Mask img size mismatch! Converting [2704 x 2028] to [960 x 720] ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt. Input sensor was set to: Monocular-Inertial Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml -Loaded camera 1 -Loaded image info -Loaded IMU calibration -Loaded ORB settings -Loaded viewer settings -Loaded Atlas settings -Loaded misc parameters ---------------------------------- SLAM settings: -Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ] -Original image size: [ 960 , 720 ] -Current image size: [ 960 , 720 ] -Sequence FPS: 60 -Gyro noise: 0.0015 -Accelerometer noise: 0.017 -Gyro walk: 5e-05 -Accelerometer walk: 0.0055 -IMU frequency: 200 -Features per image: 1250 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7 Loading ORB Vocabulary. This could take a while... Vocabulary loaded! Initialization of Atlas from file: /map/map_atlas.osa Starting to read the save binary file End to load the save binary file Change to map with id: 0 Atlas loaded! There are 1 cameras in the atlas Camera 0 is fisheye Discard points further than 20 m from current camera Video opened using backend FFMPEG There are 338 frames in total video FPS 59.9401 line 1873 keyframes 99MapPoints3550 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=625 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x5940c8102a30 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-95.0616 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()5058 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId625 Video FPS: 59.9401 ORB-SLAM 3 running at: 12.829 FPS No IMU Preintegration for KeyFrame 625, skipping inertial edge. TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0 pKFCur->mTimeStamp0.58391666666666664 vpKFs.front()->mTimeStamp-95.078300008337493 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.36697939038276672 0.058776687830686569 -0.16251692175865173 pKFcur->mnId626 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.6172833333333333 vpKFs.front()->mTimeStamp-95.678891679172906 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.045746035873889923 3.752246618270874 -1.7591181993484497 pKFcur->mnId627 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.65065000000000006 vpKFs.front()->mTimeStamp-96.312850016674986 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.47416782379150391 7.7796287536621094 -3.5650286674499512 pKFcur->mnId628 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.68401666666666672 vpKFs.front()->mTimeStamp-96.980175020843731 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.9289395809173584 12.153913497924805 -5.5723910331726074 pKFcur->mnId629 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.71738333333333337 vpKFs.front()->mTimeStamp-97.680866691679142 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.4071445465087891 16.860925674438477 -7.7612700462341309 pKFcur->mnId630 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.75075000000000003 vpKFs.front()->mTimeStamp-98.414925029181234 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.894788384437561 21.895805358886719 -10.139303207397461 pKFcur->mnId631 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.78411666666666668 vpKFs.front()->mTimeStamp-99.182350033349991 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 2.4172055721282959 27.26417350769043 -12.701642990112305 pKFcur->mnId632 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.81748333333333334 vpKFs.front()->mTimeStamp-99.983141704185414 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.9302880764007568 32.959037780761719 -15.434060096740723 pKFcur->mnId633 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.85085 vpKFs.front()->mTimeStamp-100.8173000416875 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 3.5227842330932617 38.878719329833984 -18.253189086914062 pKFcur->mnId634 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.88421666666666665 vpKFs.front()->mTimeStamp-101.68482504585626 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 4.1659140586853027 45.035697937011719 -21.176168441772461 pKFcur->mnId635 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.91758333333333331 vpKFs.front()->mTimeStamp-102.58571671669168 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 4.9198698997497559 51.457664489746094 -24.228281021118164 pKFcur->mnId636 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.95094999999999996 vpKFs.front()->mTimeStamp-103.51997505419376 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 5.7578134536743164 58.230709075927734 -27.525684356689453 pKFcur->mnId637 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp0.98431666666666673 vpKFs.front()->mTimeStamp-104.48760005836252 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 6.7440395355224609 65.307586669921875 -31.02324104309082 pKFcur->mnId638 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.0176833333333333 vpKFs.front()->mTimeStamp-105.48859172919794 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 7.918128490447998 72.730026245117188 -34.805534362792969 pKFcur->mnId639 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.05105 vpKFs.front()->mTimeStamp-106.52295006670002 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 9.2684755325317383 80.446258544921875 -38.8330078125 pKFcur->mnId640 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.0844166666666666 vpKFs.front()->mTimeStamp-107.59067507086877 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 10.89887523651123 88.438957214355469 -43.131851196289062 pKFcur->mnId641 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.1177833333333334 vpKFs.front()->mTimeStamp-108.69176674170419 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 12.859236717224121 96.715309143066406 -47.719772338867188 pKFcur->mnId642 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.1511500000000001 vpKFs.front()->mTimeStamp-109.82622507920627 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 15.128497123718262 105.32347869873047 -52.648937225341797 pKFcur->mnId643 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.1845166666666667 vpKFs.front()->mTimeStamp-110.99405008337501 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 17.793937683105469 114.19409942626953 -57.881828308105469 pKFcur->mnId644 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.2178833333333334 vpKFs.front()->mTimeStamp-112.19524175421043 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 20.839677810668945 123.40817260742188 -63.479644775390625 pKFcur->mnId645 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.25125 vpKFs.front()->mTimeStamp-113.42980009171251 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 24.261646270751953 132.90966796875 -69.408515930175781 pKFcur->mnId646 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.2846166666666667 vpKFs.front()->mTimeStamp-114.69772509588125 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 28.008310317993164 142.69168090820312 -75.660484313964844 pKFcur->mnId647 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.3179833333333333 vpKFs.front()->mTimeStamp-115.99901676671666 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 32.149543762207031 152.73139953613281 -82.248092651367188 pKFcur->mnId648 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.3513500000000001 vpKFs.front()->mTimeStamp-117.33367510421876 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 36.6912841796875 163.03910827636719 -89.189903259277344 pKFcur->mnId649 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.3847166666666666 vpKFs.front()->mTimeStamp-118.70170010838751 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 41.606842041015625 173.55374145507812 -96.398262023925781 pKFcur->mnId650 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.4180833333333334 vpKFs.front()->mTimeStamp-120.10309177922294 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 46.842739105224609 184.36128234863281 -103.95487213134766 pKFcur->mnId651 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.4514500000000001 vpKFs.front()->mTimeStamp-121.53785011672502 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 52.377876281738281 195.41685485839844 -111.77920532226562 pKFcur->mnId652 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.4848166666666667 vpKFs.front()->mTimeStamp-123.00597512089378 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 58.175544738769531 206.72503662109375 -119.87583160400391 pKFcur->mnId653 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.5181833333333334 vpKFs.front()->mTimeStamp-124.5074667917292 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 64.223159790039062 218.31526184082031 -128.26206970214844 pKFcur->mnId654 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.55155 vpKFs.front()->mTimeStamp-126.04232512923129 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 70.478500366210938 230.2117919921875 -136.94973754882812 pKFcur->mnId655 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.5849166666666668 vpKFs.front()->mTimeStamp-127.61055013340004 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 76.925422668457031 242.38742065429688 -145.8782958984375 pKFcur->mnId656 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.6349666666666667 vpKFs.front()->mTimeStamp-129.21214180423544 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 83.687164306640625 254.65679931640625 -154.77471923828125 pKFcur->mnId657 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.6683333333333334 vpKFs.front()->mTimeStamp-130.86378347507087 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 90.606437683105469 267.5008544921875 -164.18185424804688 pKFcur->mnId658 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.993769470261721 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.7017 vpKFs.front()->mTimeStamp-132.54879181257297 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1260 1691 pKFcur->GetVelocity() 97.691352844238281 280.66958618164062 -173.84001159667969 pKFcur->mnId659 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.7350666666666668 vpKFs.front()->mTimeStamp-134.26716681674174 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 105.12974548339844 293.84136962890625 -183.44850158691406 pKFcur->mnId660 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.7684333333333333 vpKFs.front()->mTimeStamp-136.01890848757716 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 112.7569580078125 307.35537719726562 -193.48136901855469 pKFcur->mnId661 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.8018000000000001 vpKFs.front()->mTimeStamp-137.80401682507926 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 120.71263122558594 321.001220703125 -203.64210510253906 pKFcur->mnId662 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.8351666666666666 vpKFs.front()->mTimeStamp-139.62249182924802 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 128.82536315917969 334.93661499023438 -214.06550598144531 pKFcur->mnId663 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.8685333333333334 vpKFs.front()->mTimeStamp-141.47433350008345 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 137.12100219726562 349.14456176757812 -224.778564453125 pKFcur->mnId664 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.9018999999999999 vpKFs.front()->mTimeStamp-143.35954183758554 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1263 1691 pKFcur->GetVelocity() 145.82374572753906 363.41226196289062 -235.58468627929688 pKFcur->mnId665 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.9352666666666667 vpKFs.front()->mTimeStamp-145.2781168417543 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 154.67320251464844 378.10513305664062 -246.80863952636719 pKFcur->mnId666 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp1.9686333333333335 vpKFs.front()->mTimeStamp-147.23005851258972 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 163.82771301269531 392.96249389648438 -258.208740234375 pKFcur->mnId667 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.0020000000000002 vpKFs.front()->mTimeStamp-149.21536685009181 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 173.15733337402344 408.26345825195312 -270.16519165039062 pKFcur->mnId668 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.0353666666666665 vpKFs.front()->mTimeStamp-151.23404185426057 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 182.88475036621094 423.75314331054688 -282.34872436523438 pKFcur->mnId669 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.0687333333333333 vpKFs.front()->mTimeStamp-153.28608352509599 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 192.93157958984375 439.50289916992188 -294.80056762695312 pKFcur->mnId670 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.1021000000000001 vpKFs.front()->mTimeStamp-155.37149186259808 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 203.10359191894531 455.63143920898438 -307.47439575195312 pKFcur->mnId671 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.1354666666666668 vpKFs.front()->mTimeStamp-157.49026686676683 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 213.23974609375 472.04788208007812 -320.03350830078125 pKFcur->mnId672 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.1688333333333332 vpKFs.front()->mTimeStamp-159.64240853760225 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 223.31034851074219 488.67291259765625 -332.35836791992188 pKFcur->mnId673 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.2021999999999999 vpKFs.front()->mTimeStamp-161.82791687510434 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 233.25688171386719 505.59365844726562 -344.59902954101562 pKFcur->mnId674 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.2355666666666667 vpKFs.front()->mTimeStamp-164.04679187927309 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 243.16094970703125 522.68157958984375 -356.66696166992188 pKFcur->mnId675 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.2689333333333335 vpKFs.front()->mTimeStamp-166.2990335501085 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 252.83056640625 540.14862060546875 -368.78152465820312 pKFcur->mnId676 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.3023000000000002 vpKFs.front()->mTimeStamp-168.58464188761059 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 262.365966796875 557.7874755859375 -380.72198486328125 pKFcur->mnId677 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.3356666666666666 vpKFs.front()->mTimeStamp-170.90361689177934 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 271.77761840820312 575.7593994140625 -392.79165649414062 pKFcur->mnId678 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.3690333333333333 vpKFs.front()->mTimeStamp-173.25595856261475 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 281.20132446289062 593.9456787109375 -404.8804931640625 pKFcur->mnId679 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.4024000000000001 vpKFs.front()->mTimeStamp-175.64166690011683 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 290.60089111328125 612.41253662109375 -417.06240844726562 pKFcur->mnId680 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.4357666666666669 vpKFs.front()->mTimeStamp-178.06074190428558 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 299.82656860351562 631.2239990234375 -429.351318359375 pKFcur->mnId681 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.4691333333333332 vpKFs.front()->mTimeStamp-180.51318357512099 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 308.984619140625 650.28143310546875 -441.65975952148438 pKFcur->mnId682 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5940c8ba3f40 pKFCur->mTimeStamp2.5024999999999999 vpKFs.front()->mTimeStamp-182.99899191262307 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 318.03842163085938 669.75579833984375 -454.251953125 pKFcur->mnId683 TrackLocalMap() mCurrentFrame.mnId= 60 frames. Terminating! Shutdown mpLocalMapper is not finished mpLoopCloser is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished