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 1123 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: 14.0527 FPS Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x562b03287490 pKFCur->mTimeStamp0.016683333333333335 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp0.68401666666666672 vpKFs.front()->mTimeStamp-72.222133341670826 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.052703075110912323 -1.0492100715637207 -0.078104004263877869 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp0.75075000000000003 vpKFs.front()->mTimeStamp-72.922825012506237 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0.90517538785934448 0.65046155452728271 -0.20588977634906769 pKFcur->mnId454 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=32 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp0.78411666666666668 vpKFs.front()->mTimeStamp-73.690250016674995 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.90517538785934448 0.65046155452728271 -0.20588977634906769 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp0.81748333333333334 vpKFs.front()->mTimeStamp-74.491041687510418 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.4548735618591309 2.2599208354949951 -0.64598721265792847 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp0.85085 vpKFs.front()->mTimeStamp-75.325200025012506 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 4.1252827644348145 3.9928674697875977 -1.152829647064209 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp0.88421666666666665 vpKFs.front()->mTimeStamp-76.192725029181261 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 5.9225368499755859 5.9044733047485352 -1.753135085105896 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp1.0176833333333333 vpKFs.front()->mTimeStamp-77.093616700016682 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.5838673114776611 3.6455037593841553 -1.4012628793716431 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp1.05105 vpKFs.front()->mTimeStamp-78.127975037518766 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -1.0130401849746704 -1.5579819679260254 0.68363523483276367 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp1.1011 vpKFs.front()->mTimeStamp-79.195700041687516 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.1295100450515747 1.5348879098892212 -0.48597407341003418 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp1.2178833333333334 vpKFs.front()->mTimeStamp-80.313475045856265 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 3.9266021251678467 5.6098542213439941 -3.082655668258667 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp1.3346666666666667 vpKFs.front()->mTimeStamp-81.548033383358344 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.4592204093933105 4.8910822868347168 1.1033302545547485 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.5565500000000005 vpKFs.front()->mTimeStamp-82.899375054193769 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 2.4165246486663818 5.4874110221862793 -2.4980316162109375 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.639966666666667 vpKFs.front()->mTimeStamp-89.472600058362517 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -11.761041641235352 5.2987098693847656 -1.0489546060562134 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.6733333333333338 vpKFs.front()->mTimeStamp-96.129241729197929 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 17.495784759521484 -11.509316444396973 4.8216276168823242 pKFcur->mnId466 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.033329663149848 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.7067000000000005 vpKFs.front()->mTimeStamp-102.81925006670001 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -21.486690521240234 10.200840950012207 -4.4335594177246094 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.7400666666666664 vpKFs.front()->mTimeStamp-109.54262507086875 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -30.87870979309082 17.635494232177734 -6.1481361389160156 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.7734333333333332 vpKFs.front()->mTimeStamp-116.29936674170418 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -40.713134765625 24.935436248779297 -7.8952021598815918 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.8068 vpKFs.front()->mTimeStamp-123.08947507920627 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -50.400409698486328 32.949611663818359 -9.6802549362182617 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.8401666666666667 vpKFs.front()->mTimeStamp-129.91295008337502 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -59.820091247558594 41.559123992919922 -11.479854583740234 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.8735333333333335 vpKFs.front()->mTimeStamp-136.76979175421044 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -69.688957214355469 49.770423889160156 -13.27964973449707 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.9069000000000003 vpKFs.front()->mTimeStamp-143.66000009171253 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -79.329078674316406 58.918201446533203 -15.15241813659668 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.940266666666667 vpKFs.front()->mTimeStamp-150.58357509588129 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -89.059249877929688 66.988739013671875 -16.866777420043945 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp6.9736333333333338 vpKFs.front()->mTimeStamp-157.54051676671671 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -98.634559631347656 75.997184753417969 -18.675573348999023 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.0070000000000006 vpKFs.front()->mTimeStamp-164.53082510421879 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -108.41336059570312 84.78192138671875 -20.476005554199219 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.0403666666666664 vpKFs.front()->mTimeStamp-171.55450010838754 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -108.54582214355469 86.407066345214844 -20.84538459777832 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.0737333333333332 vpKFs.front()->mTimeStamp-178.61154177922296 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -108.55797576904297 88.338836669921875 -21.158498764038086 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.1071 vpKFs.front()->mTimeStamp-185.70195011672504 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -108.94212341308594 89.666374206542969 -21.418190002441406 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.1404666666666667 vpKFs.front()->mTimeStamp-192.82572512089379 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -109.10819244384766 90.699104309082031 -21.651006698608398 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.1738333333333335 vpKFs.front()->mTimeStamp-199.98286679172921 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -109.15586090087891 91.313087463378906 -21.849863052368164 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.2072000000000003 vpKFs.front()->mTimeStamp-207.17337512923129 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -109.22935485839844 91.889907836914062 -22.018877029418945 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.240566666666667 vpKFs.front()->mTimeStamp-214.39725013340004 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -109.38495635986328 92.3402099609375 -22.149547576904297 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.2739333333333338 vpKFs.front()->mTimeStamp-221.65449180423545 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -109.5045166015625 92.652259826660156 -22.251993179321289 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.3073000000000006 vpKFs.front()->mTimeStamp-228.94510014173753 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -109.69833374023438 93.006393432617188 -22.320358276367188 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.3406666666666665 vpKFs.front()->mTimeStamp-236.26907514590627 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -110.04132080078125 93.632545471191406 -22.357999801635742 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.3740333333333332 vpKFs.front()->mTimeStamp-243.62641681674168 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -110.3125 94.356658935546875 -22.362146377563477 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.4074 vpKFs.front()->mTimeStamp-251.01712515424376 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -110.94412231445312 94.481513977050781 -22.339336395263672 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.4741333333333335 vpKFs.front()->mTimeStamp-258.44120015841253 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -111.23591613769531 94.932624816894531 -22.279247283935547 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.5241833333333332 vpKFs.front()->mTimeStamp-265.9320084959146 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -110.89290618896484 93.68902587890625 -22.164173126220703 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.55755 vpKFs.front()->mTimeStamp-273.47286683341667 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -110.71700286865234 92.671607971191406 -22.002080917358398 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.6242833333333335 vpKFs.front()->mTimeStamp-281.04709183758541 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -110.51153564453125 91.685661315917969 -21.815662384033203 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.6576500000000003 vpKFs.front()->mTimeStamp-288.68805017508748 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -110.13265991210938 90.977584838867188 -21.579927444458008 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.6910166666666671 vpKFs.front()->mTimeStamp-296.36237517925622 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -109.71812438964844 89.677513122558594 -21.330665588378906 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.7243833333333338 vpKFs.front()->mTimeStamp-304.07006685009162 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -109.45735168457031 88.4000244140625 -21.050662994384766 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.7577499999999997 vpKFs.front()->mTimeStamp-311.81112518759369 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -109.16062164306641 87.083206176757812 -20.718658447265625 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.7911166666666665 vpKFs.front()->mTimeStamp-319.58555019176242 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -108.84223175048828 85.71453857421875 -20.348747253417969 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.8244833333333332 vpKFs.front()->mTimeStamp-327.39334186259782 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -108.40796661376953 84.257331848144531 -19.943071365356445 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.85785 vpKFs.front()->mTimeStamp-335.23450020009989 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -108.10567474365234 82.795379638671875 -19.542234420776367 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.8912166666666668 vpKFs.front()->mTimeStamp-343.10902520426862 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -107.7818603515625 81.153106689453125 -19.130792617797852 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.9245833333333335 vpKFs.front()->mTimeStamp-351.01691687510402 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -107.22548675537109 79.598678588867188 -18.658695220947266 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.9579500000000003 vpKFs.front()->mTimeStamp-358.95817521260608 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -106.89509582519531 77.833656311035156 -18.16295051574707 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp7.9913166666666671 vpKFs.front()->mTimeStamp-366.93280021677481 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -106.90309143066406 77.261894226074219 -18.067010879516602 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.0246833333333338 vpKFs.front()->mTimeStamp-374.9407918876102 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -107.07485961914062 76.868080139160156 -17.933494567871094 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.0580499999999997 vpKFs.front()->mTimeStamp-382.98215022511226 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -107.1163330078125 76.080909729003906 -17.791172027587891 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.0914166666666674 vpKFs.front()->mTimeStamp-391.05687522928099 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -106.97586059570312 75.663642883300781 -17.618741989135742 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.1247833333333332 vpKFs.front()->mTimeStamp-399.16496690011638 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -106.77210998535156 74.817771911621094 -17.424707412719727 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.1581500000000009 vpKFs.front()->mTimeStamp-407.30642523761844 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -106.56961822509766 74.172714233398438 -17.208547592163086 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.1915166666666668 vpKFs.front()->mTimeStamp-415.48125024178717 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -106.3231201171875 73.441169738769531 -16.963438034057617 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.2248833333333327 vpKFs.front()->mTimeStamp-423.68944191262256 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -105.92139434814453 72.652114868164062 -16.694564819335938 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.2582500000000003 vpKFs.front()->mTimeStamp-431.93100025012461 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -105.43503570556641 71.742080688476562 -16.397970199584961 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.2916166666666662 vpKFs.front()->mTimeStamp-440.20592525429339 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -105.03200531005859 70.759391784667969 -16.067258834838867 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.3249833333333338 vpKFs.front()->mTimeStamp-448.51421692512884 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -104.61550140380859 69.840560913085938 -15.702860832214355 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.3583499999999997 vpKFs.front()->mTimeStamp-456.85587526263095 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -104.18611907958984 68.482864379882812 -15.325469970703125 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.3917166666666674 vpKFs.front()->mTimeStamp-465.23090026679972 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -103.78852081298828 67.451850891113281 -14.903098106384277 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.4250833333333333 vpKFs.front()->mTimeStamp-473.63929193763516 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -103.41307830810547 66.297012329101562 -14.439204216003418 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.4584500000000009 vpKFs.front()->mTimeStamp-482.08105027513727 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -103.01446533203125 65.173500061035156 -13.951836585998535 pKFcur->mnId517 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.4918166666666668 vpKFs.front()->mTimeStamp-490.55617527930605 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -102.52140045166016 63.971183776855469 -13.426553726196289 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.5251833333333327 vpKFs.front()->mTimeStamp-499.06466695014149 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -102.12684631347656 62.638198852539062 -12.882981300354004 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.5585500000000003 vpKFs.front()->mTimeStamp-507.60652528764359 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -102.05670166015625 61.808925628662109 -12.321005821228027 pKFcur->mnId520 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.5919166666666662 vpKFs.front()->mTimeStamp-516.18175029181236 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -101.91165924072266 61.078716278076172 -11.732587814331055 pKFcur->mnId521 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.6252833333333339 vpKFs.front()->mTimeStamp-524.79034196264774 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -101.47944641113281 60.642013549804688 -11.103934288024902 pKFcur->mnId522 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.6586499999999997 vpKFs.front()->mTimeStamp-533.43230030014979 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -100.92572021484375 60.665668487548828 -10.41130256652832 pKFcur->mnId523 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.6920166666666674 vpKFs.front()->mTimeStamp-542.1076253043185 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -101.00521850585938 60.107730865478516 -9.6621780395507812 pKFcur->mnId524 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.7253833333333333 vpKFs.front()->mTimeStamp-550.81631697515388 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -100.64253234863281 59.447505950927734 -8.888728141784668 pKFcur->mnId525 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.7587500000000009 vpKFs.front()->mTimeStamp-559.55837531265593 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -100.24340057373047 57.561241149902344 -8.1141223907470703 pKFcur->mnId526 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.7921166666666668 vpKFs.front()->mTimeStamp-568.33380031682464 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -99.787506103515625 55.587753295898438 -7.3093500137329102 pKFcur->mnId527 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.8254833333333327 vpKFs.front()->mTimeStamp-577.14259198766001 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -99.546699523925781 53.933067321777344 -6.4549088478088379 pKFcur->mnId528 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.8588500000000003 vpKFs.front()->mTimeStamp-585.98475032516205 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -99.088104248046875 52.399379730224609 -5.5606765747070312 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.8922166666666662 vpKFs.front()->mTimeStamp-594.86027532933076 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -98.496749877929688 50.484786987304688 -4.6364221572875977 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.9255833333333339 vpKFs.front()->mTimeStamp-603.76916700016614 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -97.884902954101562 48.394237518310547 -3.6806707382202148 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.9589499999999997 vpKFs.front()->mTimeStamp-612.71142533766817 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -97.599212646484375 46.793846130371094 -2.6739246845245361 pKFcur->mnId532 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp8.9923166666666674 vpKFs.front()->mTimeStamp-621.68705034183688 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -97.188674926757812 44.654262542724609 -1.6475257873535156 pKFcur->mnId533 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.0256833333333333 vpKFs.front()->mTimeStamp-630.69604201267225 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -96.688591003417969 42.549964904785156 -0.5872122049331665 pKFcur->mnId534 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.0590500000000009 vpKFs.front()->mTimeStamp-639.73840035017429 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -95.928123474121094 40.351020812988281 0.50200372934341431 pKFcur->mnId535 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.1090999999999998 vpKFs.front()->mTimeStamp-648.81412535434299 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -95.3369140625 37.926414489746094 1.623963475227356 pKFcur->mnId536 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.1424666666666674 vpKFs.front()->mTimeStamp-657.93990035851175 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -94.702247619628906 35.515480041503906 2.7929601669311523 pKFcur->mnId537 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.1758333333333333 vpKFs.front()->mTimeStamp-667.09904202934717 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -94.1055908203125 33.204624176025391 4.0008487701416016 pKFcur->mnId538 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.2092000000000009 vpKFs.front()->mTimeStamp-676.29155036684926 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -93.363975524902344 31.079648971557617 5.2410502433776855 pKFcur->mnId539 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.2425666666666668 vpKFs.front()->mTimeStamp-685.51742537101802 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -92.66668701171875 28.616960525512695 6.4927177429199219 pKFcur->mnId540 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.2759333333333327 vpKFs.front()->mTimeStamp-694.77666704185344 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -92.125213623046875 25.258672714233398 7.7765722274780273 pKFcur->mnId541 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.3093000000000004 vpKFs.front()->mTimeStamp-704.06927537935553 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -91.559104919433594 22.575145721435547 9.136937141418457 pKFcur->mnId542 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.3426666666666662 vpKFs.front()->mTimeStamp-713.39525038352429 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -90.751220703125 19.454120635986328 10.530003547668457 pKFcur->mnId543 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.3760333333333339 vpKFs.front()->mTimeStamp-722.7545920543597 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -89.804412841796875 16.791896820068359 11.969944953918457 pKFcur->mnId544 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.4093999999999998 vpKFs.front()->mTimeStamp-732.14730039186179 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -88.829185485839844 14.001692771911621 13.403432846069336 pKFcur->mnId545 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.4427666666666674 vpKFs.front()->mTimeStamp-741.57337539603054 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -87.932243347167969 11.165616035461426 14.880620002746582 pKFcur->mnId546 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.4761333333333333 vpKFs.front()->mTimeStamp-751.03281706686596 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -87.507438659667969 6.7111301422119141 16.333675384521484 pKFcur->mnId547 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.509500000000001 vpKFs.front()->mTimeStamp-760.52562540436804 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -86.582450866699219 3.5356447696685791 17.872068405151367 pKFcur->mnId548 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.5428666666666668 vpKFs.front()->mTimeStamp-770.05180040853679 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -85.932884216308594 -0.21991011500358582 19.423166275024414 pKFcur->mnId549 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.5762333333333327 vpKFs.front()->mTimeStamp-779.61134207937221 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -84.75799560546875 -3.5641818046569824 21.028617858886719 pKFcur->mnId550 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.6096000000000004 vpKFs.front()->mTimeStamp-789.20425041687429 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -83.861480712890625 -7.3508434295654297 22.664077758789062 pKFcur->mnId551 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.6429666666666662 vpKFs.front()->mTimeStamp-798.83052542104303 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -82.461250305175781 -11.03849983215332 24.336668014526367 pKFcur->mnId552 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.6763333333333339 vpKFs.front()->mTimeStamp-808.49016709187845 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 117.48911285400391 15.825592994689941 -12.599902153015137 pKFcur->mnId553 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.7096999999999998 vpKFs.front()->mTimeStamp-818.18317542938053 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 118.56301116943359 11.991029739379883 -10.836030960083008 pKFcur->mnId554 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.7430666666666674 vpKFs.front()->mTimeStamp-827.90955043354927 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 119.79527282714844 7.8107213973999023 -9.0506324768066406 pKFcur->mnId555 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.7764333333333333 vpKFs.front()->mTimeStamp-837.66929210438468 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 120.96215057373047 3.6517047882080078 -7.2201075553894043 pKFcur->mnId556 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.809800000000001 vpKFs.front()->mTimeStamp-847.46240044188676 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 122.51853942871094 0.6138765811920166 -5.3169040679931641 pKFcur->mnId557 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.8431666666666668 vpKFs.front()->mTimeStamp-857.2888754460555 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 124.03382110595703 -3.2727644443511963 -3.3928725719451904 pKFcur->mnId558 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.8765333333333327 vpKFs.front()->mTimeStamp-867.14871711689091 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 125.49582672119141 -7.5843825340270996 -1.4409387111663818 pKFcur->mnId559 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.9099000000000004 vpKFs.front()->mTimeStamp-877.04192545439298 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 126.72516632080078 -11.644382476806641 0.56440025568008423 pKFcur->mnId560 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.9432666666666663 vpKFs.front()->mTimeStamp-886.96850045856172 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 127.81834411621094 -16.137596130371094 2.6157407760620117 pKFcur->mnId561 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp9.9766333333333339 vpKFs.front()->mTimeStamp-896.92844212939713 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 128.85050964355469 -20.0928955078125 4.7004599571228027 pKFcur->mnId562 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.01 vpKFs.front()->mTimeStamp-906.9217504668992 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 130.50959777832031 -23.891672134399414 6.8692717552185059 pKFcur->mnId563 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 15.365176781275725 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.043366666666667 vpKFs.front()->mTimeStamp-916.94842547106794 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 131.92955017089844 -28.574165344238281 9.0585994720458984 pKFcur->mnId564 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.076733333333333 vpKFs.front()->mTimeStamp-927.00846714190334 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 133.21112060546875 -33.451824188232422 11.276798248291016 pKFcur->mnId565 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.110100000000001 vpKFs.front()->mTimeStamp-937.10187547940541 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 134.67607116699219 -38.133663177490234 13.519031524658203 pKFcur->mnId566 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.143466666666667 vpKFs.front()->mTimeStamp-947.22865048357414 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 137.12532043457031 -41.177127838134766 15.836175918579102 pKFcur->mnId567 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.176833333333333 vpKFs.front()->mTimeStamp-957.38879215440954 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 138.28367614746094 -45.566925048828125 18.243320465087891 pKFcur->mnId568 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.2102 vpKFs.front()->mTimeStamp-967.58230049191161 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 141.24363708496094 -50.007820129394531 20.723230361938477 pKFcur->mnId569 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.243566666666666 vpKFs.front()->mTimeStamp-977.80917549608034 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 142.64422607421875 -55.526973724365234 23.227060317993164 pKFcur->mnId570 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.276933333333334 vpKFs.front()->mTimeStamp-988.06941716691574 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 146.14329528808594 -57.304473876953125 25.753469467163086 pKFcur->mnId571 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.3103 vpKFs.front()->mTimeStamp-998.36302550441781 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 147.32461547851562 -61.952571868896484 28.380563735961914 pKFcur->mnId572 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.343666666666667 vpKFs.front()->mTimeStamp-1008.6900005085865 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 148.74171447753906 -65.806632995605469 31.037769317626953 pKFcur->mnId573 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.377033333333333 vpKFs.front()->mTimeStamp-1019.0503421794219 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 152.8121337890625 -69.099929809570312 33.748588562011719 pKFcur->mnId574 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.410400000000001 vpKFs.front()->mTimeStamp-1029.4440505169241 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 154.20329284667969 -74.549636840820312 36.384929656982422 pKFcur->mnId575 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.443766666666667 vpKFs.front()->mTimeStamp-1039.8711255210928 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 155.87290954589844 -80.192573547363281 39.136276245117188 pKFcur->mnId576 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.477133333333333 vpKFs.front()->mTimeStamp-1050.3315671919283 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 158.97773742675781 -86.270950317382812 41.849807739257812 pKFcur->mnId577 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.5105 vpKFs.front()->mTimeStamp-1060.8253755294304 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 161.61344909667969 -92.776802062988281 44.521526336669922 pKFcur->mnId578 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.543866666666666 vpKFs.front()->mTimeStamp-1071.3525505335992 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 163.36366271972656 -99.602745056152344 47.332767486572266 pKFcur->mnId579 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.577233333333334 vpKFs.front()->mTimeStamp-1081.9130922044346 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 165.76412963867188 -106.05768585205078 50.172946929931641 pKFcur->mnId580 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.6106 vpKFs.front()->mTimeStamp-1092.5070005419368 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 167.55459594726562 -112.16575622558594 53.107574462890625 pKFcur->mnId581 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.643966666666667 vpKFs.front()->mTimeStamp-1103.1342755461055 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 169.32334899902344 -118.65873718261719 55.952850341796875 pKFcur->mnId582 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.677333333333333 vpKFs.front()->mTimeStamp-1113.794917216941 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 170.56442260742188 -124.88216400146484 58.814132690429688 pKFcur->mnId583 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.710700000000001 vpKFs.front()->mTimeStamp-1124.4889255544431 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 173.45181274414062 -133.32003784179688 61.590141296386719 pKFcur->mnId584 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.744066666666667 vpKFs.front()->mTimeStamp-1135.2163005586119 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 175.34461975097656 -140.4677734375 64.633041381835938 pKFcur->mnId585 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.777433333333333 vpKFs.front()->mTimeStamp-1145.9770422294473 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 177.2645263671875 -147.0806884765625 67.730522155761719 pKFcur->mnId586 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.8108 vpKFs.front()->mTimeStamp-1156.7711505669495 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 179.0115966796875 -153.71452331542969 70.892364501953125 pKFcur->mnId587 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.844166666666666 vpKFs.front()->mTimeStamp-1167.5986255711182 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 182.82614135742188 -162.02603149414062 74.156333923339844 pKFcur->mnId588 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.877533333333334 vpKFs.front()->mTimeStamp-1178.4594672419537 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 184.95217895507812 -169.00723266601562 77.415328979492188 pKFcur->mnId589 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.9109 vpKFs.front()->mTimeStamp-1189.3536755794557 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 189.66531372070312 -178.77494812011719 81.150077819824219 pKFcur->mnId590 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.944266666666667 vpKFs.front()->mTimeStamp-1200.2812505836246 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 193.6610107421875 -189.11062622070312 84.398223876953125 pKFcur->mnId591 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp10.977633333333333 vpKFs.front()->mTimeStamp-1211.24219225446 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 197.26527404785156 -198.41853332519531 87.9556884765625 pKFcur->mnId592 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.011000000000001 vpKFs.front()->mTimeStamp-1222.2365005919621 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 201.20208740234375 -208.67669677734375 91.352210998535156 pKFcur->mnId593 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.044366666666667 vpKFs.front()->mTimeStamp-1233.2641755961308 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 205.41612243652344 -219.87060546875 94.421607971191406 pKFcur->mnId594 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.077733333333333 vpKFs.front()->mTimeStamp-1244.3252172669663 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 208.40589904785156 -228.06138610839844 97.849700927734375 pKFcur->mnId595 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.1111 vpKFs.front()->mTimeStamp-1255.4196256044684 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 210.831787109375 -235.92799377441406 101.36511993408203 pKFcur->mnId596 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.144466666666666 vpKFs.front()->mTimeStamp-1266.5474006086372 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 214.01383972167969 -245.56248474121094 104.75050354003906 pKFcur->mnId597 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.177833333333334 vpKFs.front()->mTimeStamp-1277.7085422794726 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 216.47505187988281 -252.897216796875 108.00241088867188 pKFcur->mnId598 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.2112 vpKFs.front()->mTimeStamp-1288.9030506169747 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 218.71015930175781 -261.4501953125 111.63152313232422 pKFcur->mnId599 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.277933333333333 vpKFs.front()->mTimeStamp-1300.1309256211434 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 220.88700866699219 -269.56820678710938 115.34243011474609 pKFcur->mnId600 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.311300000000001 vpKFs.front()->mTimeStamp-1311.4255339586455 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 223.37835693359375 -278.65765380859375 119.08003234863281 pKFcur->mnId601 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.344666666666667 vpKFs.front()->mTimeStamp-1322.7535089628143 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 225.71121215820312 -287.21298217773438 122.91883087158203 pKFcur->mnId602 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.378033333333333 vpKFs.front()->mTimeStamp-1334.1148506336497 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 228.05442810058594 -295.84371948242188 126.80398559570312 pKFcur->mnId603 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.4114 vpKFs.front()->mTimeStamp-1345.5095589711518 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 230.62689208984375 -304.7938232421875 130.71621704101562 pKFcur->mnId604 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.444766666666666 vpKFs.front()->mTimeStamp-1356.9376339753205 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 233.03779602050781 -313.92208862304688 134.67181396484375 pKFcur->mnId605 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.478133333333334 vpKFs.front()->mTimeStamp-1368.399075646156 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 235.70268249511719 -323.34866333007812 138.6524658203125 pKFcur->mnId606 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.5115 vpKFs.front()->mTimeStamp-1379.893883983658 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 238.16319274902344 -332.14227294921875 142.74034118652344 pKFcur->mnId607 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.544866666666667 vpKFs.front()->mTimeStamp-1391.4220589878269 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 240.85104370117188 -341.5018310546875 146.84507751464844 pKFcur->mnId608 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.578233333333333 vpKFs.front()->mTimeStamp-1402.9836006586622 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 243.11820983886719 -350.54364013671875 151.05374145507812 pKFcur->mnId609 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.611600000000001 vpKFs.front()->mTimeStamp-1414.5785089961644 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 245.65509033203125 -359.9893798828125 155.28900146484375 pKFcur->mnId610 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.644966666666667 vpKFs.front()->mTimeStamp-1426.2067840003331 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 248.29010009765625 -369.48648071289062 159.55482482910156 pKFcur->mnId611 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.678333333333333 vpKFs.front()->mTimeStamp-1437.8684256711686 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 251.064208984375 -379.51150512695312 163.81767272949219 pKFcur->mnId612 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.013356064845501 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.7117 vpKFs.front()->mTimeStamp-1449.5634340086706 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 253.60397338867188 -389.791748046875 168.11849975585938 pKFcur->mnId613 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.745066666666666 vpKFs.front()->mTimeStamp-1461.2918090128394 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 256.23776245117188 -399.90811157226562 172.51568603515625 pKFcur->mnId614 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.778433333333334 vpKFs.front()->mTimeStamp-1473.0535506836748 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 258.79653930664062 -410.8123779296875 176.93484497070312 pKFcur->mnId615 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.8118 vpKFs.front()->mTimeStamp-1484.8486590211769 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 261.47543334960938 -422.1806640625 181.36845397949219 pKFcur->mnId616 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.845166666666668 vpKFs.front()->mTimeStamp-1496.6771340253456 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 263.99496459960938 -433.83505249023438 185.83155822753906 pKFcur->mnId617 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.878533333333333 vpKFs.front()->mTimeStamp-1508.5389756961811 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 266.66616821289062 -444.49688720703125 190.44636535644531 pKFcur->mnId618 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.911900000000001 vpKFs.front()->mTimeStamp-1520.4341840336831 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 269.29959106445312 -455.6109619140625 195.08255004882812 pKFcur->mnId619 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.945266666666667 vpKFs.front()->mTimeStamp-1532.3627590378519 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 272.21621704101562 -466.4345703125 199.7943115234375 pKFcur->mnId620 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp11.978633333333333 vpKFs.front()->mTimeStamp-1544.3247007086873 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 275.33578491210938 -477.50531005859375 204.53948974609375 pKFcur->mnId621 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.012 vpKFs.front()->mTimeStamp-1556.3200090461894 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 278.45660400390625 -488.50961303710938 209.35791015625 pKFcur->mnId622 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.045366666666666 vpKFs.front()->mTimeStamp-1568.3486840503581 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 281.59597778320312 -499.12747192382812 214.27957153320312 pKFcur->mnId623 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.078733333333334 vpKFs.front()->mTimeStamp-1580.4107257211936 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 284.24053955078125 -509.38168334960938 219.10887145996094 pKFcur->mnId624 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.1121 vpKFs.front()->mTimeStamp-1592.5061340586956 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 286.73678588867188 -519.7845458984375 223.91636657714844 pKFcur->mnId625 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.145466666666668 vpKFs.front()->mTimeStamp-1604.6349090628644 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 289.82672119140625 -530.72271728515625 229.00372314453125 pKFcur->mnId626 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.178833333333333 vpKFs.front()->mTimeStamp-1616.7970507336997 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 293.20053100585938 -542.29095458984375 234.08171081542969 pKFcur->mnId627 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.212200000000001 vpKFs.front()->mTimeStamp-1628.9925590712019 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 296.8076171875 -553.7120361328125 239.22444152832031 pKFcur->mnId628 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.26225 vpKFs.front()->mTimeStamp-1641.2214340753706 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 300.3306884765625 -565.19677734375 244.32046508789062 pKFcur->mnId629 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.479133333333333 vpKFs.front()->mTimeStamp-1653.5003590795393 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 302.95419311523438 -578.7437744140625 250.06636047363281 pKFcur->mnId630 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.512500000000001 vpKFs.front()->mTimeStamp-1665.9961674170413 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 306.44583129882812 -590.8060302734375 255.73072814941406 pKFcur->mnId631 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.545866666666667 vpKFs.front()->mTimeStamp-1678.5253424212101 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 309.94485473632812 -603.47161865234375 261.35211181640625 pKFcur->mnId632 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.579233333333333 vpKFs.front()->mTimeStamp-1691.0878840920454 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 310.70361328125 -624.9146728515625 265.92117309570312 pKFcur->mnId633 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.6126 vpKFs.front()->mTimeStamp-1703.6837924295476 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 310.54571533203125 -644.43438720703125 270.880859375 pKFcur->mnId634 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.796116666666666 vpKFs.front()->mTimeStamp-1716.3130674337162 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 310.52487182617188 -666.87109375 275.41180419921875 pKFcur->mnId635 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.829483333333334 vpKFs.front()->mTimeStamp-1729.1258591045516 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 312.83151245117188 -663.17266845703125 275.60549926757812 pKFcur->mnId636 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.86285 vpKFs.front()->mTimeStamp-1741.9720174420538 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 314.95654296875 -660.21612548828125 275.84564208984375 pKFcur->mnId637 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.9129 vpKFs.front()->mTimeStamp-1754.8515424462225 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 317.81951904296875 -657.00732421875 276.0902099609375 pKFcur->mnId638 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp12.946266666666666 vpKFs.front()->mTimeStamp-1767.7811174503913 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 321.72198486328125 -653.19464111328125 276.33074951171875 pKFcur->mnId639 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp13.046366666666668 vpKFs.front()->mTimeStamp-1780.7440591212267 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 326.3443603515625 -649.6923828125 276.5726318359375 pKFcur->mnId640 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp13.079733333333333 vpKFs.front()->mTimeStamp-1793.8071007920621 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 331.08319091796875 -644.678466796875 276.83401489257812 pKFcur->mnId641 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562b04e60690 pKFCur->mTimeStamp13.113100000000001 vpKFs.front()->mTimeStamp-1806.9035091295641 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 334.52496337890625 -639.75994873046875 277.17987060546875 pKFcur->mnId642 gopro_slam.cc Caught signal 2