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 1009 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: 11.223 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 Relocalization() failed. Fail to track local map! n_lost_frames=26 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55b375cb67d0 pKFCur->mTimeStamp0.43376666666666669 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.0677333333333334 vpKFs.front()->mTimeStamp-72.639216675004164 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.42120355367660522 -0.67589575052261353 -0.77258294820785522 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.1011 vpKFs.front()->mTimeStamp-73.723625012506247 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 0.075640253722667694 0.87702292203903198 0.27753719687461853 pKFcur->mnId454 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.1344666666666667 vpKFs.front()->mTimeStamp-74.841400016674996 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.49631795287132263 1.3272405862808228 -0.18802590668201447 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.1678333333333333 vpKFs.front()->mTimeStamp-75.99254168751041 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -0.96634566783905029 0.6160697340965271 -0.55228912830352783 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.2012 vpKFs.front()->mTimeStamp-77.177050025012491 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.4437155723571777 0.40979874134063721 -0.39820507168769836 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.2345666666666666 vpKFs.front()->mTimeStamp-78.394925029181238 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -3.6975357532501221 1.4251295328140259 -0.84793829917907715 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.2679333333333334 vpKFs.front()->mTimeStamp-79.64616670001665 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -5.0611286163330078 2.5243477821350098 -1.3318055868148804 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.3013000000000001 vpKFs.front()->mTimeStamp-80.930775037518728 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -6.4680399894714355 3.6331019401550293 -1.8468303680419922 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.3346666666666667 vpKFs.front()->mTimeStamp-82.248750041687487 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -7.9222297668457031 4.7914738655090332 -2.3960058689117432 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.3680333333333334 vpKFs.front()->mTimeStamp-83.600091712522911 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -9.5482559204101562 6.1845002174377441 -3.0145912170410156 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.4014 vpKFs.front()->mTimeStamp-84.984800050025001 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -11.302229881286621 7.8465805053710938 -3.7061054706573486 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.4347666666666667 vpKFs.front()->mTimeStamp-86.402875054193757 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -13.052145957946777 9.4751014709472656 -4.4076747894287109 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.4681333333333333 vpKFs.front()->mTimeStamp-87.854316725029179 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -14.969815254211426 11.272256851196289 -5.1658034324645996 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.5015000000000001 vpKFs.front()->mTimeStamp-89.339125062531267 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -16.909479141235352 12.908461570739746 -5.9135017395019531 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.5348666666666666 vpKFs.front()->mTimeStamp-90.85730006670002 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -18.924650192260742 14.610208511352539 -6.6739835739135742 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp1.5682333333333334 vpKFs.front()->mTimeStamp-92.40884173753544 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -21.178140640258789 16.293037414550781 -7.4692134857177734 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.3573500000000003 vpKFs.front()->mTimeStamp-93.993750075037525 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -23.617876052856445 17.956748962402344 -8.2952814102172852 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.390716666666667 vpKFs.front()->mTimeStamp-101.36777507920628 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -30.364173889160156 41.685935974121094 -13.027501106262207 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.4240833333333338 vpKFs.front()->mTimeStamp-108.77516675004171 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -28.627985000610352 63.189128875732422 -17.837820053100586 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.4574499999999997 vpKFs.front()->mTimeStamp-116.21592508754379 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -26.621175765991211 85.025054931640625 -22.73255729675293 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.4908166666666665 vpKFs.front()->mTimeStamp-123.69005009171255 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -24.260095596313477 107.44947814941406 -27.768245697021484 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.5241833333333332 vpKFs.front()->mTimeStamp-131.19754176254796 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -22.000576019287109 129.94676208496094 -32.818756103515625 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.55755 vpKFs.front()->mTimeStamp-138.73840010005003 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -22.023981094360352 131.67671203613281 -33.659923553466797 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.5909166666666668 vpKFs.front()->mTimeStamp-146.31262510421877 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -21.893583297729492 134.07572937011719 -34.485572814941406 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.6242833333333335 vpKFs.front()->mTimeStamp-153.92021677505417 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -21.714916229248047 137.20191955566406 -35.293060302734375 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.6576500000000003 vpKFs.front()->mTimeStamp-161.56117511255627 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -21.747402191162109 139.09841918945312 -36.009101867675781 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.6910166666666671 vpKFs.front()->mTimeStamp-169.23550011672504 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -21.178062438964844 141.14480590820312 -36.689315795898438 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.7243833333333338 vpKFs.front()->mTimeStamp-176.94319178756047 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -20.56498908996582 143.63499450683594 -37.348461151123047 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.7577499999999997 vpKFs.front()->mTimeStamp-184.68425012506256 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -19.967409133911133 145.65716552734375 -37.958427429199219 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.7911166666666665 vpKFs.front()->mTimeStamp-192.45867512923132 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -19.658880233764648 147.02522277832031 -38.510570526123047 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.8244833333333332 vpKFs.front()->mTimeStamp-200.26646680006675 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -18.869905471801758 148.11898803710938 -39.016502380371094 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.85785 vpKFs.front()->mTimeStamp-208.10762513756885 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -18.657464981079102 149.244140625 -39.476318359375 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.8912166666666668 vpKFs.front()->mTimeStamp-215.98215014173761 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -18.13446044921875 149.38374328613281 -39.891105651855469 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.9245833333333335 vpKFs.front()->mTimeStamp-223.89004181257303 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -17.79149055480957 148.49629211425781 -40.274707794189453 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.9579500000000003 vpKFs.front()->mTimeStamp-231.83130015007512 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -17.468029022216797 148.84075927734375 -40.620471954345703 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp7.9913166666666671 vpKFs.front()->mTimeStamp-239.80592515424388 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -17.439010620117188 147.71957397460938 -40.933246612548828 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.0246833333333338 vpKFs.front()->mTimeStamp-247.8139168250793 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -17.709306716918945 145.87765502929688 -41.21649169921875 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.0580499999999997 vpKFs.front()->mTimeStamp-255.85527516258139 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -17.758823394775391 144.52479553222656 -41.448337554931641 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.0914166666666674 vpKFs.front()->mTimeStamp-263.93000016675012 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -17.952764511108398 144.63246154785156 -41.634349822998047 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.1247833333333332 vpKFs.front()->mTimeStamp-272.03809183758551 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -18.277122497558594 145.21531677246094 -41.788928985595703 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.1748333333333338 vpKFs.front()->mTimeStamp-280.17955017508757 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -18.234819412231445 144.76553344726562 -41.907791137695312 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.2081999999999997 vpKFs.front()->mTimeStamp-288.37105851258968 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -18.597108840942383 144.24742126464844 -41.973957061767578 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.2415666666666674 vpKFs.front()->mTimeStamp-296.59593351675846 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -19.00849723815918 144.20600891113281 -42.000846862792969 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.2749333333333333 vpKFs.front()->mTimeStamp-304.85417518759391 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -19.23344612121582 144.32685852050781 -41.997489929199219 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.3083000000000009 vpKFs.front()->mTimeStamp-313.14578352509602 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -19.499784469604492 144.29450988769531 -41.970443725585938 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.3416666666666668 vpKFs.front()->mTimeStamp-321.4707585292648 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -19.784980773925781 144.16304016113281 -41.892719268798828 pKFcur->mnId498 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.717816358314526 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.3750333333333327 vpKFs.front()->mTimeStamp-329.82910020010024 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -20.250511169433594 144.00614929199219 -41.767890930175781 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.4084000000000003 vpKFs.front()->mTimeStamp-338.22080853760235 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -20.784257888793945 143.71012878417969 -41.594245910644531 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.4417666666666662 vpKFs.front()->mTimeStamp-346.64588354177113 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -21.348560333251953 143.56935119628906 -41.38525390625 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.4751333333333339 vpKFs.front()->mTimeStamp-355.10432521260657 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -21.885616302490234 143.10462951660156 -41.17218017578125 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.5084999999999997 vpKFs.front()->mTimeStamp-363.59613355010868 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -22.360965728759766 142.71476745605469 -40.926029205322266 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.5418666666666674 vpKFs.front()->mTimeStamp-372.12130855427745 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -23.116598129272461 141.7850341796875 -40.63671875 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.5752333333333333 vpKFs.front()->mTimeStamp-380.67985022511289 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -23.814952850341797 140.85012817382812 -40.319816589355469 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.6086000000000009 vpKFs.front()->mTimeStamp-389.27175856261499 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -24.611188888549805 139.74395751953125 -39.948825836181641 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.6419666666666668 vpKFs.front()->mTimeStamp-397.89703356678376 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -25.396100997924805 138.28598022460938 -39.548919677734375 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.6753333333333327 vpKFs.front()->mTimeStamp-406.5556752376192 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -26.123321533203125 136.02935791015625 -39.124732971191406 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.7087000000000003 vpKFs.front()->mTimeStamp-415.2476835751213 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -26.838907241821289 134.10392761230469 -38.648754119873047 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.7420666666666662 vpKFs.front()->mTimeStamp-423.97305857929007 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -27.556428909301758 131.79299926757812 -38.136974334716797 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.7754333333333339 vpKFs.front()->mTimeStamp-432.7318002501255 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -28.174348831176758 126.68465423583984 -37.689399719238281 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.8254833333333327 vpKFs.front()->mTimeStamp-441.5239085876276 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -28.976858139038086 121.49002075195312 -37.20526123046875 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.8588500000000003 vpKFs.front()->mTimeStamp-450.3660669251297 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -30.161899566650391 116.75188446044922 -36.622310638427734 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.8922166666666662 vpKFs.front()->mTimeStamp-459.24159192929847 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -30.839725494384766 112.28402709960938 -35.976879119873047 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.9255833333333339 vpKFs.front()->mTimeStamp-468.1504836001339 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -31.646064758300781 108.50226593017578 -35.2474365234375 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.9589499999999997 vpKFs.front()->mTimeStamp-477.09274193763599 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -32.015602111816406 104.95021057128906 -34.463489532470703 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55b37788f9d0 pKFCur->mTimeStamp8.9923166666666674 vpKFs.front()->mTimeStamp-486.06836694180475 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -32.597511291503906 101.63108825683594 -33.618324279785156 pKFcur->mnId517 gopro_slam.cc Caught signal 2