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 944 frames in total video FPS 59.9401 line 1873 keyframes 100MapPoints3282 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=452 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 10.8719 FPS Relocalization() failed. Fail to track local map! n_lost_frames=2 Relocalization() failed. Fail to track local map! n_lost_frames=3 Relocalization() failed. Fail to track local map! n_lost_frames=4 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55b438589800 pKFCur->mTimeStamp0.066733333333333339 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.0844166666666666 vpKFs.front()->mTimeStamp-72.272183341670825 vpKFs.back()->mTimeStamp-0.016675004168751034 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.69336563348770142 -0.33806231617927551 -1.2023613452911377 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.2178833333333334 vpKFs.front()->mTimeStamp-73.373275012506241 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.95354992151260376 0.3988412618637085 -0.57171237468719482 pKFcur->mnId454 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.3847166666666666 vpKFs.front()->mTimeStamp-74.60783335000832 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -1.2573432922363281 0.73304492235183716 -0.51643842458724976 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.4180833333333334 vpKFs.front()->mTimeStamp-76.009225020843743 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0.73897123336791992 -0.23167820274829865 0.15550068020820618 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.4514500000000001 vpKFs.front()->mTimeStamp-77.443983358345832 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.63555550575256348 0.38531967997550964 -0.20484881103038788 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.4848166666666667 vpKFs.front()->mTimeStamp-78.912108362514587 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -0.25757071375846863 0.36705866456031799 -0.24553631246089935 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.6182833333333333 vpKFs.front()->mTimeStamp-80.413600033350008 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1.4868043661117554 0.8268921971321106 -0.59080618619918823 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.6516500000000001 vpKFs.front()->mTimeStamp-82.048558370852092 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.0033717155456543 -0.06064823642373085 0.25010666251182556 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.6850166666666666 vpKFs.front()->mTimeStamp-83.716883375020842 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.82303327322006226 0.43623194098472595 -0.27899020910263062 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.7183833333333334 vpKFs.front()->mTimeStamp-85.418575045856258 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -2.2660360336303711 2.6402885913848877 -1.1811815500259399 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.7517500000000001 vpKFs.front()->mTimeStamp-87.15363338335834 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.6477482318878174 -1.5407059192657471 0.70839434862136841 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.7851166666666667 vpKFs.front()->mTimeStamp-88.922058387527088 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1.2722765207290649 1.7760236263275146 -0.1392551064491272 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.8184833333333335 vpKFs.front()->mTimeStamp-90.723850058362501 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.2712757587432861 4.9197897911071777 -0.97067946195602417 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.85185 vpKFs.front()->mTimeStamp-92.559008395864581 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -5.4817471504211426 8.4751873016357422 -1.9050846099853516 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.8852166666666668 vpKFs.front()->mTimeStamp-94.427533400033326 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -8.3494176864624023 12.491141319274902 -3.0256638526916504 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.9185833333333333 vpKFs.front()->mTimeStamp-96.329425070868737 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -10.94328784942627 16.632305145263672 -4.1181211471557617 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.9519500000000001 vpKFs.front()->mTimeStamp-98.264683408370828 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -13.183680534362793 20.828950881958008 -5.1642532348632812 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp1.9853166666666666 vpKFs.front()->mTimeStamp-100.23330841253959 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -16.108736038208008 25.991611480712891 -6.548487663269043 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.0186833333333332 vpKFs.front()->mTimeStamp-102.23530008337501 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -19.661283493041992 31.459060668945312 -8.1265392303466797 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.0520499999999999 vpKFs.front()->mTimeStamp-104.2706584208771 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -22.662704467773438 37.288597106933594 -9.7108573913574219 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.0854166666666667 vpKFs.front()->mTimeStamp-106.33938342504585 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -25.814617156982422 43.452251434326172 -11.410183906555176 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.1187833333333335 vpKFs.front()->mTimeStamp-108.44147509588127 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -29.324756622314453 49.986572265625 -13.275534629821777 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.1521500000000002 vpKFs.front()->mTimeStamp-110.57693343338336 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -33.524063110351562 57.542228698730469 -15.645328521728516 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.1855166666666666 vpKFs.front()->mTimeStamp-112.74575843755211 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -37.136440277099609 64.163658142089844 -17.527826309204102 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.2188833333333333 vpKFs.front()->mTimeStamp-114.94795010838753 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -44.273723602294922 71.980422973632812 -20.834426879882812 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.2522500000000001 vpKFs.front()->mTimeStamp-117.18350844588961 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -51.422267913818359 79.558685302734375 -23.990934371948242 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.2856166666666669 vpKFs.front()->mTimeStamp-119.45243345005836 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -58.833175659179688 87.631546020507812 -27.398761749267578 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.3356666666666666 vpKFs.front()->mTimeStamp-121.75472512089378 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -66.216018676757812 96.025390625 -30.877922058105469 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.3857166666666667 vpKFs.front()->mTimeStamp-124.1070667917292 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -74.205955505371094 105.12398529052734 -34.850265502929688 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.4190833333333335 vpKFs.front()->mTimeStamp-126.50945846256461 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -82.319358825683594 114.72721099853516 -39.042800903320312 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.4524500000000002 vpKFs.front()->mTimeStamp-128.9452168000667 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -90.704750061035156 124.72212219238281 -43.481063842773438 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.4858166666666666 vpKFs.front()->mTimeStamp-131.41434180423545 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -98.829170227050781 134.92070007324219 -47.843967437744141 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.5191833333333333 vpKFs.front()->mTimeStamp-133.91683347507086 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -107.36084747314453 145.18910217285156 -52.336917877197266 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.5525500000000001 vpKFs.front()->mTimeStamp-136.45269181257294 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -116.54869842529297 155.79005432128906 -57.230449676513672 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.5859166666666669 vpKFs.front()->mTimeStamp-139.02191681674168 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -125.64806365966797 166.29795837402344 -61.964023590087891 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.6192833333333332 vpKFs.front()->mTimeStamp-141.62450848757709 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -135.13835144042969 177.06149291992188 -66.927146911621094 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.65265 vpKFs.front()->mTimeStamp-144.26046682507916 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -144.8226318359375 187.75 -71.880912780761719 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.6860166666666667 vpKFs.front()->mTimeStamp-146.9297918292479 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -154.53292846679688 198.74691772460938 -76.957687377929688 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.7193833333333335 vpKFs.front()->mTimeStamp-149.63248350008331 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -164.61357116699219 209.90899658203125 -82.225616455078125 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.7527500000000003 vpKFs.front()->mTimeStamp-152.36854183758538 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -174.64814758300781 221.38908386230469 -87.572921752929688 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.7861166666666666 vpKFs.front()->mTimeStamp-155.13796684175412 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -184.96047973632812 233.02618408203125 -93.059005737304688 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.8194833333333333 vpKFs.front()->mTimeStamp-157.94075851258953 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -195.44908142089844 244.86930847167969 -98.670539855957031 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.8528500000000001 vpKFs.front()->mTimeStamp-160.7769168500916 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -206.19554138183594 257.25567626953125 -104.63543701171875 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.8862166666666669 vpKFs.front()->mTimeStamp-163.64644185426036 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -217.11946105957031 269.59634399414062 -110.57865142822266 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.9195833333333332 vpKFs.front()->mTimeStamp-166.54933352509579 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -228.23739624023438 282.24923706054688 -116.69948577880859 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.95295 vpKFs.front()->mTimeStamp-169.48559186259789 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -239.71578979492188 295.1966552734375 -123.07234191894531 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp2.9863166666666667 vpKFs.front()->mTimeStamp-172.45521686676665 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -251.41642761230469 308.235595703125 -129.51959228515625 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.0196833333333335 vpKFs.front()->mTimeStamp-175.45820853760208 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -263.28717041015625 321.4566650390625 -136.06533813476562 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.0530500000000003 vpKFs.front()->mTimeStamp-178.49456687510417 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -275.22198486328125 334.94729614257812 -142.71316528320312 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.0864166666666666 vpKFs.front()->mTimeStamp-181.56429187927293 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -287.31692504882812 348.499267578125 -149.38328552246094 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.1197833333333334 vpKFs.front()->mTimeStamp-184.66738355010835 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -299.62820434570312 362.24664306640625 -156.18118286132812 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.1531500000000001 vpKFs.front()->mTimeStamp-187.80384188761045 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -312.21697998046875 376.19537353515625 -163.15359497070312 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.1865166666666669 vpKFs.front()->mTimeStamp-190.9736668917792 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -324.777587890625 390.09085083007812 -170.00849914550781 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.2198833333333332 vpKFs.front()->mTimeStamp-194.17685856261463 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -337.51260375976562 403.96942138671875 -176.85905456542969 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.25325 vpKFs.front()->mTimeStamp-197.41341690011672 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -350.57644653320312 417.93557739257812 -183.84892272949219 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.2866166666666667 vpKFs.front()->mTimeStamp-200.68334190428547 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -363.97265625 432.03411865234375 -191.02120971679688 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.3199833333333335 vpKFs.front()->mTimeStamp-203.98663357512089 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -377.65054321289062 446.30670166015625 -198.34915161132812 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.3533500000000003 vpKFs.front()->mTimeStamp-207.32329191262298 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -391.4852294921875 460.62423706054688 -205.68739318847656 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.3867166666666666 vpKFs.front()->mTimeStamp-210.69331691679173 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -405.45040893554688 474.92147827148438 -212.99789428710938 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.4200833333333334 vpKFs.front()->mTimeStamp-214.09670858762715 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -419.73788452148438 489.28326416015625 -220.4188232421875 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.4534500000000001 vpKFs.front()->mTimeStamp-217.53346692512923 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -434.05691528320312 503.59463500976562 -227.75421142578125 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.4868166666666669 vpKFs.front()->mTimeStamp-221.00359192929798 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -448.67181396484375 517.9476318359375 -235.18922424316406 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.5201833333333332 vpKFs.front()->mTimeStamp-224.5070836001334 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -463.14617919921875 532.368408203125 -242.50341796875 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.55355 vpKFs.front()->mTimeStamp-228.04394193763548 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -477.76669311523438 546.865234375 -249.86724853515625 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.5869166666666668 vpKFs.front()->mTimeStamp-231.61416694180423 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -492.48281860351562 561.51171875 -257.28131103515625 pKFcur->mnId517 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.6202833333333335 vpKFs.front()->mTimeStamp-235.21775861263964 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -507.28469848632812 576.43695068359375 -264.80230712890625 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.6536500000000003 vpKFs.front()->mTimeStamp-238.85471695014172 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -522.22625732421875 591.54345703125 -272.43096923828125 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.6870166666666666 vpKFs.front()->mTimeStamp-242.52504195431047 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -537.45361328125 607.0850830078125 -280.36557006835938 pKFcur->mnId520 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.7203833333333334 vpKFs.front()->mTimeStamp-246.22873362514588 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -552.70013427734375 622.77215576171875 -288.302001953125 pKFcur->mnId521 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.7537500000000001 vpKFs.front()->mTimeStamp-249.96579196264796 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -567.98455810546875 638.51763916015625 -296.19610595703125 pKFcur->mnId522 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.7871166666666669 vpKFs.front()->mTimeStamp-253.7362169668167 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -583.47857666015625 654.5611572265625 -304.28988647460938 pKFcur->mnId523 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.8204833333333332 vpKFs.front()->mTimeStamp-257.54000863765214 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -599.06085205078125 670.8236083984375 -312.48220825195312 pKFcur->mnId524 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.8872166666666668 vpKFs.front()->mTimeStamp-261.37716697515424 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -614.83538818359375 687.07757568359375 -320.68902587890625 pKFcur->mnId525 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.9205833333333335 vpKFs.front()->mTimeStamp-265.28105864598967 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -630.8614501953125 703.74566650390625 -329.0711669921875 pKFcur->mnId526 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.9539499999999999 vpKFs.front()->mTimeStamp-269.21831698349177 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -646.521240234375 720.6851806640625 -337.32000732421875 pKFcur->mnId527 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp3.9873166666666666 vpKFs.front()->mTimeStamp-273.18894198766054 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -662.46893310546875 737.751220703125 -345.6864013671875 pKFcur->mnId528 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp4.0206833333333334 vpKFs.front()->mTimeStamp-277.19293365849597 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -678.14129638671875 754.85089111328125 -353.8331298828125 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp4.0540500000000002 vpKFs.front()->mTimeStamp-281.23029199599807 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -693.56829833984375 772.1278076171875 -361.87078857421875 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp4.0874166666666669 vpKFs.front()->mTimeStamp-285.30101700016684 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -708.77972412109375 789.56011962890625 -369.80731201171875 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp4.1207833333333337 vpKFs.front()->mTimeStamp-289.40510867100227 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -723.96954345703125 807.2459716796875 -377.79519653320312 pKFcur->mnId532 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp4.1708333333333334 vpKFs.front()->mTimeStamp-293.54256700850436 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -739.1094970703125 825.1253662109375 -385.78927612304688 pKFcur->mnId533 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp4.2042000000000002 vpKFs.front()->mTimeStamp-297.73007534600646 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -754.0626220703125 843.743896484375 -393.98403930664062 pKFcur->mnId534 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp4.2542499999999999 vpKFs.front()->mTimeStamp-301.95095035017522 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -767.7779541015625 862.5853271484375 -401.6995849609375 pKFcur->mnId535 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.464450000000001 vpKFs.front()->mTimeStamp-306.22187535434398 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -781.67816162109375 882.13836669921875 -409.77902221679688 pKFcur->mnId536 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.564550000000001 vpKFs.front()->mTimeStamp-320.70300035851272 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -815.1680908203125 798.8143310546875 -411.2637939453125 pKFcur->mnId537 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.614600000000001 vpKFs.front()->mTimeStamp-335.28422536268147 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -829.2637939453125 738.50433349609375 -423.26156616210938 pKFcur->mnId538 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.647966666666667 vpKFs.front()->mTimeStamp-349.91550036685021 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -843.47906494140625 676.77813720703125 -435.85671997070312 pKFcur->mnId539 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.681333333333333 vpKFs.front()->mTimeStamp-364.58014203768562 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -856.69482421875 617.08270263671875 -447.35598754882812 pKFcur->mnId540 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.714700000000001 vpKFs.front()->mTimeStamp-379.27815037518769 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -870.10638427734375 557.31536865234375 -458.86004638671875 pKFcur->mnId541 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.748066666666666 vpKFs.front()->mTimeStamp-394.00952537935643 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -881.52325439453125 495.17745971679688 -471.20941162109375 pKFcur->mnId542 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.781433333333334 vpKFs.front()->mTimeStamp-408.77426705019184 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -892.739501953125 431.32278442382812 -484.30874633789062 pKFcur->mnId543 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.8148 vpKFs.front()->mTimeStamp-423.57237538769391 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -904.6463623046875 368.25711059570312 -497.04150390625 pKFcur->mnId544 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.848166666666668 vpKFs.front()->mTimeStamp-438.40385039186265 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -916.951416015625 301.895751953125 -511.38522338867188 pKFcur->mnId545 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.881533333333334 vpKFs.front()->mTimeStamp-453.26869206269805 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -929.11627197265625 234.68429565429688 -526.10565185546875 pKFcur->mnId546 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.914899999999999 vpKFs.front()->mTimeStamp-468.16690040020012 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -942.83203125 166.62591552734375 -541.37054443359375 pKFcur->mnId547 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.948266666666667 vpKFs.front()->mTimeStamp-483.09847540436886 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -953.882080078125 96.976341247558594 -557.18927001953125 pKFcur->mnId548 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp14.981633333333333 vpKFs.front()->mTimeStamp-498.06341707520426 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -966.0277099609375 27.445320129394531 -572.99041748046875 pKFcur->mnId549 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.015000000000001 vpKFs.front()->mTimeStamp-513.06172541270632 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -976.44805908203125 -42.598014831542969 -588.86199951171875 pKFcur->mnId550 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 29.14481109426379 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.048366666666666 vpKFs.front()->mTimeStamp-528.09340041687506 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -988.371826171875 -112.59066772460938 -604.77386474609375 pKFcur->mnId551 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.081733333333334 vpKFs.front()->mTimeStamp-543.15844208771045 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -1000.06103515625 -183.00193786621094 -620.82354736328125 pKFcur->mnId552 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.1151 vpKFs.front()->mTimeStamp-558.25685042521252 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1012.7603759765625 -254.15274047851562 -637.297119140625 pKFcur->mnId553 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.148466666666668 vpKFs.front()->mTimeStamp-573.38862542938125 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -1025.81787109375 -325.66543579101562 -653.9410400390625 pKFcur->mnId554 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.181833333333334 vpKFs.front()->mTimeStamp-588.55376710021665 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1038.9072265625 -397.7955322265625 -670.855224609375 pKFcur->mnId555 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.215199999999999 vpKFs.front()->mTimeStamp-603.75227543771871 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1052.6556396484375 -470.8642578125 -688.28741455078125 pKFcur->mnId556 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.248566666666667 vpKFs.front()->mTimeStamp-618.98415044188744 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1066.2388916015625 -545.26922607421875 -706.39825439453125 pKFcur->mnId557 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.281933333333333 vpKFs.front()->mTimeStamp-634.24939211272283 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1080.65478515625 -620.1656494140625 -724.81817626953125 pKFcur->mnId558 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.315300000000001 vpKFs.front()->mTimeStamp-649.54800045022489 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1096.5638427734375 -695.57061767578125 -743.64434814453125 pKFcur->mnId559 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.348666666666666 vpKFs.front()->mTimeStamp-664.87997545439362 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1113.09521484375 -772.43133544921875 -763.34283447265625 pKFcur->mnId560 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.382033333333334 vpKFs.front()->mTimeStamp-680.24531712522901 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1130.7034912109375 -850.7232666015625 -783.9788818359375 pKFcur->mnId561 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.4154 vpKFs.front()->mTimeStamp-695.64402546273107 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -1147.55908203125 -929.048095703125 -804.48199462890625 pKFcur->mnId562 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.448766666666668 vpKFs.front()->mTimeStamp-711.07610046689979 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1164.2908935546875 -1005.7803955078125 -823.97052001953125 pKFcur->mnId563 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.482133333333334 vpKFs.front()->mTimeStamp-726.54154213773518 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1180.1331787109375 -1081.9212646484375 -842.93829345703125 pKFcur->mnId564 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.515499999999999 vpKFs.front()->mTimeStamp-742.04035047523723 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1195.162353515625 -1158.9595947265625 -862.284912109375 pKFcur->mnId565 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.548866666666667 vpKFs.front()->mTimeStamp-757.57252547940595 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1210.5611572265625 -1235.88916015625 -881.5516357421875 pKFcur->mnId566 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.582233333333333 vpKFs.front()->mTimeStamp-773.13806715024134 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1227.1424560546875 -1313.0103759765625 -901.00140380859375 pKFcur->mnId567 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.615600000000001 vpKFs.front()->mTimeStamp-788.73697548774339 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -1245.4141845703125 -1390.1776123046875 -920.6181640625 pKFcur->mnId568 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.648966666666666 vpKFs.front()->mTimeStamp-804.36925049191211 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1264.7296142578125 -1468.63623046875 -941.06170654296875 pKFcur->mnId569 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.682333333333334 vpKFs.front()->mTimeStamp-820.0348921627475 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1285.2418212890625 -1548.90576171875 -962.71246337890625 pKFcur->mnId570 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b43a162a00 pKFCur->mTimeStamp15.7157 vpKFs.front()->mTimeStamp-835.73390050024955 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1305.8040771484375 -1632.64697265625 -986.52825927734375 pKFcur->mnId571 TrackLocalMap() mCurrentFrame.mnId