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 912 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: 21.6637 FPS Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x556a7f8057d0 pKFCur->mTimeStamp0.016683333333333335 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp0.88421666666666665 vpKFs.front()->mTimeStamp-72.222133341670826 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.1151912584900856 -0.72841119766235352 0.26230296492576599 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.0010000000000001 vpKFs.front()->mTimeStamp-73.123025012506247 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.68451905250549316 0.69264703989028931 0.19525843858718872 pKFcur->mnId454 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.0343666666666667 vpKFs.front()->mTimeStamp-74.140700016674998 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.4643841981887817 0.61460882425308228 -0.5736733078956604 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.0677333333333334 vpKFs.front()->mTimeStamp-75.191741687510415 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.26972797513008118 0.1214647963643074 0.049250677227973938 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.1011 vpKFs.front()->mTimeStamp-76.276150025012498 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.53595066070556641 0.65056782960891724 -0.12559068202972412 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.2178833333333334 vpKFs.front()->mTimeStamp-77.393925029181247 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.28069952130317688 0.27477988600730896 -0.082308836281299591 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.25125 vpKFs.front()->mTimeStamp-78.628483366683326 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0.24071012437343597 0.32138821482658386 -0.068025469779968262 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.2846166666666667 vpKFs.front()->mTimeStamp-79.896408370852072 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.1787304878234863 1.7156178951263428 -0.79453533887863159 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.3179833333333333 vpKFs.front()->mTimeStamp-81.197700041687483 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.95272910594940186 -0.45416519045829773 0.23662249743938446 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.3680333333333334 vpKFs.front()->mTimeStamp-82.532358379189574 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.412253737449646 1.8135441541671753 -0.7603912353515625 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.4014 vpKFs.front()->mTimeStamp-83.917066716691664 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.33557987213134766 -0.4778912365436554 0.27496203780174255 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.4347666666666667 vpKFs.front()->mTimeStamp-85.33514172086042 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.36008757352828979 1.0084340572357178 -0.35152646899223328 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.4681333333333333 vpKFs.front()->mTimeStamp-86.786583391695842 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.5707821249961853 0.23401622474193573 0.059363700449466705 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.5181833333333334 vpKFs.front()->mTimeStamp-88.27139172919793 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0.59416532516479492 1.0634208917617798 -0.2903326153755188 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.55155 vpKFs.front()->mTimeStamp-89.806250066700017 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.108631931245327 -0.11755563318729401 0.34304872155189514 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.5849166666666668 vpKFs.front()->mTimeStamp-91.374475070868769 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.72317123413085938 1.174256443977356 -0.14687959849834442 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.6516500000000001 vpKFs.front()->mTimeStamp-92.976066741704187 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.34809818863868713 0.62393784523010254 0.30787599086761475 pKFcur->mnId469 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 34.490419061695739 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp1.7183833333333334 vpKFs.front()->mTimeStamp-94.644391745872937 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.4428585767745972 3.1467344760894775 -0.95407861471176147 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp11.995316666666668 vpKFs.front()->mTimeStamp-96.379450083375019 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 5.9024596214294434 -0.76039445400238037 -2.1623752117156982 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.045366666666666 vpKFs.front()->mTimeStamp-108.39144175421043 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 41.894855499267578 -42.317134857177734 6.4458308219909668 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.078733333333334 vpKFs.front()->mTimeStamp-120.45348342504585 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 61.261878967285156 -46.859043121337891 4.9631862640380859 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.1121 vpKFs.front()->mTimeStamp-132.54889176254792 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 78.805770874023438 -53.671054840087891 3.6797280311584473 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.145466666666668 vpKFs.front()->mTimeStamp-144.67766676671667 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 96.333030700683594 -62.250755310058594 2.2731528282165527 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.178833333333333 vpKFs.front()->mTimeStamp-156.83980843755208 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 113.26626586914062 -69.11968994140625 1.0478819608688354 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.212200000000001 vpKFs.front()->mTimeStamp-169.03531677505416 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 128.92929077148438 -78.174888610839844 -0.15069946646690369 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.4124 vpKFs.front()->mTimeStamp-181.2641917792229 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 144.83511352539062 -87.042549133300781 -1.370105504989624 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.479133333333333 vpKFs.front()->mTimeStamp-193.69326678339166 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 146.18911743164062 -86.727119445800781 -1.2924855947494507 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.512500000000001 vpKFs.front()->mTimeStamp-206.18907512089376 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 146.6346435546875 -86.296371459960938 -1.1990365982055664 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.545866666666667 vpKFs.front()->mTimeStamp-218.71825012506253 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 147.05937194824219 -86.065536499023438 -1.0788658857345581 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.579233333333333 vpKFs.front()->mTimeStamp-231.28079179589795 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 147.23780822753906 -85.754234313964844 -0.92494559288024902 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.629283333333333 vpKFs.front()->mTimeStamp-243.87670013340005 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 147.32284545898438 -85.637229919433594 -0.74589979648590088 pKFcur->mnId483 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=707 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.662650000000001 vpKFs.front()->mTimeStamp-256.52265847090212 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 147.32284545898438 -85.637229919433594 -0.74589979648590088 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.696016666666667 vpKFs.front()->mTimeStamp-269.20198347507085 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 147.37057495117188 -85.964691162109375 -0.72747641801834106 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.729383333333333 vpKFs.front()->mTimeStamp-281.91467514590624 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 149.29556274414062 -88.914230346679688 -0.74224865436553955 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.76275 vpKFs.front()->mTimeStamp-294.66073348340831 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 150.91398620605469 -92.117454528808594 -0.73625588417053223 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.796116666666666 vpKFs.front()->mTimeStamp-307.44015848757704 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 153.190673828125 -94.7152099609375 -0.7152983546257019 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.829483333333334 vpKFs.front()->mTimeStamp-320.25295015841243 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 155.69265747070312 -97.136581420898438 -0.68966621160507202 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.86285 vpKFs.front()->mTimeStamp-333.09910849591449 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 157.63003540039062 -99.816001892089844 -0.62521004676818848 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.896216666666668 vpKFs.front()->mTimeStamp-345.97863350008322 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 160.95646667480469 -101.12368011474609 -0.4599909782409668 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.929583333333333 vpKFs.front()->mTimeStamp-358.89152517091861 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 165.29197692871094 -102.60884094238281 -0.31548526883125305 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.962950000000001 vpKFs.front()->mTimeStamp-371.83778350842067 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 170.0589599609375 -104.18804931640625 -0.19061648845672607 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp12.996316666666667 vpKFs.front()->mTimeStamp-384.8174085125894 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 175.00138854980469 -105.90737152099609 -0.0060123936273157597 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.029683333333333 vpKFs.front()->mTimeStamp-397.83040018342479 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 179.88565063476562 -108.22814178466797 0.16109712421894073 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.06305 vpKFs.front()->mTimeStamp-410.87675852092684 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 184.78605651855469 -110.39992523193359 0.36047321557998657 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.096416666666666 vpKFs.front()->mTimeStamp-423.95648352509562 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 188.85545349121094 -113.11074066162109 0.62844878435134888 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.129783333333334 vpKFs.front()->mTimeStamp-437.06957519593107 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 192.21522521972656 -116.34698486328125 0.96697491407394409 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.16315 vpKFs.front()->mTimeStamp-450.21603353343318 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 195.4981689453125 -120.35636138916016 1.366694450378418 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.196516666666668 vpKFs.front()->mTimeStamp-463.39585853760195 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 197.97346496582031 -127.05657196044922 1.7393873929977417 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.630283333333333 vpKFs.front()->mTimeStamp-476.6090502084374 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 200.96990966796875 -135.45845031738281 2.0520474910736084 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.663650000000001 vpKFs.front()->mTimeStamp-490.25600854593949 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 208.27406311035156 -165.16854858398438 -2.2204017639160156 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.713700000000001 vpKFs.front()->mTimeStamp-503.93633355010826 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 214.96702575683594 -196.59828186035156 -6.8421459197998047 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.747066666666667 vpKFs.front()->mTimeStamp-517.66670855427697 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 220.05801391601562 -232.14811706542969 -12.431726455688477 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.780433333333333 vpKFs.front()->mTimeStamp-531.43045022511239 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 223.96844482421875 -269.47796630859375 -18.465322494506836 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.813800000000001 vpKFs.front()->mTimeStamp-545.22755856261449 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 226.19876098632812 -309.67300415039062 -25.291864395141602 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.847166666666666 vpKFs.front()->mTimeStamp-559.05803356678325 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 227.69195556640625 -349.85003662109375 -32.067268371582031 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.880533333333334 vpKFs.front()->mTimeStamp-572.92187523761868 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 228.41000366210938 -392.09014892578125 -39.459270477294922 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.9139 vpKFs.front()->mTimeStamp-586.81908357512077 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 229.04824829101562 -435.7230224609375 -47.279930114746094 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.947266666666668 vpKFs.front()->mTimeStamp-600.74965857928953 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 230.18310546875 -479.05178833007812 -54.970291137695312 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp13.980633333333333 vpKFs.front()->mTimeStamp-614.71360025012495 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 232.13945007324219 -523.30047607421875 -62.952335357666016 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.014000000000001 vpKFs.front()->mTimeStamp-628.71090858762705 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 234.8359375 -568.826904296875 -71.259017944335938 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.047366666666667 vpKFs.front()->mTimeStamp-642.7415835917958 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 238.06312561035156 -615.3099365234375 -79.943138122558594 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.080733333333333 vpKFs.front()->mTimeStamp-656.80562526263122 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 241.54742431640625 -663.14788818359375 -89.171051025390625 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.114100000000001 vpKFs.front()->mTimeStamp-670.90303360013331 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 243.72482299804688 -713.5521240234375 -99.341133117675781 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.147466666666666 vpKFs.front()->mTimeStamp-685.03380860430207 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 245.13740539550781 -763.7672119140625 -109.42193603515625 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.180833333333334 vpKFs.front()->mTimeStamp-699.19795027513749 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 245.00758361816406 -816.69146728515625 -120.58274841308594 pKFcur->mnId517 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.2142 vpKFs.front()->mTimeStamp-713.39545861263957 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 243.71141052246094 -869.92401123046875 -131.87602233886719 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.247566666666668 vpKFs.front()->mTimeStamp-727.62633361680832 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 241.8465576171875 -924.37017822265625 -143.65362548828125 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.280933333333333 vpKFs.front()->mTimeStamp-741.89057528764374 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 239.00382995605469 -979.139892578125 -155.61155700683594 pKFcur->mnId520 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.314300000000001 vpKFs.front()->mTimeStamp-756.18818362514583 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 236.74989318847656 -1034.0455322265625 -167.71310424804688 pKFcur->mnId521 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.347666666666667 vpKFs.front()->mTimeStamp-770.51915862931457 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 234.62059020996094 -1090.0445556640625 -180.14382934570312 pKFcur->mnId522 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.381033333333333 vpKFs.front()->mTimeStamp-784.88350030014999 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 232.32695007324219 -1145.9007568359375 -192.49264526367188 pKFcur->mnId523 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.414400000000001 vpKFs.front()->mTimeStamp-799.28120863765207 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 230.38015747070312 -1201.1231689453125 -204.53921508789062 pKFcur->mnId524 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.447766666666666 vpKFs.front()->mTimeStamp-813.71228364182082 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 229.03741455078125 -1256.416015625 -216.5963134765625 pKFcur->mnId525 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.481133333333334 vpKFs.front()->mTimeStamp-828.17672531265623 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 227.66059875488281 -1312.6441650390625 -229.05160522460938 pKFcur->mnId526 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.5145 vpKFs.front()->mTimeStamp-842.67453365015831 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 225.7093505859375 -1368.7769775390625 -241.46031188964844 pKFcur->mnId527 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.547866666666668 vpKFs.front()->mTimeStamp-857.20570865432705 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 221.96377563476562 -1424.3768310546875 -253.65966796875 pKFcur->mnId528 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.581233333333333 vpKFs.front()->mTimeStamp-871.77025032516246 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 217.79042053222656 -1481.1214599609375 -266.32284545898438 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.614600000000001 vpKFs.front()->mTimeStamp-886.36815866266454 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 212.36589050292969 -1538.4671630859375 -279.26864624023438 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.647966666666667 vpKFs.front()->mTimeStamp-900.99943366683328 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 207.03768920898438 -1595.13427734375 -291.88623046875 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.681333333333333 vpKFs.front()->mTimeStamp-915.66407533766869 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 202.41200256347656 -1651.9630126953125 -304.51934814453125 pKFcur->mnId532 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.714700000000001 vpKFs.front()->mTimeStamp-930.36208367517077 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 199.11878967285156 -1708.752685546875 -317.066650390625 pKFcur->mnId533 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.748066666666666 vpKFs.front()->mTimeStamp-945.09345867933951 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 195.82647705078125 -1765.8416748046875 -329.7122802734375 pKFcur->mnId534 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.781433333333334 vpKFs.front()->mTimeStamp-959.85820035017491 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 193.49508666992188 -1823.33544921875 -342.49435424804688 pKFcur->mnId535 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.8148 vpKFs.front()->mTimeStamp-974.65630868767698 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 191.10983276367188 -1881.82958984375 -355.70590209960938 pKFcur->mnId536 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556a813de9d0 pKFCur->mTimeStamp14.848166666666668 vpKFs.front()->mTimeStamp-989.48778369184572 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 187.8409423828125 -1940.738525390625 -369.11337280273438 pKFcur->mnId537 gopro_slam.cc Caught signal 2