The outputs are saved in a directory named by a time string under '~/slam_results'. The outputs include 3D map points,

camera poses, feature points and input video paths. Here is an example of the outputs of three cameras:

~/slam_results/13-09-10=21-32/input_videos.txt #paths of input video sequences

~/slam_results/13-09-10=21-32/mappts.txt #3D map points

~/slam_results/13-09-10=21-32/0_campose.txt #camera poses

~/slam_results/13-09-10=21-32/1_campose.txt

~/slam_results/13-09-10=21-32/2_campose.txt

~/slam_results/13-09-10=21-32/0_featpts.txt #feature points

~/slam_results/13-09-10=21-32/1_featpts.txt

~/slam_results/13-09-10=21-32/2_featpts.txt

* input_video.txt

<absolute path of video #1>

<intrinsic parameters>

<five distortion parameters>

<image resolution>

......

<absolute path of video #2>

......

* mappts.txt

<number of map points>

<random id #1>

<x y z>

<3x3 covariance>

<random id #2>

......

* x_campose.txt

<number of frames>

<frame number>

<3x3 Rotation matrix> <3x1 translation vector>

......

* x_featpts.txt

<number of frames>

<frame number> <number of feature points>

<random id> <x y> <random id> <x y>, .....,

<frame number> <number of feature points>

......