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 1173 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: 24.5476 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 Relocalization() failed. Fail to track local map! n_lost_frames=5 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55df8ff93450 pKFCur->mTimeStamp0.083416666666666667 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.0010000000000001 vpKFs.front()->mTimeStamp-72.288866675004158 vpKFs.back()->mTimeStamp-0.016675004168751034 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.23077298700809479 -1.4325615167617798 -0.48437851667404175 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.0677333333333334 vpKFs.front()->mTimeStamp-73.306541679172909 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.25641575455665588 1.3944220542907715 0.16916844248771667 pKFcur->mnId454 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=46 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.1011 vpKFs.front()->mTimeStamp-74.390950016674992 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.25641575455665588 1.3944220542907715 0.16916844248771667 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.1344666666666667 vpKFs.front()->mTimeStamp-75.508725020843741 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.030688172206282616 0.042700741440057755 -0.22727271914482117 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.1678333333333333 vpKFs.front()->mTimeStamp-76.659866691679156 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.15418535470962524 2.5351541042327881 -0.90131932497024536 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.2012 vpKFs.front()->mTimeStamp-77.844375029181236 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.60415273904800415 4.0066308975219727 -2.6031494140625 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.3346666666666667 vpKFs.front()->mTimeStamp-79.062250033349983 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.081071041524410248 4.2521829605102539 -1.493843674659729 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.3680333333333334 vpKFs.front()->mTimeStamp-80.413591704185407 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 1.0652071237564087 5.1516156196594238 -3.9827675819396973 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.4014 vpKFs.front()->mTimeStamp-81.798300041687497 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.95930749177932739 8.7089624404907227 -5.1050844192504883 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.4347666666666667 vpKFs.front()->mTimeStamp-83.216375045856253 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.77587354183197021 12.575392723083496 -6.3023948669433594 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.4681333333333333 vpKFs.front()->mTimeStamp-84.667816716691675 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.38976186513900757 18.304830551147461 -8.1918821334838867 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.5015000000000001 vpKFs.front()->mTimeStamp-86.152625054193763 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.1610942929983139 22.600698471069336 -9.4854097366333008 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.5348666666666666 vpKFs.front()->mTimeStamp-87.670800058362516 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.7312473058700562 30.020135879516602 -12.312996864318848 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.5849166666666668 vpKFs.front()->mTimeStamp-89.222341729197936 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -3.5627148151397705 37.539600372314453 -15.119921684265137 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.6683333333333334 vpKFs.front()->mTimeStamp-90.823933400033354 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -7.3303894996643066 44.2147216796875 -17.816360473632812 pKFcur->mnId467 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 36.792883549898086 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.7183833333333334 vpKFs.front()->mTimeStamp-92.508941737535437 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -9.3325176239013672 46.367988586425781 -18.910408020019531 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.7517500000000001 vpKFs.front()->mTimeStamp-94.244000075037519 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -11.695808410644531 48.057807922363281 -19.831085205078125 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.7851166666666667 vpKFs.front()->mTimeStamp-96.012425079206267 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -14.227742195129395 49.720386505126953 -20.790645599365234 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp1.8184833333333335 vpKFs.front()->mTimeStamp-97.81421675004168 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -19.217750549316406 53.461666107177734 -22.680082321166992 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.301616666666668 vpKFs.front()->mTimeStamp-99.64937508754376 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -21.564088821411133 55.474109649658203 -23.665403366088867 pKFcur->mnId472 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=1055 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.334983333333334 vpKFs.front()->mTimeStamp-117.96766675837918 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -21.564088821411133 55.474109649658203 -23.665403366088867 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.36835 vpKFs.front()->mTimeStamp-136.31932509588125 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 43.048316955566406 -88.523956298828125 5.5450115203857422 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.401716666666665 vpKFs.front()->mTimeStamp-154.70435010004999 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -53.62701416015625 126.73880004882812 -6.6450614929199219 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.435083333333335 vpKFs.front()->mTimeStamp-173.1227417708854 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -109.10840606689453 74.779518127441406 -19.946294784545898 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.468450000000001 vpKFs.front()->mTimeStamp-191.5745001083875 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -168.27799987792969 25.067222595214844 -33.771308898925781 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.501816666666667 vpKFs.front()->mTimeStamp-210.05962511255626 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -228.12528991699219 -26.584928512573242 -48.361392974853516 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.535183333333332 vpKFs.front()->mTimeStamp-228.57811678339169 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -288.36453247070312 -81.452919006347656 -64.058708190917969 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.568550000000002 vpKFs.front()->mTimeStamp-247.12997512089379 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -350.41156005859375 -135.97013854980469 -80.230674743652344 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.601916666666668 vpKFs.front()->mTimeStamp-265.71520012506255 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -414.16424560546875 -193.61138916015625 -97.783378601074219 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.635283333333334 vpKFs.front()->mTimeStamp-284.33379179589798 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -479.40533447265625 -250.75643920898438 -115.89579772949219 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.66865 vpKFs.front()->mTimeStamp-302.98575013340007 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -545.10577392578125 -310.9541015625 -135.18389892578125 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.702016666666665 vpKFs.front()->mTimeStamp-321.67107513756883 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -613.348388671875 -370.21371459960938 -155.07676696777344 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.735383333333335 vpKFs.front()->mTimeStamp-340.38976680840426 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -683.6083984375 -431.85586547851562 -176.62088012695312 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.768750000000001 vpKFs.front()->mTimeStamp-359.14182514590635 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -755.5474853515625 -495.04052734375 -199.41215515136719 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.802116666666667 vpKFs.front()->mTimeStamp-377.92725015007511 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -829.48077392578125 -558.38153076171875 -223.08709716796875 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.835483333333332 vpKFs.front()->mTimeStamp-396.74604182091053 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -904.74053955078125 -622.2777099609375 -247.50764465332031 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.868850000000002 vpKFs.front()->mTimeStamp-415.59820015841262 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -980.46942138671875 -686.106201171875 -272.03836059570312 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.902216666666668 vpKFs.front()->mTimeStamp-434.48372516258138 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1056.174072265625 -751.560791015625 -297.12905883789062 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.935583333333334 vpKFs.front()->mTimeStamp-453.4026168334168 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -1131.8663330078125 -816.7020263671875 -321.92935180664062 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp18.96895 vpKFs.front()->mTimeStamp-472.35487517091889 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1206.9439697265625 -881.079345703125 -346.1263427734375 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.002316666666665 vpKFs.front()->mTimeStamp-491.34050017508764 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1282.9615478515625 -944.92681884765625 -370.35675048828125 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.035683333333335 vpKFs.front()->mTimeStamp-510.35949184592306 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1358.3258056640625 -1009.9014282226562 -394.798828125 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.069050000000001 vpKFs.front()->mTimeStamp-529.41185018342514 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1433.870361328125 -1074.6202392578125 -419.10848999023438 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.102416666666667 vpKFs.front()->mTimeStamp-548.49757518759384 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1509.5606689453125 -1140.4290771484375 -443.59344482421875 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.135783333333332 vpKFs.front()->mTimeStamp-567.6166668584292 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1585.2628173828125 -1206.064697265625 -467.88043212890625 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.169150000000002 vpKFs.front()->mTimeStamp-586.76912519593134 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1660.6890869140625 -1272.24072265625 -492.13778686523438 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.202516666666668 vpKFs.front()->mTimeStamp-605.95495020010014 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -1736.0072021484375 -1338.912109375 -516.57891845703125 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.235883333333334 vpKFs.front()->mTimeStamp-625.17414187093561 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1811.63330078125 -1406.0372314453125 -541.371826171875 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.26925 vpKFs.front()->mTimeStamp-644.42670020843775 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1887.609375 -1473.605224609375 -566.4234619140625 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.302616666666665 vpKFs.front()->mTimeStamp-663.71262521260655 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1261 1691 pKFcur->GetVelocity() -1964.435791015625 -1542.56884765625 -592.1707763671875 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.335983333333335 vpKFs.front()->mTimeStamp-683.03191688344202 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -2041.8406982421875 -1611.3797607421875 -618.2476806640625 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.369350000000001 vpKFs.front()->mTimeStamp-702.38457522094416 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -2120.560546875 -1680.0361328125 -644.79632568359375 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.402716666666667 vpKFs.front()->mTimeStamp-721.77060022511296 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2200.08984375 -1748.46337890625 -671.53662109375 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.436083333333332 vpKFs.front()->mTimeStamp-741.18999189594842 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2282.52783203125 -1818.091796875 -700.1380615234375 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.469450000000002 vpKFs.front()->mTimeStamp-760.64275023345056 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -2365.793212890625 -1889.9599609375 -730.051025390625 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.502816666666668 vpKFs.front()->mTimeStamp-780.12887523761935 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2449.1298828125 -1962.2369384765625 -760.08148193359375 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55df91b6c650 pKFCur->mTimeStamp19.536183333333334 vpKFs.front()->mTimeStamp-799.64836690845482 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2531.60693359375 -2033.10107421875 -788.9437255859375 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnId