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 1061 frames in total video FPS 59.9401 line 1873 keyframes 100MapPoints3282 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=452 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 10.6846 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 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55ac13b8d800 pKFCur->mTimeStamp0.40040000000000003 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp1.7350666666666668 vpKFs.front()->mTimeStamp-72.605850008337498 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.71727442741394043 -0.91966646909713745 -0.69298726320266724 pKFcur->mnId453 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=94 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp1.7684333333333333 vpKFs.front()->mTimeStamp-74.357591679172913 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.71727442741394043 -0.91966646909713745 -0.69298726320266724 pKFcur->mnId454 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=95 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp1.8018000000000001 vpKFs.front()->mTimeStamp-76.142700016674993 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.71727442741394043 -0.91966646909713745 -0.69298726320266724 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp1.8685333333333334 vpKFs.front()->mTimeStamp-77.96117502084374 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.3734394311904907 2.3101046085357666 -1.4134769439697266 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp1.9853166666666666 vpKFs.front()->mTimeStamp-79.846383358345818 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.63234376907348633 3.0696625709533691 -0.58847641944885254 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.1021000000000001 vpKFs.front()->mTimeStamp-81.848375029181241 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.59812355041503906 3.014488697052002 -0.6160234808921814 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.2021999999999999 vpKFs.front()->mTimeStamp-83.967150033349995 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.74482786655426025 3.4210033416748047 -0.6579359769821167 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.3690333333333333 vpKFs.front()->mTimeStamp-86.186025037518746 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.94713443517684937 3.6323823928833008 -0.70226454734802246 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.4858166666666666 vpKFs.front()->mTimeStamp-88.571733375020827 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.58238118886947632 4.2383060455322266 -0.63419646024703979 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.6026000000000002 vpKFs.front()->mTimeStamp-91.074225045856238 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.78065091371536255 4.2862043380737305 -0.73021090030670166 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.7027000000000001 vpKFs.front()->mTimeStamp-93.693500050024994 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1353356838226318 4.4134521484375 -0.77584731578826904 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.8361666666666667 vpKFs.front()->mTimeStamp-96.412875054193748 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.8326812982559204 4.4701027870178223 -1.1144819259643555 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp2.9362666666666666 vpKFs.front()->mTimeStamp-99.265716725029165 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.4101624488830566 4.2548871040344238 -1.3121623992919922 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.0530500000000003 vpKFs.front()->mTimeStamp-102.21865839586458 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1.4044977426528931 -3.9913921356201172 1.7734448909759521 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.1197833333333334 vpKFs.front()->mTimeStamp-105.28838340003333 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.79977661371231079 3.3220694065093994 -0.8896634578704834 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.25325 vpKFs.front()->mTimeStamp-108.42484173753542 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.22657093405723572 2.7356181144714355 -1.0106989145278931 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.3366666666666669 vpKFs.front()->mTimeStamp-111.69476674170417 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.5843619704246521 2.1022939682006836 -0.4858430027961731 pKFcur->mnId469 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.919880282322124 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.4534500000000001 vpKFs.front()->mTimeStamp-115.04810841253959 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.81840300559997559 2.001575231552124 -0.29266506433486938 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.5702333333333334 vpKFs.front()->mTimeStamp-118.51823341670834 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.24173903465271 2.0505545139312744 -0.76892185211181641 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.6703333333333332 vpKFs.front()->mTimeStamp-122.10514175421042 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.43454909324646 2.5915756225585938 -0.46093001961708069 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.7871166666666669 vpKFs.front()->mTimeStamp-125.7921500917125 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -2.121699333190918 -3.5511281490325928 2.2537503242492676 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp3.9372666666666669 vpKFs.front()->mTimeStamp-129.59594176254791 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.50241392850875854 1.9094363451004028 0.0056435875594615936 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.0373666666666663 vpKFs.front()->mTimeStamp-133.54988343338331 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.7796107530593872 -3.2871654033660889 2.2316927909851074 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.1541500000000005 vpKFs.front()->mTimeStamp-137.60392510421872 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.079116024076938629 0.78812676668167114 0.42751318216323853 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.2542499999999999 vpKFs.front()->mTimeStamp-141.77475010838748 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.45735630393028259 0.66969168186187744 0.18469724059104919 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.3543500000000002 vpKFs.front()->mTimeStamp-146.04567511255624 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.77914148569107056 0.23943175375461578 0.21220779418945312 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.4544500000000005 vpKFs.front()->mTimeStamp-150.416700116725 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.87934345006942749 -0.14091497659683228 1.1386387348175049 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.6212833333333334 vpKFs.front()->mTimeStamp-154.88782512089375 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -1.0301342010498047 -2.2980349063873291 1.6244425773620605 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.7714333333333334 vpKFs.front()->mTimeStamp-159.52578345839584 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1.0283044576644897 -0.35905659198760986 0.64695060253143311 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.8381666666666669 vpKFs.front()->mTimeStamp-164.31389179589792 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.6500014066696167 -0.87686723470687866 1.2046037912368774 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp4.9549500000000002 vpKFs.front()->mTimeStamp-169.16873346673333 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1.2173607349395752 -1.2205015420913696 1.1423715353012085 pKFcur->mnId483 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.118908534490256 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.0884166666666664 vpKFs.front()->mTimeStamp-174.14035847090207 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.82215899229049683 -1.1943182945251465 1.064642071723938 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.1885166666666667 vpKFs.front()->mTimeStamp-179.24545014173748 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -0.89755755662918091 -1.280695915222168 1.5558310747146606 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.3219833333333337 vpKFs.front()->mTimeStamp-184.45064181257288 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.69251376390457153 -1.2413311004638672 1.5151753425598145 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.438766666666667 vpKFs.front()->mTimeStamp-189.78930015007498 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1.4808636903762817 -2.1814675331115723 2.0120375156402588 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.5555500000000002 vpKFs.front()->mTimeStamp-195.24474182091041 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.0386087894439697 -2.5103917121887207 1.397800087928772 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.6890166666666664 vpKFs.front()->mTimeStamp-200.81696682507916 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.0737613439559937 -4.3627033233642578 1.6859936714172363 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.8058000000000005 vpKFs.front()->mTimeStamp-206.52265849591458 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.1144312396645546 -2.7288196086883545 1.2491992712020874 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp5.9392666666666667 vpKFs.front()->mTimeStamp-212.34513350008334 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.16058766841888428 -2.3342223167419434 1.8785965442657471 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp6.1061000000000005 vpKFs.front()->mTimeStamp-218.30107517091875 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.22809650003910065 -2.1242172718048096 1.3411999940872192 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp6.2562500000000005 vpKFs.front()->mTimeStamp-224.42385017508749 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.66277456283569336 -2.8679206371307373 1.6985328197479248 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp6.3897166666666667 vpKFs.front()->mTimeStamp-230.69677517925624 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.2260626554489136 -2.8870232105255127 1.820379376411438 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp6.489816666666667 vpKFs.front()->mTimeStamp-237.10316685009164 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.605995774269104 -2.3148055076599121 1.4747418165206909 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp6.6066000000000003 vpKFs.front()->mTimeStamp-243.60965852092707 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.10342438519001007 -2.2469227313995361 1.2775616645812988 pKFcur->mnId496 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.728797106369566 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp6.7400666666666664 vpKFs.front()->mTimeStamp-250.23293352509583 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.42542988061904907 -2.7158529758453369 2.1992213726043701 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp6.8568500000000006 vpKFs.front()->mTimeStamp-256.98967519593123 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -0.1033439040184021 -2.2079486846923828 1.9632736444473267 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp7.0236833333333335 vpKFs.front()->mTimeStamp-263.86320020009998 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.69547635316848755 -3.2205495834350586 1.7313086986541748 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp7.2238833333333332 vpKFs.front()->mTimeStamp-270.90355853760207 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.78198158740997314 -3.6664702892303467 1.341489315032959 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp7.4074 vpKFs.front()->mTimeStamp-278.14411687510415 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.59363245964050293 -2.8185470104217529 1.3520762920379639 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp7.5241833333333332 vpKFs.front()->mTimeStamp-285.56819187927289 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.75065034627914429 -2.3795664310455322 2.0797955989837646 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp7.6743333333333332 vpKFs.front()->mTimeStamp-293.10905021677496 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -0.64058840274810791 -2.0294318199157715 1.8445924520492554 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp7.8244833333333332 vpKFs.front()->mTimeStamp-300.80005855427703 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.1130003929138184 -1.2761198282241821 2.0685493946075439 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp7.9412666666666665 vpKFs.front()->mTimeStamp-308.6412168917791 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1.5032670497894287 -0.95226317644119263 2.0835800170898438 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.0413666666666668 vpKFs.front()->mTimeStamp-316.59915856261449 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.61965662240982056 -3.8126037120819092 2.2354607582092285 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.2081999999999997 vpKFs.front()->mTimeStamp-324.65720023344988 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.62470132112503052 -2.7565393447875977 1.4965897798538208 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.3249833333333338 vpKFs.front()->mTimeStamp-332.88207523761866 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.058251243084669113 -3.6069028377532959 2.1724603176116943 pKFcur->mnId508 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.276363805569535 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.4584500000000009 vpKFs.front()->mTimeStamp-341.22373357512078 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.0978659987449646 -3.7293574810028076 1.2421534061431885 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.5752333333333333 vpKFs.front()->mTimeStamp-349.69885857928955 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1260 1691 pKFcur->GetVelocity() 0.023605363443493843 -3.2562680244445801 2.0644409656524658 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.6920166666666674 vpKFs.front()->mTimeStamp-358.29076691679165 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.014957649633288383 -3.8924210071563721 2.0694363117218018 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.8254833333333327 vpKFs.front()->mTimeStamp-366.99945858762709 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.59000015258789062 -3.5974922180175781 2.6502454280853271 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp8.9422666666666668 vpKFs.front()->mTimeStamp-375.84161692512919 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.92993557453155518 -3.740999698638916 2.12939453125 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.0924166666666668 vpKFs.front()->mTimeStamp-384.80055859596462 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.0408645868301392 -3.6678423881530762 2.618098258972168 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.2092000000000009 vpKFs.front()->mTimeStamp-393.90965026680004 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.5013349056243896 -2.4961090087890625 2.1371386051177979 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.3093000000000004 vpKFs.front()->mTimeStamp-403.1355252709688 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.565032958984375 -1.8995535373687744 2.540379524230957 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.4093999999999998 vpKFs.front()->mTimeStamp-412.46150027513755 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.8259515762329102 -1.7065151929855347 2.724332332611084 pKFcur->mnId517 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.5428666666666668 vpKFs.front()->mTimeStamp-421.8875752793063 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.40256434679031372 -2.6912710666656494 3.0485737323760986 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.6763333333333339 vpKFs.front()->mTimeStamp-431.44711695014172 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.30243760347366333 -3.7524809837341309 3.0895321369171143 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.809800000000001 vpKFs.front()->mTimeStamp-441.1401252876438 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.79108959436416626 -5.229400634765625 2.4246625900268555 pKFcur->mnId520 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp9.8932166666666674 vpKFs.front()->mTimeStamp-450.96660029181254 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.9518052339553833 -5.4776344299316406 2.9441342353820801 pKFcur->mnId521 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.492337966132826 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.043366666666667 vpKFs.front()->mTimeStamp-460.87649196264795 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 1.2226403951644897 -5.2925477027893066 2.7922801971435547 pKFcur->mnId522 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.2102 vpKFs.front()->mTimeStamp-470.93653363348335 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.0599591732025146 -4.5915570259094238 3.1674544811248779 pKFcur->mnId523 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.343666666666667 vpKFs.front()->mTimeStamp-481.16340863765208 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.0715548992156982 -5.0044488906860352 2.6188549995422363 pKFcur->mnId524 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.46045 vpKFs.front()->mTimeStamp-491.52375030848748 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.74104684591293335 -3.9414284229278564 2.9849793910980225 pKFcur->mnId525 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.577233333333334 vpKFs.front()->mTimeStamp-502.00087531265621 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.1323338747024536 -4.6226305961608887 3.3535959720611572 pKFcur->mnId526 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.694016666666666 vpKFs.front()->mTimeStamp-512.59478365015832 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.2002216577529907 -3.4232566356658936 2.837529182434082 pKFcur->mnId527 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.794116666666667 vpKFs.front()->mTimeStamp-523.30547532099376 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.7378994226455688 -3.6702761650085449 2.9285967350006104 pKFcur->mnId528 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp10.9109 vpKFs.front()->mTimeStamp-534.11626699182921 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.2002750635147095 -3.1264717578887939 2.9079389572143555 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp11.027683333333334 vpKFs.front()->mTimeStamp-545.04384199599792 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.61023509502410889 -4.2625164985656738 3.6106557846069336 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp11.144466666666666 vpKFs.front()->mTimeStamp-556.08820033350003 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.5207500457763672 -1.7114195823669434 3.6594109535217285 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac15766a00 pKFCur->mTimeStamp11.277933333333333 vpKFs.front()->mTimeStamp-567.2493420043354 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.43670225143432617 -5.3637280464172363 3.0488934516906738 pKFcur->mnId532 gopro_slam.cc Caught signal 2