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 661 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: 10.1853 FPS Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x556755c937e0 pKFCur->mTimeStamp0.016683333333333335 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.6172833333333333 vpKFs.front()->mTimeStamp-72.222133341670826 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.10608015954494476 -0.79375177621841431 -0.15182192623615265 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.65065000000000006 vpKFs.front()->mTimeStamp-72.856091679172906 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.74622136354446411 0.4827180802822113 0.094258643686771393 pKFcur->mnId454 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.68401666666666672 vpKFs.front()->mTimeStamp-73.523416683341651 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 1.0665609836578369 1.2808475494384766 0.0051328400149941444 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.71738333333333337 vpKFs.front()->mTimeStamp-74.224108354177062 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.4506489038467407 2.4053092002868652 -0.14641007781028748 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.75075000000000003 vpKFs.front()->mTimeStamp-74.958166691679153 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 1.7370167970657349 3.5994434356689453 -0.33630925416946411 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.78411666666666668 vpKFs.front()->mTimeStamp-75.725591695847911 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.9077116250991821 4.886864185333252 -0.57008558511734009 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.83416666666666672 vpKFs.front()->mTimeStamp-76.526383366683334 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.1605353355407715 6.1149449348449707 -0.90446376800537109 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.86753333333333338 vpKFs.front()->mTimeStamp-77.377225037518755 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.9855667352676392 7.8786458969116211 -1.2650198936462402 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.90090000000000003 vpKFs.front()->mTimeStamp-78.261433375020843 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.7420399188995361 9.8533525466918945 -1.6734919548034668 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.93426666666666669 vpKFs.front()->mTimeStamp-79.179008379189597 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.4156382083892822 12.064507484436035 -2.1575238704681396 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp0.98431666666666673 vpKFs.front()->mTimeStamp-80.129950050025016 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.0221793651580811 14.531983375549316 -2.7371087074279785 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.3093000000000004 vpKFs.front()->mTimeStamp-81.130941720860434 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0.42327588796615601 17.416769027709961 -3.4510855674743652 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.3760333333333339 vpKFs.front()->mTimeStamp-90.456916725029188 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.6181685924530029 -18.02794075012207 2.8486104011535645 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.4093999999999998 vpKFs.front()->mTimeStamp-99.849625062531274 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.98469209671020508 26.037132263183594 -1.1677932739257812 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.4928166666666662 vpKFs.front()->mTimeStamp-109.27570006670003 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1.1798604726791382 -25.090688705444336 0.42595502734184265 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.5261833333333339 vpKFs.front()->mTimeStamp-118.78519173753544 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -2.6036019325256348 38.766643524169922 2.72267746925354 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.5595499999999998 vpKFs.front()->mTimeStamp-128.32805007503754 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 1.2739226818084717 -48.691925048828125 -3.5409376621246338 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.5929166666666674 vpKFs.front()->mTimeStamp-137.90427507920629 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 11.454418182373047 -79.9693603515625 -8.0864248275756836 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.6262833333333333 vpKFs.front()->mTimeStamp-147.5138667500417 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 18.447027206420898 -105.35322570800781 -12.229830741882324 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.659650000000001 vpKFs.front()->mTimeStamp-157.15682508754378 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 26.175270080566406 -132.08351135253906 -16.829750061035156 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.6930166666666668 vpKFs.front()->mTimeStamp-166.83315009171253 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 32.643989562988281 -159.68887329101562 -21.609912872314453 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.7263833333333327 vpKFs.front()->mTimeStamp-176.54284176254794 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 39.70245361328125 -188.06866455078125 -26.692893981933594 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.7597500000000004 vpKFs.front()->mTimeStamp-186.28590010005001 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 47.217761993408203 -217.48617553710938 -32.157157897949219 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.7931166666666662 vpKFs.front()->mTimeStamp-196.06232510421876 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 53.548290252685547 -247.68212890625 -37.802486419677734 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.8264833333333339 vpKFs.front()->mTimeStamp-205.87211677505417 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 59.460750579833984 -278.4171142578125 -43.618503570556641 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.8598499999999998 vpKFs.front()->mTimeStamp-215.71527511255624 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 65.120872497558594 -310.20660400390625 -49.804912567138672 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.8932166666666674 vpKFs.front()->mTimeStamp-225.59180011672498 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 70.441146850585938 -342.48739624023438 -56.162998199462891 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.9265833333333333 vpKFs.front()->mTimeStamp-235.50169178756039 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 74.411773681640625 -374.94259643554688 -62.534172058105469 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.959950000000001 vpKFs.front()->mTimeStamp-245.44495012506246 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 78.437309265136719 -407.62387084960938 -69.003829956054688 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp9.9933166666666668 vpKFs.front()->mTimeStamp-255.4215751292312 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 82.104148864746094 -439.91912841796875 -75.334739685058594 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.026683333333333 vpKFs.front()->mTimeStamp-265.43156680006661 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 85.969390869140625 -472.455078125 -81.772499084472656 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.06005 vpKFs.front()->mTimeStamp-275.47492513756868 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 90.616348266601562 -503.44711303710938 -87.727813720703125 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.093416666666666 vpKFs.front()->mTimeStamp-285.55165014173741 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 95.530899047851562 -534.43505859375 -93.711990356445312 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.126783333333334 vpKFs.front()->mTimeStamp-295.66174181257281 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 100.65824890136719 -564.87847900390625 -99.539382934570312 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.16015 vpKFs.front()->mTimeStamp-305.80520015007488 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 105.20085144042969 -594.661376953125 -105.1351318359375 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.193516666666667 vpKFs.front()->mTimeStamp-315.98202515424362 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1260 1691 pKFcur->GetVelocity() 110.26556396484375 -624.4041748046875 -110.75535583496094 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.226883333333333 vpKFs.front()->mTimeStamp-326.19221682507902 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 113.71211242675781 -653.30352783203125 -116.03112030029297 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.260250000000001 vpKFs.front()->mTimeStamp-336.43577516258108 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 116.11415100097656 -682.67401123046875 -121.40443420410156 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.293616666666667 vpKFs.front()->mTimeStamp-346.71270016674981 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 117.28700256347656 -712.55035400390625 -126.89438629150391 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.326983333333333 vpKFs.front()->mTimeStamp-357.02299183758521 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 117.92946624755859 -743.726318359375 -132.79180908203125 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.36035 vpKFs.front()->mTimeStamp-367.36665017508727 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 118.70114135742188 -775.93353271484375 -139.03958129882812 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.393716666666666 vpKFs.front()->mTimeStamp-377.743675179256 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 119.31144714355469 -808.426025390625 -145.40069580078125 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.427083333333334 vpKFs.front()->mTimeStamp-388.1540668500914 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 120.75113677978516 -841.297607421875 -151.93925476074219 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.46045 vpKFs.front()->mTimeStamp-398.59782518759346 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 121.93621826171875 -873.8011474609375 -158.38505554199219 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.493816666666667 vpKFs.front()->mTimeStamp-409.07495019176218 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 123.18071746826172 -905.52081298828125 -164.5933837890625 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.527183333333333 vpKFs.front()->mTimeStamp-419.58544186259758 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 124.24020385742188 -936.3782958984375 -170.53076171875 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.560550000000001 vpKFs.front()->mTimeStamp-430.12930020009964 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 125.21444702148438 -966.6669921875 -176.29658508300781 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.593916666666667 vpKFs.front()->mTimeStamp-440.70652520426836 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 126.39060974121094 -995.978515625 -181.75563049316406 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.627283333333333 vpKFs.front()->mTimeStamp-451.31711687510381 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 127.99113464355469 -1025.02294921875 -187.12239074707031 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.66065 vpKFs.front()->mTimeStamp-461.96107521260592 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 129.7894287109375 -1054.281982421875 -192.54678344726562 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.694016666666666 vpKFs.front()->mTimeStamp-472.6384002167747 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 131.034912109375 -1083.77197265625 -198.02525329589844 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.727383333333334 vpKFs.front()->mTimeStamp-483.34909188761014 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 132.326904296875 -1114.1650390625 -203.80062866210938 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.76075 vpKFs.front()->mTimeStamp-494.09315022511225 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 133.00999450683594 -1145.058837890625 -209.75173950195312 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.794116666666667 vpKFs.front()->mTimeStamp-504.87057522928103 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 133.51951599121094 -1176.1358642578125 -215.7874755859375 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.827483333333333 vpKFs.front()->mTimeStamp-515.68136690011647 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 133.01156616210938 -1206.8360595703125 -221.7208251953125 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.860850000000001 vpKFs.front()->mTimeStamp-526.52552523761858 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 132.74958801269531 -1237.2208251953125 -227.57147216796875 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.894216666666667 vpKFs.front()->mTimeStamp-537.40305024178735 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 132.88786315917969 -1267.3936767578125 -233.3673095703125 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.927583333333333 vpKFs.front()->mTimeStamp-548.31394191262279 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 132.67915344238281 -1296.963623046875 -238.98295593261719 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.96095 vpKFs.front()->mTimeStamp-559.2582002501249 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 131.64790344238281 -1326.7666015625 -244.67607116699219 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55675786c9e0 pKFCur->mTimeStamp10.994316666666666 vpKFs.front()->mTimeStamp-570.23582525429367 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 130.3924560546875 -1356.21240234375 -250.26748657226562 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnId