638 �[0m �[35m Tracking Frame 1639 �[0m �[35m Tracking Frame 1640 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1641 �[0m �[35m Tracking Frame 1642 �[0m �[35m Tracking Frame 1643 �[0m �[35m Tracking Frame 1644 �[0m �[35m Tracking Frame 1645 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1646 �[0m �[35m Tracking Frame 1647 �[0m �[35m Tracking Frame 1648 �[0m �[35m Tracking Frame 1649 �[0m �[35m Tracking Frame 1650 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1651 �[0m �[35m Tracking Frame 1652 �[0m �[35m Tracking Frame 1653 �[0m �[35m Tracking Frame 1654 �[0m �[35m Tracking Frame 1655 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1656 �[0m �[35m Tracking Frame 1657 �[0m �[35m Tracking Frame 1658 �[0m �[35m Tracking Frame 1659 �[0m �[35m Tracking Frame 1660 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1661 �[0m �[35m Tracking Frame 1662 �[0m �[35m Tracking Frame 1663 �[0m �[35m Tracking Frame 1664 �[0m �[35m Tracking Frame 1665 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1666 �[0m �[35m Tracking Frame 1667 �[0m �[35m Tracking Frame 1668 �[0m �[35m Tracking Frame 1669 �[0m �[35m Tracking Frame 1670 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1671 �[0m �[35m Tracking Frame 1672 �[0m �[35m Tracking Frame 1673 �[0m �[35m Tracking Frame 1674 �[0m �[35m Tracking Frame 1675 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1676 �[0m �[35m Tracking Frame 1677 �[0m �[35m Tracking Frame 1678 �[0m �[35m Tracking Frame 1679 �[0m �[35m Tracking Frame 1680 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1681 �[0m �[35m Tracking Frame 1682 �[0m �[35m Tracking Frame 1683 �[0m �[35m Tracking Frame 1684 �[0m �[35m Tracking Frame 1685 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1686 �[0m �[35m Tracking Frame 1687 �[0m �[35m Tracking Frame 1688 �[0m �[35m Tracking Frame 1689 �[0m �[35m Tracking Frame 1690 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1691 �[0m �[35m Tracking Frame 1692 �[0m �[35m Tracking Frame 1693 �[0m �[35m Tracking Frame 1694 �[0m �[35m Tracking Frame 1695 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1696 �[0m �[35m Tracking Frame 1697 �[0m �[35m Tracking Frame 1698 �[0m �[35m Tracking Frame 1699 �[0m �[35m Tracking Frame 1700 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1701 �[0m �[35m Tracking Frame 1702 �[0m �[35m Tracking Frame 1703 �[0m �[35m Tracking Frame 1704 �[0m �[35m Tracking Frame 1705 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1706 �[0m �[35m Tracking Frame 1707 �[0m �[35m Tracking Frame 1708 �[0m �[35m Tracking Frame 1709 �[0m �[35m Tracking Frame 1710 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1711 �[0m �[35m Tracking Frame 1712 �[0m �[35m Tracking Frame 1713 �[0m �[35m Tracking Frame 1714 �[0m �[35m Tracking Frame 1715 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1716 �[0m �[35m Tracking Frame 1717 �[0m �[35m Tracking Frame 1718 �[0m �[35m Tracking Frame 1719 �[0m �[35m Tracking Frame 1720 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1721 �[0m �[35m Tracking Frame 1722 �[0m �[35m Tracking Frame 1723 �[0m �[35m Tracking Frame 1724 �[0m �[35m Tracking Frame 1725 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1726 �[0m �[35m Tracking Frame 1727 �[0m �[35m Tracking Frame 1728 �[0m �[35m Tracking Frame 1729 �[0m �[35m Tracking Frame 1730 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1731 �[0m �[35m Tracking Frame 1732 �[0m �[35m Tracking Frame 1733 �[0m �[35m Tracking Frame 1734 �[0m �[35m Tracking Frame 1735 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1736 �[0m �[35m Tracking Frame 1737 �[0m �[35m Tracking Frame 1738 �[0m �[35m Tracking Frame 1739 �[0m �[35m Tracking Frame 1740 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1741 �[0m �[35m Tracking Frame 1742 �[0m �[35m Tracking Frame 1743 �[0m �[35m Tracking Frame 1744 �[0m �[35m Tracking Frame 1745 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1746 �[0m �[35m Tracking Frame 1747 �[0m �[35m Tracking Frame 1748 �[0m �[35m Tracking Frame 1749 �[0m �[35m Tracking Frame 1750 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1751 �[0m �[35m Tracking Frame 1752 �[0m �[35m Tracking Frame 1753 �[0m �[35m Tracking Frame 1754 �[0m �[35m Tracking Frame 1755 �[0m Tracker has updated the parameters from Mapper. �[35m

33 locations to add points based on pixel gradients. idx: 1620 , time 0.188871 , geo_loss_pixel: 0.000631 , color_loss_pixel: 0.0343 Mapper has updated point features. �[32m Mapping Frame 1625 �[0m 32 locations to add points. 29 locations to add points based on pixel gradients. idx: 1625 , time 0.192871 , geo_loss_pixel: 0.000726 , color_loss_pixel: 0.0383 Mapper has updated point features. �[32m Mapping Frame 1630 �[0m 37 locations to add points. 23 locations to add points based on pixel gradients. idx: 1630 , time 0.198447 , geo_loss_pixel: 0.000671 , color_loss_pixel: 0.0358 Mapper has updated point features. �[32m Mapping Frame 1635 �[0m 34 locations to add points. 25 locations to add points based on pixel gradients. idx: 1635 , time 0.233269 , geo_loss_pixel: 0.000809 , color_loss_pixel: 0.0418 Mapper has updated point features. �[32m Mapping Frame 1640 �[0m 20 locations to add points. 22 locations to add points based on pixel gradients. idx: 1640 , time 0.195114 , geo_loss_pixel: 0.000654 , color_loss_pixel: 0.0358 Mapper has updated point features. �[32m Mapping Frame 1645 �[0m 39 locations to add points. 21 locations to add points based on pixel gradients. idx: 1645 , time 0.199406 , geo_loss_pixel: 0.000713 , color_loss_pixel: 0.0377 Mapper has updated point features. �[32m Mapping Frame 1650 �[0m 29 locations to add points. 17 locations to add points based on pixel gradients. idx: 1650 , time 0.297383 , geo_loss_pixel: 0.000628 , color_loss_pixel: 0.0344 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01650_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1655 �[0m 20 locations to add points. 15 locations to add points based on pixel gradients. idx: 1655 , time 0.184752 , geo_loss_pixel: 0.000634 , color_loss_pixel: 0.0352 Mapper has updated point features. �[32m Mapping Frame 1660 �[0m 22 locations to add points. 23 locations to add points based on pixel gradients. idx: 1660 , time 0.141257 , geo_loss_pixel: 0.000686 , color_loss_pixel: 0.0361 Mapper has updated point features. �[32m Mapping Frame 1665 �[0m 30 locations to add points. 12 locations to add points based on pixel gradients. idx: 1665 , time 0.181290 , geo_loss_pixel: 0.000703 , color_loss_pixel: 0.0365 Mapper has updated point features. �[32m Mapping Frame 1670 �[0m 33 locations to add points. 19 locations to add points based on pixel gradients. idx: 1670 , time 0.219695 , geo_loss_pixel: 0.000749 , color_loss_pixel: 0.0380 Mapper has updated point features. �[32m Mapping Frame 1675 �[0m 24 locations to add points. 20 locations to add points based on pixel gradients. idx: 1675 , time 0.211232 , geo_loss_pixel: 0.000630 , color_loss_pixel: 0.0340 Mapper has updated point features. �[32m Mapping Frame 1680 �[0m 30 locations to add points. 21 locations to add points based on pixel gradients. idx: 1680 , time 0.199065 , geo_loss_pixel: 0.000656 , color_loss_pixel: 0.0355 Mapper has updated point features. �[32m Mapping Frame 1685 �[0m 20 locations to add points. 18 locations to add points based on pixel gradients. idx: 1685 , time 0.185131 , geo_loss_pixel: 0.000626 , color_loss_pixel: 0.0323 Mapper has updated point features. �[32m Mapping Frame 1690 �[0m 21 locations to add points. 17 locations to add points based on pixel gradients. idx: 1690 , time 0.176912 , geo_loss_pixel: 0.000701 , color_loss_pixel: 0.0404 Mapper has updated point features. �[32m Mapping Frame 1695 �[0m 18 locations to add points. 35 locations to add points based on pixel gradients. idx: 1695 , time 0.200736 , geo_loss_pixel: 0.000700 , color_loss_pixel: 0.0385 Mapper has updated point features. �[32m Mapping Frame 1700 �[0m 21 locations to add points. 17 locations to add points based on pixel gradients. idx: 1700 , time 0.184744 , geo_loss_pixel: 0.000672 , color_loss_pixel: 0.0347 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01700_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1705 �[0m 30 locations to add points. 23 locations to add points based on pixel gradients. idx: 1705 , time 0.199889 , geo_loss_pixel: 0.000664 , color_loss_pixel: 0.0359 Mapper has updated point features. �[32m Mapping Frame 1710 �[0m 19 locations to add points. 35 locations to add points based on pixel gradients. idx: 1710 , time 0.212558 , geo_loss_pixel: 0.000693 , color_loss_pixel: 0.0333 Mapper has updated point features. �[32m Mapping Frame 1715 �[0m 21 locations to add points. 30 locations to add points based on pixel gradients. idx: 1715 , time 0.170184 , geo_loss_pixel: 0.000645 , color_loss_pixel: 0.0349 Mapper has updated point features. �[32m Mapping Frame 1720 �[0m 18 locations to add points. 33 locations to add points based on pixel gradients. idx: 1720 , time 0.198875 , geo_loss_pixel: 0.000683 , color_loss_pixel: 0.0370 Mapper has updated point features. �[32m Mapping Frame 1725 �[0m 30 locations to add points. 55 locations to add points based on pixel gradients. idx: 1725 , time 0.151464 , geo_loss_pixel: 0.000690 , color_loss_pixel: 0.0362 Mapper has updated point features. �[32m Mapping Frame 1730 �[0m 14 locations to add points. 40 locations to add points based on pixel gradients. idx: 1730 , time 0.189588 , geo_loss_pixel: 0.000672 , color_loss_pixel: 0.0357 Mapper has updated point features. �[32m Mapping Frame 1735 �[0m 21 locations to add points. 35 locations to add points based on pixel gradients. idx: 1735 , time 0.150712 , geo_loss_pixel: 0.000701 , color_loss_pixel: 0.0400 Mapper has updated point features. �[32m Mapping Frame 1740 �[0m 32 locations to add points. 55 locations to add points based on pixel gradients. idx: 1740 , time 0.142814 , geo_loss_pixel: 0.000765 , color_loss_pixel: 0.0372 Mapper has updated point features. �[32m Mapping Frame 1745 �[0m 59 locations to add points. 46 locations to add points based on pixel gradients. idx: 1745 , time 0.182737 , geo_loss_pixel: 0.000746 , color_loss_pixel: 0.0370 Mapper has updated point features. �[32m Mapping Frame 1750 �[0m 81 locations to add points. 41 locations to add points based on pixel gradients. idx: 1750 , time 0.149854 , geo_loss_pixel: 0.000660 , color_loss_pixel: 0.0365 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01750_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1755 �[0m 39 locations to add points. 50 locations to add points based on pixel gradients. idx: 1755 , time 0.168640 , geo_loss_pixel: 0.000706 , color_loss_pixel: 0.0392 Mapper has updated point features. �[32m Mapping Frame 1760 �[0m 32 locations to add points. 50 locations to add points based on pixel gradients. idx: 1760 , time 0.196661 , geo_loss_pixel: 0.000729 , color_loss_pixel: 0.0413 Mapper has updated point features. �[32m Mapping Frame 1765 �[0m 23 locations to add points. 32 locations to add points based on pixel gradients. idx: 1765 , time 0.170278 , geo_loss_pixel: 0.000673 , color_loss_pixel: 0.0371 Mapper has updated point features. �[32m Mapping Frame 1770 �[0m 46 locations to add points. 40 locations to add points based on pixel gradients. idx: 1770 , time 0.186273 , geo_loss_pixel: 0.000732 , color_loss_pixel: 0.0380 Mapper has updated point features. �[32m Mapping Frame 1775 �[0m 47 locations to add points. 38 locations to add points based on pixel gradients. idx: 1775 , time 0.180387 , geo_loss_pixel: 0.000716 , color_loss_pixel: 0.0373 Mapper has updated point features. �[32m Mapping Frame 1780 �[0m 62 locations to add points. 34 locations to add points based on pixel gradients. idx: 1780 , time 0.210604 , geo_loss_pixel: 0.000798 , color_loss_pixel: 0.0386 Mapper has updated point features. �[32m Mapping Frame 1785 �[0m 48 locations to add points. 25 locations to add points based on pixel gradients. idx: 1785 , time 0.130493 , geo_loss_pixel: 0.000805 , color_loss_pixel: 0.0406 Mapper has updated point features. �[32m Mapping Frame 1790 �[0m 61 locations to add points. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. wandb: Network error (TransientError), entering retry loop. Tracking Frame 1756 �[0m �[35m Tracking Frame 1757 �[0m �[35m Tracking Frame 1758 �[0m �[35m Tracking Frame 1759 �[0m �[35m Tracking Frame 1760 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1761 �[0m �[35m Tracking Frame 1762 �[0m �[35m Tracking Frame 1763 �[0m �[35m Tracking Frame 1764 �[0m �[35m Tracking Frame 1765 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1766 �[0m �[35m Tracking Frame 1767 �[0m �[35m Tracking Frame 1768 �[0m �[35m Tracking Frame 1769 �[0m �[35m Tracking Frame 1770 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1771 �[0m �[35m Tracking Frame 1772 �[0m �[35m Tracking Frame 1773 �[0m �[35m Tracking Frame 1774 �[0m �[35m Tracking Frame 1775 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1776 �[0m �[35m Tracking Frame 1777 �[0m �[35m Tracking Frame 1778 �[0m �[35m Tracking Frame 1779 �[0m �[35m Tracking Frame 1780 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1781 �[0m �[35m Tracking Frame 1782 �[0m �[35m Tracking Frame 1783 �[0m �[35m Tracking Frame 1784 �[0m �[35m Tracking Frame 1785 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1786 �[0m �[35m Tracking Frame 1787 �[0m �[35m Tracking Frame 1788 �[0m �[35m Tracking Frame 1789 �[0m �[35m Tracking Frame 1790 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1791 �[0m �[35m Tracking Frame 1792 �[0m �[35m Tracking Frame 1793 �[0m �[35m Tracking Frame 1794 �[0m �[35m Tracking Frame 1795 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1796 �[0m �[35m Tracking Frame 1797 �[0m �[35m Tracking Frame 1798 �[0m �[35m Tracking Frame 1799 �[0m �[35m Tracking Frame 1800 �[0m Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/tracking_vis/01800_0039.jpg Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1801 �[0m �[35m Tracking Frame 1802 �[0m �[35m Tracking Frame 1803 �[0m �[35m Tracking Frame 1804 �[0m �[35m Tracking Frame 1805 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1806 �[0m �[35m Tracking Frame 1807 �[0m �[35m Tracking Frame 1808 �[0m �[35m Tracking Frame 1809 �[0m �[35m Tracking Frame 1810 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1811 �[0m �[35m Tracking Frame 1812 �[0m �[35m Tracking Frame 1813 �[0m �[35m Tracking Frame 1814 �[0m �[35m Tracking Frame 1815 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1816 �[0m �[35m Tracking Frame 1817 �[0m �[35m Tracking Frame 1818 �[0m �[35m Tracking Frame 1819 �[0m �[35m Tracking Frame 1820 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1821 �[0m �[35m Tracking Frame 1822 �[0m �[35m Tracking Frame 1823 �[0m �[35m Tracking Frame 1824 �[0m �[35m Tracking Frame 1825 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1826 �[0m �[35m Tracking Frame 1827 �[0m �[35m Tracking Frame 1828 �[0m �[35m Tracking Frame 1829 �[0m �[35m Tracking Frame 1830 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1831 �[0m �[35m Tracking Frame 1832 �[0m �[35m Tracking Frame 1833 �[0m �[35m Tracking Frame 1834 �[0m �[35m Tracking Frame 1835 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1836 �[0m �[35m Tracking Frame 1837 �[0m �[35m Tracking Frame 1838 �[0m �[35m Tracking Frame 1839 �[0m �[35m Tracking Frame 1840 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1841 �[0m �[35m Tracking Frame 1842 �[0m �[35m Tracking Frame 1843 �[0m �[35m Tracking Frame 1844 �[0m �[35m Tracking Frame 1845 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1846 �[0m �[35m Tracking Frame 1847 �[0m �[35m Tracking Frame 1848 �[0m �[35m Tracking Frame 1849 �[0m �[35m Tracking Frame 1850 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1851 �[0m �[35m Tracking Frame 1852 �[0m �[35m Tracking Frame 1853 �[0m �[35m Tracking Frame 1854 �[0m �[35m Tracking Frame 1855 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1856 �[0m �[35m Tracking Frame 1857 �[0m �[35m Tracking Frame 1858 �[0m �[35m Tracking Frame 1859 �[0m �[35m Tracking Frame 1860 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1861 �[0m �[35m Tracking Frame 1862 �[0m �[35m Tracking Frame 1863 �[0m �[35m Tracking Frame 1864 �[0m �[35m Tracking Frame 1865 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1866 �[0m �[35m Tracking Frame 1867 �[0m �[35m Tracking Frame 1868 �[0m �[35m Tracking Frame 1869 �[0m �[35m Tracking Frame 1870 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1871 �[0m �[35m Tracking Frame 1872 �[0m �[35m Tracking Frame 1873 �[0m �[35m Tracking Frame 1874 �[0m �[35m Tracking Frame 1875 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1876 �[0m �[35m Tracking Frame 1877 �[0m �[35m Tracking Frame 1878 �[0m �[35m Tracking Frame 1879 �[0m �[35m Tracking Frame 1880 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1881 �[0m �[35m Tracking Frame 1882 �[0m �[35m Tracking Frame 1883 �[0m �[35m Tracking Frame 1884 �[0m �[35m Tracking Frame 1885 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1886 �[0m �[35m Tracking Frame 1887 �[0m �[35m Tracking Frame 1888 �[0m �[35m Tracking Frame 1889 �[0m �[35m Tracking Frame 1890 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1891 �[0m �[35m Tracking Frame 1892 �[0m �[35m Tracking Frame 1893 �[0m �[35m Tracking Frame 1894 �[0m �[35m Tracking Frame 1895 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1896 �[0m �[35m Tracking Frame 1897 �[0m �[35m Tracking Frame 1898 �[0m �[35m Tracking Frame 1899 �[0m �[35m Tracking Frame 1900 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1901 �[0m �[35m Tracking Frame 1902 �[0m �[35m Tracking Frame 1903 �[0m �[35m Tracking Frame 1904 �[0m �[35m Tracking Frame 1905 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1906 �[0m �[35m Tracking Frame 1907 �[0m �[35m Tracking Frame 1908 �[0m �[35m Tracking Frame 1909 �[0m �[35m Tracking Frame 1910 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1911 �[0m �[35m Tracking Frame 1912 �[0m �[35m Tracking Frame 1913 �[0m �[35m Tracking Frame 1914 �[0m �[35m Tracking Frame 1915 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1916 �[0m �[35m Tracking Frame 1917 �[0m �[35m Tracking Frame 1918 �[0m �[35m Tracking Frame 1919 �[0m �[35m Tracking Frame 1920 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1921 �[0m �[35m Tracking Frame 1922 �[0m �[35m Tracking Frame 1923 �[0m �[35m Tracking Frame 1924 �[0m �[35m Tracking Frame 1925 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1926 �[0m �[35m Tracking Frame 1927 �[0m �[35m Tracking Frame 1928 �[0m �[35m Tracking Frame 1929 �[0m �[35m Tracking Frame 1930 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1931 �[0m �[35m Tracking Frame 1932 �[0m �[35m Tracking Frame 1933 �[0m �[35m Tracking Frame 1934 �[0m �[35m Tracking Frame 1935 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1936 �[0m �[35m Tracking Frame 1937 �[0m �[35m Tracking Frame 1938 �[0m �[35m Tracking Frame 1939 �[0m �[35m Tracking Frame 1940 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1941 �[0m �[35m Tracking Frame 1942 �[0m �[35m Tracking Frame 1943 �[0m �[35m Tracking Frame 1944 �[0m �[35m Tracking Frame 1945 �[0m Tracker has updated the parameters from Mapper. �[35m Tracking Frame 1946 �[0m �[35m Tracking Frame 1947 �[0m �[35m Tracking Frame 1948 �[0m �[35m Tracking Frame 1949 �[0m �[35m Tracking Frame 1950 �[0m wandb: Network error (TransientError), entering retry loop. 32 locations to add points based on pixel gradients. idx: 1790 , time 0.187028 , geo_loss_pixel: 0.000811 , color_loss_pixel: 0.0380 Mapper has updated point features. �[32m Mapping Frame 1795 �[0m 52 locations to add points. 30 locations to add points based on pixel gradients. idx: 1795 , time 0.192005 , geo_loss_pixel: 0.000784 , color_loss_pixel: 0.0397 Mapper has updated point features. �[32m Mapping Frame 1800 �[0m 52 locations to add points. 24 locations to add points based on pixel gradients. idx: 1800 , time 0.223899 , geo_loss_pixel: 0.000778 , color_loss_pixel: 0.0368 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01800_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1805 �[0m 64 locations to add points. 24 locations to add points based on pixel gradients. idx: 1805 , time 0.198209 , geo_loss_pixel: 0.000765 , color_loss_pixel: 0.0368 Mapper has updated point features. �[32m Mapping Frame 1810 �[0m 54 locations to add points. 28 locations to add points based on pixel gradients. idx: 1810 , time 0.155830 , geo_loss_pixel: 0.000767 , color_loss_pixel: 0.0362 Mapper has updated point features. �[32m Mapping Frame 1815 �[0m 65 locations to add points. 39 locations to add points based on pixel gradients. idx: 1815 , time 0.210216 , geo_loss_pixel: 0.000753 , color_loss_pixel: 0.0376 Mapper has updated point features. �[32m Mapping Frame 1820 �[0m 45 locations to add points. 20 locations to add points based on pixel gradients. idx: 1820 , time 0.148785 , geo_loss_pixel: 0.000767 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 1825 �[0m 61 locations to add points. 28 locations to add points based on pixel gradients. idx: 1825 , time 0.191041 , geo_loss_pixel: 0.000746 , color_loss_pixel: 0.0382 Mapper has updated point features. �[32m Mapping Frame 1830 �[0m 52 locations to add points. 24 locations to add points based on pixel gradients. idx: 1830 , time 0.203832 , geo_loss_pixel: 0.000764 , color_loss_pixel: 0.0361 Mapper has updated point features. �[32m Mapping Frame 1835 �[0m 52 locations to add points. 30 locations to add points based on pixel gradients. idx: 1835 , time 0.218570 , geo_loss_pixel: 0.000772 , color_loss_pixel: 0.0385 Mapper has updated point features. �[32m Mapping Frame 1840 �[0m 53 locations to add points. 30 locations to add points based on pixel gradients. idx: 1840 , time 0.191343 , geo_loss_pixel: 0.000837 , color_loss_pixel: 0.0394 Mapper has updated point features. �[32m Mapping Frame 1845 �[0m 49 locations to add points. 23 locations to add points based on pixel gradients. idx: 1845 , time 0.196693 , geo_loss_pixel: 0.000809 , color_loss_pixel: 0.0406 Mapper has updated point features. �[32m Mapping Frame 1850 �[0m 48 locations to add points. 45 locations to add points based on pixel gradients. idx: 1850 , time 0.185232 , geo_loss_pixel: 0.000816 , color_loss_pixel: 0.0374 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01850_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1855 �[0m 67 locations to add points. 43 locations to add points based on pixel gradients. idx: 1855 , time 0.153093 , geo_loss_pixel: 0.000793 , color_loss_pixel: 0.0380 Mapper has updated point features. �[32m Mapping Frame 1860 �[0m 53 locations to add points. 42 locations to add points based on pixel gradients. idx: 1860 , time 0.209151 , geo_loss_pixel: 0.000773 , color_loss_pixel: 0.0385 Mapper has updated point features. �[32m Mapping Frame 1865 �[0m 52 locations to add points. 46 locations to add points based on pixel gradients. idx: 1865 , time 0.198109 , geo_loss_pixel: 0.000791 , color_loss_pixel: 0.0380 Mapper has updated point features. �[32m Mapping Frame 1870 �[0m 56 locations to add points. 54 locations to add points based on pixel gradients. idx: 1870 , time 0.150304 , geo_loss_pixel: 0.000745 , color_loss_pixel: 0.0352 Mapper has updated point features. �[32m Mapping Frame 1875 �[0m 46 locations to add points. 49 locations to add points based on pixel gradients. idx: 1875 , time 0.141672 , geo_loss_pixel: 0.000726 , color_loss_pixel: 0.0394 Mapper has updated point features. �[32m Mapping Frame 1880 �[0m 42 locations to add points. 51 locations to add points based on pixel gradients. idx: 1880 , time 0.163417 , geo_loss_pixel: 0.000777 , color_loss_pixel: 0.0372 Mapper has updated point features. �[32m Mapping Frame 1885 �[0m 47 locations to add points. 43 locations to add points based on pixel gradients. idx: 1885 , time 0.200782 , geo_loss_pixel: 0.000708 , color_loss_pixel: 0.0375 Mapper has updated point features. �[32m Mapping Frame 1890 �[0m 40 locations to add points. 39 locations to add points based on pixel gradients. idx: 1890 , time 0.151492 , geo_loss_pixel: 0.000756 , color_loss_pixel: 0.0368 Mapper has updated point features. �[32m Mapping Frame 1895 �[0m 47 locations to add points. 46 locations to add points based on pixel gradients. idx: 1895 , time 0.152802 , geo_loss_pixel: 0.000768 , color_loss_pixel: 0.0387 Mapper has updated point features. �[32m Mapping Frame 1900 �[0m 36 locations to add points. 35 locations to add points based on pixel gradients. idx: 1900 , time 0.142860 , geo_loss_pixel: 0.000713 , color_loss_pixel: 0.0351 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01900_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1905 �[0m 42 locations to add points. 41 locations to add points based on pixel gradients. idx: 1905 , time 0.166735 , geo_loss_pixel: 0.000741 , color_loss_pixel: 0.0370 Mapper has updated point features. �[32m Mapping Frame 1910 �[0m 27 locations to add points. 28 locations to add points based on pixel gradients. idx: 1910 , time 0.147173 , geo_loss_pixel: 0.000763 , color_loss_pixel: 0.0381 Mapper has updated point features. �[32m Mapping Frame 1915 �[0m 34 locations to add points. 33 locations to add points based on pixel gradients. idx: 1915 , time 0.181580 , geo_loss_pixel: 0.000774 , color_loss_pixel: 0.0398 Mapper has updated point features. �[32m Mapping Frame 1920 �[0m 36 locations to add points. 37 locations to add points based on pixel gradients. idx: 1920 , time 0.120434 , geo_loss_pixel: 0.000723 , color_loss_pixel: 0.0374 Mapper has updated point features. �[32m Mapping Frame 1925 �[0m 34 locations to add points. 23 locations to add points based on pixel gradients. idx: 1925 , time 0.169543 , geo_loss_pixel: 0.000700 , color_loss_pixel: 0.0350 Mapper has updated point features. �[32m Mapping Frame 1930 �[0m 33 locations to add points. 29 locations to add points based on pixel gradients. idx: 1930 , time 0.174345 , geo_loss_pixel: 0.000688 , color_loss_pixel: 0.0363 Mapper has updated point features. �[32m Mapping Frame 1935 �[0m 28 locations to add points. 20 locations to add points based on pixel gradients. idx: 1935 , time 0.203143 , geo_loss_pixel: 0.000704 , color_loss_pixel: 0.0366 Mapper has updated point features. �[32m Mapping Frame 1940 �[0m 38 locations to add points. 16 locations to add points based on pixel gradients. idx: 1940 , time 0.218291 , geo_loss_pixel: 0.000772 , color_loss_pixel: 0.0394 Mapper has updated point features. �[32m Mapping Frame 1945 �[0m 46 locations to add points. 17 locations to add points based on pixel gradients. idx: 1945 , time 0.202719 , geo_loss_pixel: 0.000803 , color_loss_pixel: 0.0402 Mapper has updated point features. �[32m Mapping Frame 1950 �[0m 41 locations to add points. 13 locations to add points based on pixel gradients. idx: 1950 , time 0.130109 , geo_loss_pixel: 0.000752 , color_loss_pixel: 0.0392 Saved rendering visualization of color/depth image at output/Replica/room0/20231013_194144/mapping_vis/01950_0285.jpg Mapper has updated point features. �[32m Mapping Frame 1955 �[0m 51 locations to add points. 17 locations to add points based on pixel gradients. idx: 1955 , time 0.173279 , geo_loss_pixel: 0.000710 , color_loss_pixel: [W CudaIPCTypes.cpp:15] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors] wandb: Waiting for W&B process to finish... (success). wandb: - 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: \ 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: | 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: / 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: - 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: Network error (TransientError), entering retry loop. wandb: \ 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: Network error (TransientError), entering retry loop. wandb: | 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: / 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: - 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: \ 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: | 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: / 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: - 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: \ 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: | 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: / 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) wandb: - 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The current behavior is equivalent to passing weights=AlexNet_Weights.IMAGENET1K_V1. You can also use weights=AlexNet_Weights.DEFAULT to get the most up-to-date weights. warnings.warn(msg) wandb: | 0.005 MB of 0.005 MB uploaded (0.000 MB deduped) Downloading: "https://download.pytorch.org/models/alexnet-owt-7be5be79.pth" to /home/dh/.cache/torch/hub/checkpoints/alexnet-owt-7be5be79.pth 0.0361 Mapper has updated point features. �[32m Mapping Frame 1960 �[0m 50 locations to add points. 16 locations to add points based on pixel gradients. idx: 1960 , time 0.191516 , geo_loss_pixel: 0.000663 , color_loss_pixel: 0.0335 Mapper has updated point features. �[32m Mapping Frame 1965 �[0m 56 locations to add points. 18 locations to add points based on pixel gradients. idx: 1965 , time 0.213827 , geo_loss_pixel: 0.000709 , color_loss_pixel: 0.0350 Mapper has updated point features. �[32m Mapping Frame 1970 �[0m 53 locations to add points. 12 locations to add points based on pixel gradients. idx: 1970 , time 0.231444 , geo_loss_pixel: 0.000776 , color_loss_pixel: 0.0362 Mapper has updated point features. �[32m Mapping Frame 1975 �[0m 47 locations to add points. 14 locations to add points based on pixel gradients. idx: 1975 , time 0.157620 , geo_loss_pixel: 0.000819 , color_loss_pixel: 0.0392 Mapper has updated point features. �[32m Mapping Frame 1980 �[0m 50 locations to add points. 26 locations to add points based on pixel gradients. idx: 1980 , time 0.186231 , geo_loss_pixel: 0.000745 , color_loss_pixel: 0.0380 Mapper has updated point features. �[32m Mapping Frame 1985 �[0m 72 locations to add points. 16 locations to add points based on pixel gradients. idx: 1985 , time 0.202241 , geo_loss_pixel: 0.000802 , color_loss_pixel: 0.0400 Mapper has updated point features. �[32m Mapping Frame 1990 �[0m 65 locations to add points. 13 locations to add points based on pixel gradients. idx: 1990 , time 0.231771 , geo_loss_pixel: 0.000768 , color_loss_pixel: 0.0361 Mapper has updated point features. �[32m Mapping Frame 1995 �[0m 73 locations to add points. 17 locations to add points based on pixel gradients. idx: 1995 , time 0.215781 , geo_loss_pixel: 0.000776 , color_loss_pixel: 0.0376 Mapper has updated point features. �[32m Mapping Frame 1999 �[0m idx: 1999 , time 0.234319 , geo_loss_pixel: 0.000758 , color_loss_pixel: 0.0373 Mapper has updated point features. idx: 1999 , time 0.254607 , geo_loss_pixel: 0.000769 , color_loss_pixel: 0.0340 Mapper has updated point features. idx: 1999 , time 0.195959 , geo_loss_pixel: 0.000783 , color_loss_pixel: 0.0340 Mapper has updated point features. idx: 1999 , time 0.183051 , geo_loss_pixel: 0.000789 , color_loss_pixel: 0.0352 Mapper has updated point features. idx: 1999 , time 0.370895 , geo_loss_pixel: 0.000784 , color_loss_pixel: 0.0348 Mapper has updated point features. Saved point cloud and point normals. Saved checkpoints at output/Replica/room0/20231013_194144/ckpts/01999.tar Color refinement done. Mapper finished. ✨ Point-SLAM finished, evaluating... ate_rmse: {'compared_pose_pairs': 2000, 'absolute_translational_error.rmse': 0.005381821777622548, 'absolute_translational_error.mean': 0.004930350244114659, 'absolute_translational_error.median': 0.004467596970490087, 'absolute_translational_error.std': 0.002157696020400198, 'absolute_translational_error.min': 0.00022459307494217582, 'absolute_translational_error.max': 0.01218596391965278}

ate_rmse_wo_align: {'compared_pose_pairs': 2000, 'absolute_translational_error.rmse': 0.008482203540033982, 'absolute_translational_error.mean': 0.007944657612132883, 'absolute_translational_error.median': 0.0076671555170592645, 'absolute_translational_error.std': 0.0029715639519525797, 'absolute_translational_error.min': 0.0, 'absolute_translational_error.max': 0.017628368308118}

Successfully evaluated trajectory. Starting re-rendering frames... wandb: / 0.005 MB of 0.005 MB uploaded (0.000 MB deduped)

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