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 880 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: 25.2006 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 Relocalization() failed. Fail to track local map! n_lost_frames=6 Relocalization() failed. Fail to track local map! n_lost_frames=7 Relocalization() failed. Fail to track local map! n_lost_frames=8 Relocalization() failed. Fail to track local map! n_lost_frames=9 Relocalization() failed. Fail to track local map! n_lost_frames=10 Relocalization() failed. Fail to track local map! n_lost_frames=11 Relocalization() failed. Fail to track local map! n_lost_frames=12 Relocalization() failed. Fail to track local map! n_lost_frames=13 Relocalization() failed. Fail to track local map! n_lost_frames=14 Relocalization() failed. Fail to track local map! n_lost_frames=15 Relocalization() failed. Fail to track local map! n_lost_frames=16 Relocalization() failed. Fail to track local map! n_lost_frames=17 Relocalization() failed. Fail to track local map! n_lost_frames=18 Relocalization() failed. Fail to track local map! n_lost_frames=19 Relocalization() failed. Fail to track local map! n_lost_frames=20 Relocalization() failed. Fail to track local map! n_lost_frames=21 Relocalization() failed. Fail to track local map! n_lost_frames=22 Relocalization() failed. Fail to track local map! n_lost_frames=23 Relocalization() failed. Fail to track local map! n_lost_frames=24 Relocalization() failed. Fail to track local map! n_lost_frames=25 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55e8b161a840 pKFCur->mTimeStamp0.41708333333333336 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp0.91758333333333331 vpKFs.front()->mTimeStamp-72.622533341670831 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0.11272906512022018 -1.0818543434143066 -0.94278997182846069 pKFcur->mnId453 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=49 Relocalization() failed. Fail to track local map! n_lost_frames=50 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp0.96763333333333335 vpKFs.front()->mTimeStamp-73.556791679172917 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.11272906512022018 -1.0818543434143066 -0.94278997182846069 pKFcur->mnId454 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=51 Relocalization() failed. Fail to track local map! n_lost_frames=52 Relocalization() failed. Fail to track local map! n_lost_frames=53 Relocalization() failed. Fail to track local map! n_lost_frames=54 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.05105 vpKFs.front()->mTimeStamp-74.541100016675003 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.11272906512022018 -1.0818543434143066 -0.94278997182846069 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.0844166666666666 vpKFs.front()->mTimeStamp-75.608825020843753 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -0.0026996508240699768 0.90601527690887451 0.34819072484970093 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.1678333333333333 vpKFs.front()->mTimeStamp-76.709916691679169 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.58495062589645386 1.9260573387145996 -0.16966992616653442 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.3680333333333334 vpKFs.front()->mTimeStamp-77.894425029181249 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.31130406260490417 1.0317609310150146 -0.85607630014419556 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.5348666666666666 vpKFs.front()->mTimeStamp-79.27913336668334 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -0.13161242008209229 2.2431631088256836 -0.72634732723236084 pKFcur->mnId459 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 36.405445701314143 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.7350666666666668 vpKFs.front()->mTimeStamp-80.830675037518759 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.17480988800525665 3.9346375465393066 -1.2985584735870361 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.8685333333333334 vpKFs.front()->mTimeStamp-82.582416708354174 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.1601678878068924 5.7997140884399414 -1.5203794240951538 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.9018999999999999 vpKFs.front()->mTimeStamp-84.467625045856252 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.025376666337251663 -3.8994767665863037 1.2231003046035767 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.9352666666666667 vpKFs.front()->mTimeStamp-86.386200050024996 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.10826169699430466 3.7343132495880127 -1.1336967945098877 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp1.9853166666666666 vpKFs.front()->mTimeStamp-88.33814172086042 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.026001811027526855 -2.1853985786437988 0.84355080127716064 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.0186833333333332 vpKFs.front()->mTimeStamp-90.340133391695844 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.72742646932601929 2.7532734870910645 -1.315274715423584 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.0520499999999999 vpKFs.front()->mTimeStamp-92.375491729197933 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.83300995826721191 -1.20978844165802 0.93525749444961548 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.0854166666666667 vpKFs.front()->mTimeStamp-94.444216733366687 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.5351635217666626 1.7531957626342773 -0.69102919101715088 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.1354666666666668 vpKFs.front()->mTimeStamp-96.546308404202108 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.63112568855285645 9.3380231857299805 -2.7538104057312012 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.1688333333333332 vpKFs.front()->mTimeStamp-98.698450075037528 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.84413719177246094 -7.1167812347412109 2.7999639511108398 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.2021999999999999 vpKFs.front()->mTimeStamp-100.88395841253961 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -0.48026725649833679 6.6612586975097656 -2.446296215057373 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.2856166666666669 vpKFs.front()->mTimeStamp-103.10283341670836 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1150189638137817 -4.2122049331665039 1.9210143089294434 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.3189833333333332 vpKFs.front()->mTimeStamp-105.40512508754378 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.72701585292816162 4.2931647300720215 -1.4717360734939575 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.4357666666666669 vpKFs.front()->mTimeStamp-107.74078342504586 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -1.0500519275665283 1.9684697389602661 -1.2268836498260498 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.5358666666666667 vpKFs.front()->mTimeStamp-110.19322509588127 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.9227411150932312 1.7036737203598022 -1.2422226667404175 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.7027000000000001 vpKFs.front()->mTimeStamp-112.7457667667167 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.4457565546035767 1.9208661317825317 -0.74696362018585205 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.7861166666666666 vpKFs.front()->mTimeStamp-115.46514177088545 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1.4612089395523071 1.7521275281906128 -0.76067095994949341 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.8695333333333335 vpKFs.front()->mTimeStamp-118.26793344172087 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.1661399602890015 1.6541019678115845 -0.6370052695274353 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp2.9863166666666667 vpKFs.front()->mTimeStamp-121.15414177922295 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.6164112091064453 -1.7981432676315308 1.7688453197479248 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp3.1197833333333334 vpKFs.front()->mTimeStamp-124.15713345005837 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.5770944356918335 0.89418643712997437 -0.36660429835319519 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp3.25325 vpKFs.front()->mTimeStamp-127.29359178756044 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.31248533725738525 0.4452812671661377 -1.0893744230270386 pKFcur->mnId480 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 36.028953587682132 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp3.4034 vpKFs.front()->mTimeStamp-130.5635167917292 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.380728006362915 -1.6763423681259155 1.6743731498718262 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp3.4534500000000001 vpKFs.front()->mTimeStamp-133.98359179589795 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.3431576490402222 -0.50395995378494263 0.33399629592895508 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp3.5869166666666668 vpKFs.front()->mTimeStamp-137.4537168000667 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.60326498746871948 0.14842294156551361 -0.3655523955821991 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp3.7370666666666668 vpKFs.front()->mTimeStamp-141.05730847090211 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.74556881189346313 0.15294542908668518 -0.84283030033111572 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp3.8872166666666668 vpKFs.front()->mTimeStamp-144.81105014173752 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.85524708032608032 -0.11756077408790588 -0.86920261383056641 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp4.0206833333333334 vpKFs.front()->mTimeStamp-148.71494181257293 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.93520510196685791 -0.11476249247789383 0.052252274006605148 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp4.1541500000000005 vpKFs.front()->mTimeStamp-152.75230015007503 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.2551314830780029 -0.047044146806001663 -0.33538886904716492 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp4.3043000000000005 vpKFs.front()->mTimeStamp-156.92312515424379 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.4230250120162964 -1.0198168754577637 0.50045794248580933 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp4.4711333333333334 vpKFs.front()->mTimeStamp-161.24410015841255 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.1728298664093018 -2.5463576316833496 0.40341848134994507 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp4.6880166666666669 vpKFs.front()->mTimeStamp-165.73190849591464 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.1419980525970459 -1.9192453622817993 -0.51309120655059814 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp4.9716333333333331 vpKFs.front()->mTimeStamp-170.43660016675005 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.94966334104537964 -1.5272591114044189 -0.43473023176193237 pKFcur->mnId491 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 42.827044010612198 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp5.1217833333333331 vpKFs.front()->mTimeStamp-175.42490850425213 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.72498601675033569 -0.2221653014421463 -0.10348298400640488 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp5.2552500000000002 vpKFs.front()->mTimeStamp-180.5633668417542 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.2617331743240356 0.059685319662094116 0.080496609210968018 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp5.4054000000000002 vpKFs.front()->mTimeStamp-185.83529184592297 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.5017714500427246 -2.8111417293548584 1.1944912672042847 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.0226833333333332 vpKFs.front()->mTimeStamp-191.25736685009173 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.1063135862350464 -1.2934236526489258 0.19528713822364807 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.2395666666666667 vpKFs.front()->mTimeStamp-197.29672518759381 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.5160791873931885 -2.3446307182312012 1.0629547834396362 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.3897166666666667 vpKFs.front()->mTimeStamp-203.55296685842922 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.64235520362854 -1.9372706413269043 0.43629491329193115 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.5231833333333338 vpKFs.front()->mTimeStamp-209.95935852926462 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.5305912494659424 -2.1214075088500977 1.0473330020904541 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.6232833333333332 vpKFs.front()->mTimeStamp-216.49921686676672 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.1983819007873535 -2.3147273063659668 0.30388754606246948 pKFcur->mnId499 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 46.398202644985219 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.7734333333333332 vpKFs.front()->mTimeStamp-223.13917520426881 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.9965088367462158 -2.3600635528564453 0.27628412842750549 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.8735333333333335 vpKFs.front()->mTimeStamp-229.9292835417709 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1260 1691 pKFcur->GetVelocity() 2.3133115768432617 -2.4765002727508545 0.4567742645740509 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp6.95695 vpKFs.front()->mTimeStamp-236.81949187927299 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.5807632207870483 -1.421725869178772 0.98116207122802734 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.0070000000000006 vpKFs.front()->mTimeStamp-243.79311688344174 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.223421573638916 -1.9516693353652954 0.66262036561965942 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.090416666666667 vpKFs.front()->mTimeStamp-250.81679188761049 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.5330604314804077 -1.8469314575195312 0.89646822214126587 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.1571500000000006 vpKFs.front()->mTimeStamp-257.92388355844594 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.9633020162582397 -1.7586802244186401 0.68156158924102783 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.240566666666667 vpKFs.front()->mTimeStamp-265.09770856261468 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.8159575462341309 -2.0042140483856201 0.82361078262329102 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.3073000000000006 vpKFs.front()->mTimeStamp-272.3549502334501 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.1117610931396484 -1.8542760610580444 0.98183614015579224 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.390716666666667 vpKFs.front()->mTimeStamp-279.67892523761884 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.6828668117523193 -1.9167623519897461 0.83170920610427856 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.4574499999999997 vpKFs.front()->mTimeStamp-287.08631690845425 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.3289694786071777 -1.9929404258728027 1.0816929340362549 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.5241833333333332 vpKFs.front()->mTimeStamp-294.56044191262299 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.9687516689300537 -2.0485687255859375 1.0322506427764893 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.5742333333333338 vpKFs.front()->mTimeStamp-302.10130025012506 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.2930772304534912 -1.8561444282531738 1.0285170078277588 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.6576500000000003 vpKFs.front()->mTimeStamp-309.69220858762714 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.4886386394500732 -2.0938708782196045 0.91168379783630371 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.7243833333333338 vpKFs.front()->mTimeStamp-317.36653359179587 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.1905624866485596 -2.1271607875823975 0.79757261276245117 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.7911166666666665 vpKFs.front()->mTimeStamp-325.10759192929794 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.3065688610076904 -2.2324693202972412 0.78761446475982666 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.85785 vpKFs.front()->mTimeStamp-332.91538360013334 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.3974134922027588 -2.3972001075744629 0.94550234079360962 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.9245833333333335 vpKFs.front()->mTimeStamp-340.78990860430207 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.1451156139373779 -2.335219144821167 0.61585158109664917 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp7.9746333333333332 vpKFs.front()->mTimeStamp-348.73116694180413 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.5064060688018799 -2.0289170742034912 1.0034645795822144 pKFcur->mnId517 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.0413666666666668 vpKFs.front()->mTimeStamp-356.7224752793062 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.1338622570037842 -2.5676734447479248 1.1153074502944946 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.1081000000000003 vpKFs.front()->mTimeStamp-364.78051695014159 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.5803287029266357 -2.0811517238616943 1.0642586946487427 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.1748333333333338 vpKFs.front()->mTimeStamp-372.90529195431031 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.2491424083709717 -2.489903450012207 1.1285847425460815 pKFcur->mnId520 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.2248833333333327 vpKFs.front()->mTimeStamp-381.09680029181243 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.4621996879577637 -2.1350862979888916 1.0714988708496094 pKFcur->mnId521 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.2916166666666662 vpKFs.front()->mTimeStamp-389.33835862931448 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.3152670860290527 -2.4776523113250732 1.1041311025619507 pKFcur->mnId522 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.3416666666666668 vpKFs.front()->mTimeStamp-397.64665030014993 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.4008486270904541 -2.3299915790557861 0.96452820301055908 pKFcur->mnId523 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.669258534482992 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.3917166666666674 vpKFs.front()->mTimeStamp-406.00499197098537 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.6884961128234863 -2.6300601959228516 0.99147284030914307 pKFcur->mnId524 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.4417666666666662 vpKFs.front()->mTimeStamp-414.41338364182081 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.4320375919342041 -2.4067816734313965 0.87954831123352051 pKFcur->mnId525 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.4918166666666668 vpKFs.front()->mTimeStamp-422.87182531265626 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.3989624977111816 -2.4036684036254883 1.2307498455047607 pKFcur->mnId526 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.5418666666666674 vpKFs.front()->mTimeStamp-431.3803169834917 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.5669674873352051 -2.6338198184967041 1.3166654109954834 pKFcur->mnId527 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.5919166666666662 vpKFs.front()->mTimeStamp-439.93885865432713 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 3.0130476951599121 -2.9466450214385986 1.3976681232452393 pKFcur->mnId528 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.6419666666666668 vpKFs.front()->mTimeStamp-448.54745032516257 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.5806326866149902 -2.623565673828125 1.2022448778152466 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.6920166666666674 vpKFs.front()->mTimeStamp-457.20609199599801 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.878913402557373 -2.9569649696350098 1.2437843084335327 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.7420666666666662 vpKFs.front()->mTimeStamp-465.91478366683344 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.2674376964569092 -2.6451530456542969 1.1010196208953857 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.7921166666666668 vpKFs.front()->mTimeStamp-474.67352533766888 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.35514235496521 -2.4282999038696289 0.98264271020889282 pKFcur->mnId532 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.8421666666666674 vpKFs.front()->mTimeStamp-483.48231700850431 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.2132904529571533 -2.4662876129150391 1.2077549695968628 pKFcur->mnId533 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp8.8922166666666662 vpKFs.front()->mTimeStamp-492.34115867933974 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 2.2229464054107666 -2.4745719432830811 1.2368925809860229 pKFcur->mnId534 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.0924166666666668 vpKFs.front()->mTimeStamp-501.25005035017517 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.5185997486114502 -2.5572922229766846 1.0738087892532349 pKFcur->mnId535 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.1424666666666674 vpKFs.front()->mTimeStamp-510.3591420210106 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.679412841796875 -2.5442681312561035 1.4044692516326904 pKFcur->mnId536 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.1925166666666662 vpKFs.front()->mTimeStamp-519.51828369184602 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.623744010925293 -2.5949554443359375 1.2031488418579102 pKFcur->mnId537 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.2425666666666668 vpKFs.front()->mTimeStamp-528.72747536268139 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.6454644203186035 -2.7639048099517822 1.4037712812423706 pKFcur->mnId538 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.2926166666666674 vpKFs.front()->mTimeStamp-537.98671703351681 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.8247146606445312 -2.7200698852539062 1.3243101835250854 pKFcur->mnId539 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.3426666666666662 vpKFs.front()->mTimeStamp-547.29600870435218 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 3.3629274368286133 -3.0413336753845215 1.6210066080093384 pKFcur->mnId540 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.3927166666666668 vpKFs.front()->mTimeStamp-556.6553503751876 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 3.745582103729248 -3.6216235160827637 1.9768038988113403 pKFcur->mnId541 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.4594500000000004 vpKFs.front()->mTimeStamp-566.06474204602296 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.3169267177581787 -2.4072775840759277 1.1208342313766479 pKFcur->mnId542 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.509500000000001 vpKFs.front()->mTimeStamp-575.54086705019176 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.7714521884918213 -3.1775996685028076 1.6469436883926392 pKFcur->mnId543 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.5595499999999998 vpKFs.front()->mTimeStamp-585.06704205436051 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.9241280555725098 -2.6971478462219238 1.3655862808227539 pKFcur->mnId544 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.6096000000000004 vpKFs.front()->mTimeStamp-594.64326705852932 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.9256670475006104 -3.1535634994506836 1.5836305618286133 pKFcur->mnId545 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.659650000000001 vpKFs.front()->mTimeStamp-604.26954206269806 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 3.0140364170074463 -2.9079108238220215 1.5503549575805664 pKFcur->mnId546 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.7096999999999998 vpKFs.front()->mTimeStamp-613.94586706686687 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 3.0058646202087402 -3.0243377685546875 1.4478360414505005 pKFcur->mnId547 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.7597500000000004 vpKFs.front()->mTimeStamp-623.67224207103561 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.966928243637085 -2.796417236328125 1.5820466279983521 pKFcur->mnId548 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.809800000000001 vpKFs.front()->mTimeStamp-633.44866707520441 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.8511676788330078 -2.9816827774047852 1.4983594417572021 pKFcur->mnId549 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.8598499999999998 vpKFs.front()->mTimeStamp-643.27514207937315 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 3.0194423198699951 -2.8502094745635986 1.6521695852279663 pKFcur->mnId550 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.9099000000000004 vpKFs.front()->mTimeStamp-653.15166708354195 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 4.3476605415344238 -4.272489070892334 2.5608103275299072 pKFcur->mnId551 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp9.9766333333333339 vpKFs.front()->mTimeStamp-663.07824208771069 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.6212383508682251 -1.733162522315979 0.66524624824523926 pKFcur->mnId552 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.026683333333333 vpKFs.front()->mTimeStamp-673.07155042521276 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 3.6588952541351318 -3.5983164310455322 1.9809764623641968 pKFcur->mnId553 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.076733333333333 vpKFs.front()->mTimeStamp-683.11490876271489 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.9238917827606201 -2.0515232086181641 0.99424535036087036 pKFcur->mnId554 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.126783333333334 vpKFs.front()->mTimeStamp-693.20831710021696 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 3.2968299388885498 -3.4296133518218994 1.7784384489059448 pKFcur->mnId555 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.176833333333333 vpKFs.front()->mTimeStamp-703.35177543771908 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 2.2238736152648926 -2.2388081550598145 1.110533595085144 pKFcur->mnId556 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.226883333333333 vpKFs.front()->mTimeStamp-713.54528377522115 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 3.1236083507537842 -3.2367117404937744 1.5763765573501587 pKFcur->mnId557 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.293616666666667 vpKFs.front()->mTimeStamp-723.78884211272327 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.4635775089263916 -2.4877440929412842 1.0641351938247681 pKFcur->mnId558 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.343666666666667 vpKFs.front()->mTimeStamp-734.09913378355873 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 3.1141712665557861 -3.2781214714050293 1.6050373315811157 pKFcur->mnId559 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.410400000000001 vpKFs.front()->mTimeStamp-744.45947545439412 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.5483884811401367 -2.7051205635070801 1.1880648136138916 pKFcur->mnId560 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.46045 vpKFs.front()->mTimeStamp-754.88655045856285 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 5.1387887001037598 -5.8338184356689453 2.5638396739959717 pKFcur->mnId561 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.560550000000001 vpKFs.front()->mTimeStamp-765.36367546273163 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.45182904601097107 -0.43101271986961365 0.20234741270542145 pKFcur->mnId562 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.6106 vpKFs.front()->mTimeStamp-775.94090046690042 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 3.0752489566802979 -3.5753862857818604 1.7006446123123169 pKFcur->mnId563 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.66065 vpKFs.front()->mTimeStamp-786.56817547106914 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.4125559329986572 -2.5216293334960938 1.1991808414459229 pKFcur->mnId564 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.710700000000001 vpKFs.front()->mTimeStamp-797.24550047523792 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 3.1174252033233643 -3.3913393020629883 1.6298701763153076 pKFcur->mnId565 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.76075 vpKFs.front()->mTimeStamp-807.97287547940664 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.6629276275634766 -2.8286337852478027 1.3388814926147461 pKFcur->mnId566 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.8108 vpKFs.front()->mTimeStamp-818.75030048357542 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 3.1237387657165527 -3.2877998352050781 1.542224645614624 pKFcur->mnId567 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.860850000000001 vpKFs.front()->mTimeStamp-829.57777548774413 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.9624969959259033 -3.2114982604980469 1.4372607469558716 pKFcur->mnId568 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.9109 vpKFs.front()->mTimeStamp-840.45530049191291 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 3.4245617389678955 -3.2493414878845215 1.6174143552780151 pKFcur->mnId569 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp10.96095 vpKFs.front()->mTimeStamp-851.38287549608162 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 3.0174269676208496 -3.5021650791168213 1.5790534019470215 pKFcur->mnId570 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.011000000000001 vpKFs.front()->mTimeStamp-862.3605005002504 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 3.3293797969818115 -3.229271411895752 1.7147592306137085 pKFcur->mnId571 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.06105 vpKFs.front()->mTimeStamp-873.38817550441911 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.8777124881744385 -3.3508031368255615 1.6171847581863403 pKFcur->mnId572 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.127783333333333 vpKFs.front()->mTimeStamp-884.46590050858788 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 3.0868105888366699 -3.2617001533508301 1.5077091455459595 pKFcur->mnId573 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.227883333333333 vpKFs.front()->mTimeStamp-895.61035884608998 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 6.3459601402282715 -7.9852938652038574 3.7816402912139893 pKFcur->mnId574 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.344666666666667 vpKFs.front()->mTimeStamp-906.85491718359208 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.51460713148117065 0.78686261177062988 -0.17680855095386505 pKFcur->mnId575 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.394716666666667 vpKFs.front()->mTimeStamp-918.21625885442745 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 5.3671541213989258 -6.7542877197265625 3.0144717693328857 pKFcur->mnId576 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.494816666666667 vpKFs.front()->mTimeStamp-929.62765052526288 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1784211397171021 -0.24925991892814636 0.35983219742774963 pKFcur->mnId577 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.544866666666667 vpKFs.front()->mTimeStamp-941.13914219609831 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 5.124356746673584 -6.4338760375976562 2.850421667098999 pKFcur->mnId578 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.594916666666666 vpKFs.front()->mTimeStamp-952.70068386693367 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 9.6968011856079102 -12.926992416381836 5.4825849533081055 pKFcur->mnId579 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.644966666666667 vpKFs.front()->mTimeStamp-964.3122755377691 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -2.4627811908721924 5.2038393020629883 -1.7597100734710693 pKFcur->mnId580 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.695016666666668 vpKFs.front()->mTimeStamp-975.97391720860446 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 11.533464431762695 -15.394676208496094 6.3035678863525391 pKFcur->mnId581 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.745066666666666 vpKFs.front()->mTimeStamp-987.68560887943988 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.5441799163818359 7.8341779708862305 -2.7958273887634277 pKFcur->mnId582 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.795116666666667 vpKFs.front()->mTimeStamp-999.44735055027525 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 11.881564140319824 -16.413896560668945 6.5508813858032227 pKFcur->mnId583 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.845166666666668 vpKFs.front()->mTimeStamp-1011.2591422211107 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.1388912200927734 7.9170160293579102 -2.7393126487731934 pKFcur->mnId584 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.895216666666666 vpKFs.front()->mTimeStamp-1023.1209838919461 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 12.010588645935059 -17.229207992553711 6.8640799522399902 pKFcur->mnId585 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.928583333333334 vpKFs.front()->mTimeStamp-1035.0328755627816 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -7.9948148727416992 13.317290306091309 -4.7115716934204102 pKFcur->mnId586 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp11.96195 vpKFs.front()->mTimeStamp-1046.9781339002836 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 19.857789993286133 -29.029209136962891 11.804303169250488 pKFcur->mnId587 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.012 vpKFs.front()->mTimeStamp-1058.9567589044525 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -20.57807731628418 32.22259521484375 -12.117121696472168 pKFcur->mnId588 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.145466666666668 vpKFs.front()->mTimeStamp-1070.9854339086212 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 38.121726989746094 -56.823905944824219 22.492103576660156 pKFcur->mnId589 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.212200000000001 vpKFs.front()->mTimeStamp-1083.1475755794565 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 44.060390472412109 -64.5289306640625 25.870145797729492 pKFcur->mnId590 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.245566666666667 vpKFs.front()->mTimeStamp-1095.3764505836252 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 50.723312377929688 -72.58575439453125 29.119979858398438 pKFcur->mnId591 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.278933333333333 vpKFs.front()->mTimeStamp-1107.6386922544607 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 57.253276824951172 -80.782546997070312 32.334571838378906 pKFcur->mnId592 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.3123 vpKFs.front()->mTimeStamp-1119.9343005919627 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 64.004188537597656 -89.326141357421875 35.510917663574219 pKFcur->mnId593 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.395716666666667 vpKFs.front()->mTimeStamp-1132.2632755961315 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 70.597663879394531 -97.847984313964844 38.723827362060547 pKFcur->mnId594 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.429083333333333 vpKFs.front()->mTimeStamp-1144.6756672669669 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 77.533432006835938 -106.63185119628906 42.093616485595703 pKFcur->mnId595 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.595916666666668 vpKFs.front()->mTimeStamp-1157.1214256044691 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 84.574615478515625 -115.52519226074219 45.570732116699219 pKFcur->mnId596 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.662650000000001 vpKFs.front()->mTimeStamp-1169.7340172753045 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 85.37750244140625 -115.95600891113281 45.707672119140625 pKFcur->mnId597 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.696016666666667 vpKFs.front()->mTimeStamp-1182.4133422794732 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 85.33197021484375 -115.79135131835938 45.623260498046875 pKFcur->mnId598 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.746066666666668 vpKFs.front()->mTimeStamp-1195.1260339503087 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 85.369827270507812 -116.21086883544922 45.500415802001953 pKFcur->mnId599 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.779433333333333 vpKFs.front()->mTimeStamp-1207.8887756211441 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 85.490127563476562 -116.56676483154297 45.323715209960938 pKFcur->mnId600 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.846166666666667 vpKFs.front()->mTimeStamp-1220.6848839586462 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 85.843864440917969 -116.34224700927734 45.134269714355469 pKFcur->mnId601 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.879533333333333 vpKFs.front()->mTimeStamp-1233.5477256294816 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 86.178871154785156 -116.02850341796875 45.046852111816406 pKFcur->mnId602 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.929583333333333 vpKFs.front()->mTimeStamp-1246.4439339669836 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 86.733139038085938 -115.94394683837891 45.191200256347656 pKFcur->mnId603 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp12.962950000000001 vpKFs.front()->mTimeStamp-1259.3901923044857 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 86.942024230957031 -115.72899627685547 45.065559387207031 pKFcur->mnId604 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.129783333333334 vpKFs.front()->mTimeStamp-1272.3698173086545 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 87.00579833984375 -115.74095153808594 45.065921783447266 pKFcur->mnId605 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.196516666666668 vpKFs.front()->mTimeStamp-1285.5162756461566 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 87.262962341308594 -115.94443511962891 44.652877807617188 pKFcur->mnId606 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.580233333333334 vpKFs.front()->mTimeStamp-1298.729467316992 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 87.687103271484375 -116.05223846435547 44.249473571777344 pKFcur->mnId607 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.6136 vpKFs.front()->mTimeStamp-1312.3263756544941 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 74.706008911132812 -165.99650573730469 33.482524871826172 pKFcur->mnId608 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.646966666666668 vpKFs.front()->mTimeStamp-1325.9566506586627 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 62.534969329833984 -216.81777954101562 22.420684814453125 pKFcur->mnId609 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.680333333333333 vpKFs.front()->mTimeStamp-1339.6202923294982 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 51.155982971191406 -269.0960693359375 10.802816390991211 pKFcur->mnId610 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.713700000000001 vpKFs.front()->mTimeStamp-1353.3173006670002 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 39.996963500976562 -323.02175903320312 -1.474570631980896 pKFcur->mnId611 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.747066666666667 vpKFs.front()->mTimeStamp-1367.0476756711689 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 29.995256423950195 -377.27850341796875 -13.856521606445312 pKFcur->mnId612 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.780433333333333 vpKFs.front()->mTimeStamp-1380.8114173420042 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 21.197732925415039 -431.901611328125 -26.328847885131836 pKFcur->mnId613 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.813800000000001 vpKFs.front()->mTimeStamp-1394.6085256795063 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 12.578133583068848 -486.21466064453125 -38.687061309814453 pKFcur->mnId614 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.847166666666666 vpKFs.front()->mTimeStamp-1408.439000683675 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 4.6264657974243164 -539.791259765625 -50.674251556396484 pKFcur->mnId615 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.880533333333334 vpKFs.front()->mTimeStamp-1422.3028423545104 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.6990447044372559 -593.65679931640625 -62.815261840820312 pKFcur->mnId616 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.9139 vpKFs.front()->mTimeStamp-1436.2000506920124 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -12.97913646697998 -647.11651611328125 -74.879966735839844 pKFcur->mnId617 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.947266666666668 vpKFs.front()->mTimeStamp-1450.1306256961811 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -22.896341323852539 -701.11871337890625 -87.206588745117188 pKFcur->mnId618 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp13.980633333333333 vpKFs.front()->mTimeStamp-1464.0945673670165 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -34.120502471923828 -754.71551513671875 -99.464645385742188 pKFcur->mnId619 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.014000000000001 vpKFs.front()->mTimeStamp-1478.0918757045185 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -46.226371765136719 -807.2904052734375 -111.35536956787109 pKFcur->mnId620 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.047366666666667 vpKFs.front()->mTimeStamp-1492.1225507086872 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -58.549758911132812 -858.06427001953125 -122.51457977294922 pKFcur->mnId621 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.080733333333333 vpKFs.front()->mTimeStamp-1506.1865923795226 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -71.031829833984375 -909.80694580078125 -134.069091796875 pKFcur->mnId622 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.114100000000001 vpKFs.front()->mTimeStamp-1520.2840007170246 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -82.972854614257812 -962.07373046875 -145.77255249023438 pKFcur->mnId623 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.147466666666666 vpKFs.front()->mTimeStamp-1534.4147757211933 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -95.867721557617188 -1013.822998046875 -157.45733642578125 pKFcur->mnId624 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.180833333333334 vpKFs.front()->mTimeStamp-1548.5789173920286 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -108.66120147705078 -1065.4764404296875 -169.14654541015625 pKFcur->mnId625 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.2142 vpKFs.front()->mTimeStamp-1562.7764257295307 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -122.06763458251953 -1117.120849609375 -180.98674011230469 pKFcur->mnId626 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.247566666666668 vpKFs.front()->mTimeStamp-1577.0073007336996 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -136.44572448730469 -1170.7386474609375 -193.60275268554688 pKFcur->mnId627 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.280933333333333 vpKFs.front()->mTimeStamp-1591.271542404535 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -150.80816650390625 -1223.410400390625 -206.03204345703125 pKFcur->mnId628 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.314300000000001 vpKFs.front()->mTimeStamp-1605.5691507420372 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -165.28590393066406 -1276.4696044921875 -218.63876342773438 pKFcur->mnId629 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.347666666666667 vpKFs.front()->mTimeStamp-1619.900125746206 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -179.56745910644531 -1329.639404296875 -231.20040893554688 pKFcur->mnId630 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.381033333333333 vpKFs.front()->mTimeStamp-1634.2644674170415 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -192.92825317382812 -1383.1661376953125 -243.7637939453125 pKFcur->mnId631 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.414400000000001 vpKFs.front()->mTimeStamp-1648.6621757545436 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -207.00112915039062 -1436.7281494140625 -256.3570556640625 pKFcur->mnId632 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.447766666666666 vpKFs.front()->mTimeStamp-1663.0932507587124 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -221.658203125 -1490.2564697265625 -268.95333862304688 pKFcur->mnId633 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.481133333333334 vpKFs.front()->mTimeStamp-1677.5576924295478 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -236.59452819824219 -1543.9871826171875 -281.61895751953125 pKFcur->mnId634 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.5145 vpKFs.front()->mTimeStamp-1692.05550076705 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -252.15257263183594 -1597.8011474609375 -294.38623046875 pKFcur->mnId635 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.547866666666668 vpKFs.front()->mTimeStamp-1706.5866757712188 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -268.539794921875 -1651.47998046875 -307.14892578125 pKFcur->mnId636 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.581233333333333 vpKFs.front()->mTimeStamp-1721.1512174420543 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -285.91647338867188 -1704.5147705078125 -319.78460693359375 pKFcur->mnId637 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.614600000000001 vpKFs.front()->mTimeStamp-1735.7491257795564 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -302.45947265625 -1759.2161865234375 -332.99392700195312 pKFcur->mnId638 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55e8b31f3a40 pKFCur->mTimeStamp14.647966666666667 vpKFs.front()->mTimeStamp-1750.3804007837252 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -319.39956665039062 -1815.22265625 -346.71392822265625 pKFcur->mnId639 TrackLocalMap() mCurrentFrame.mnId