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 1343 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: 16.1493 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 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55882ac23470 pKFCur->mTimeStamp0.10010000000000001 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp1.2846166666666667 vpKFs.front()->mTimeStamp-72.305550008337491 vpKFs.back()->mTimeStamp-0.016675004168751048 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.87697482109069824 -0.39722934365272522 -1.0677285194396973 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp1.4347666666666667 vpKFs.front()->mTimeStamp-73.606841679172902 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.069480031728744507 1.9890567064285278 -0.45299410820007324 pKFcur->mnId454 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp1.5682333333333334 vpKFs.front()->mTimeStamp-75.058283350008324 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -0.028318352997303009 2.428255558013916 -0.60198462009429932 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp1.6850166666666666 vpKFs.front()->mTimeStamp-76.643191687510409 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.062729902565479279 3.0247969627380371 -0.457354336977005 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp1.8184833333333335 vpKFs.front()->mTimeStamp-78.344883358345825 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.22343716025352478 3.2499580383300781 -0.53851008415222168 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp1.9352666666666667 vpKFs.front()->mTimeStamp-80.180041695847905 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.50615537166595459 3.4175858497619629 -0.92665249109268188 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.0520499999999999 vpKFs.front()->mTimeStamp-82.131983366683329 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.86799502372741699 3.7115705013275146 -0.7176743745803833 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.1688333333333332 vpKFs.front()->mTimeStamp-84.200708370852084 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.68246299028396606 3.6118168830871582 -1.0063141584396362 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.2856166666666669 vpKFs.front()->mTimeStamp-86.386216708354169 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.59284460544586182 3.5923683643341064 -0.87252944707870483 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.4024000000000001 vpKFs.front()->mTimeStamp-88.688508379189585 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.0020359035115689039 3.400266170501709 -0.82627922296524048 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.5358666666666667 vpKFs.front()->mTimeStamp-91.107583383358332 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.21704716980457306 3.4125890731811523 -1.3515410423278809 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.6359666666666666 vpKFs.front()->mTimeStamp-93.660125054193756 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.11139458417892456 4.2331771850585938 -0.76302093267440796 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.7527500000000003 vpKFs.front()->mTimeStamp-96.312766725029178 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.15357930958271027 3.9993901252746582 -1.214040994644165 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.8528500000000001 vpKFs.front()->mTimeStamp-99.08219172919793 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.24790407717227936 4.2189173698425293 -1.535448431968689 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp2.9696333333333333 vpKFs.front()->mTimeStamp-101.95171673336668 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.50288009643554688 4.3223166465759277 -0.73250710964202881 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.0697333333333332 vpKFs.front()->mTimeStamp-104.93802507086876 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.21080270409584045 -3.9814994335174561 1.7418974637985229 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.1531500000000001 vpKFs.front()->mTimeStamp-108.02443340837084 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.28630751371383667 3.2268292903900146 -0.77558791637420654 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.25325 vpKFs.front()->mTimeStamp-111.1942584125396 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -0.19092205166816711 3.5078835487365723 -1.3616373538970947 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.3533500000000003 vpKFs.front()->mTimeStamp-114.46418341670835 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.11011689901351929 3.205164909362793 -1.2490814924240112 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.4701333333333335 vpKFs.front()->mTimeStamp-117.8342084208771 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -0.31566068530082703 2.346717357635498 -0.98094040155410767 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.5869166666666668 vpKFs.front()->mTimeStamp-121.32101675837919 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.91325885057449341 -3.8004577159881592 2.4448661804199219 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.6870166666666666 vpKFs.front()->mTimeStamp-124.9246084292146 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.28617197275161743 1.4099729061126709 -0.35434862971305847 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.7871166666666669 vpKFs.front()->mTimeStamp-128.62830010005001 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.33576318621635437 1.1537010669708252 -0.21511048078536987 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.8705333333333334 vpKFs.front()->mTimeStamp-132.43209177088542 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.0080108093097805977 0.60370022058486938 -0.084864579141139984 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp3.9706333333333332 vpKFs.front()->mTimeStamp-136.31930010838749 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.088217280805110931 0.43382495641708374 -0.039097920060157776 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp4.1207833333333337 vpKFs.front()->mTimeStamp-140.30660844588957 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.25069069862365723 0.12289085984230042 0.34977316856384277 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp4.3043000000000005 vpKFs.front()->mTimeStamp-144.44406678339166 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.1068121194839478 -2.9907259941101074 2.0765848159790039 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp4.4210833333333337 vpKFs.front()->mTimeStamp-148.76504178756042 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.13889630138874054 -0.52819865942001343 0.68547952175140381 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp4.5545499999999999 vpKFs.front()->mTimeStamp-153.20280012506251 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0.36077430844306946 -0.87768137454986572 0.89318060874938965 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp4.6880166666666669 vpKFs.front()->mTimeStamp-157.77402512923126 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 0.90912187099456787 -0.99461805820465088 0.51500540971755981 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp4.8214833333333331 vpKFs.front()->mTimeStamp-162.47871680006668 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.35401761531829834 -1.0013053417205811 1.0793707370758057 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp4.988316666666667 vpKFs.front()->mTimeStamp-167.31687513756876 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.50792801380157471 -1.6925928592681885 1.3451964855194092 pKFcur->mnId484 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.56620473549383 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp5.138466666666667 vpKFs.front()->mTimeStamp-172.32186680840417 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.14230693876743317 -1.5173983573913574 0.9729534387588501 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp5.3720333333333334 vpKFs.front()->mTimeStamp-177.47700847923957 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.7789278030395508 -1.2243366241455078 1.9007256031036377 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp5.5221833333333334 vpKFs.front()->mTimeStamp-182.86571681674167 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.7751829624176025 -1.1897437572479248 1.3067836761474609 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp5.7057000000000002 vpKFs.front()->mTimeStamp-188.40457515424376 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.2594945430755615 -2.4083077907562256 1.8414894342422485 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp5.9225833333333338 vpKFs.front()->mTimeStamp-194.12695015841251 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.3113844394683838 -2.4764018058776855 1.7604681253433228 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.1728333333333332 vpKFs.front()->mTimeStamp-200.06620849591459 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.47246691584587097 -2.6477253437042236 2.3242106437683105 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.339666666666667 vpKFs.front()->mTimeStamp-206.25571683341667 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.2230352163314819 -2.661980152130127 1.9594238996505737 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.4064000000000005 vpKFs.front()->mTimeStamp-212.61205850425208 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.86925661563873291 -2.6730093955993652 2.2809298038482666 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.489816666666667 vpKFs.front()->mTimeStamp-219.03513350842081 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.1343644857406616 -2.7889330387115479 2.0256218910217285 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.6232833333333332 vpKFs.front()->mTimeStamp-225.54162517925624 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.0639655590057373 -2.4977786540985107 2.4671258926391602 pKFcur->mnId494 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.830140896859779 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.7233833333333335 vpKFs.front()->mTimeStamp-232.18158351675834 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.86753374338150024 -2.7217504978179932 2.2741854190826416 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.8401666666666667 vpKFs.front()->mTimeStamp-238.92164185426043 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.87626183032989502 -3.0044529438018799 1.9707702398300171 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp6.9235833333333332 vpKFs.front()->mTimeStamp-245.77848352509585 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.88021469116210938 -3.0635333061218262 2.3527646064758301 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.0236833333333335 vpKFs.front()->mTimeStamp-252.71874186259794 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.96158361434936523 -2.8145956993103027 2.3222212791442871 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.090416666666667 vpKFs.front()->mTimeStamp-259.75910020010002 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.1630120277404785 -2.6771523952484131 2.5880484580993652 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.1404666666666667 vpKFs.front()->mTimeStamp-266.86619187093544 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.2617658376693726 -3.0887086391448975 2.8021900653839111 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.3406666666666665 vpKFs.front()->mTimeStamp-274.02333354177085 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.90101504325866699 -2.9305005073547363 2.4476768970489502 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.4240833333333338 vpKFs.front()->mTimeStamp-281.38067521260626 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.2140038013458252 -2.7239735126495361 2.5000367164611816 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.5075000000000003 vpKFs.front()->mTimeStamp-288.82143355010834 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.7212403416633606 -2.7278649806976318 2.5393548011779785 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.6242833333333335 vpKFs.front()->mTimeStamp-296.34560855427708 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.83805704116821289 -2.9020183086395264 2.3023827075958252 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.7410666666666668 vpKFs.front()->mTimeStamp-303.98656689177915 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.226952075958252 -2.6021907329559326 2.1602349281311035 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.8745333333333338 vpKFs.front()->mTimeStamp-311.74430856261455 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.3596436977386475 -3.0535619258880615 2.1014714241027832 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp7.9746333333333332 vpKFs.front()->mTimeStamp-319.63551690011661 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 0.80010074377059937 -2.4280164241790771 2.6660616397857666 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.1081000000000003 vpKFs.front()->mTimeStamp-327.62682523761868 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.93078130483627319 -2.6514852046966553 2.33846116065979 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.2415666666666674 vpKFs.front()->mTimeStamp-335.7516002417874 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.1294270753860474 -3.6212472915649414 2.6508677005767822 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.3249833333333338 vpKFs.front()->mTimeStamp-344.00984191262285 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.0578305721282959 -3.3833897113800049 2.3748271465301514 pKFcur->mnId510 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.76302049894219 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.4250833333333333 vpKFs.front()->mTimeStamp-352.35150025012496 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1330512762069702 -2.9680018424987793 2.7845654487609863 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.5084999999999997 vpKFs.front()->mTimeStamp-360.79325858762707 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1112575531005859 -3.4080643653869629 2.6161253452301025 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.5418666666666674 vpKFs.front()->mTimeStamp-369.31843359179584 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.1940925121307373 -3.0680708885192871 2.7562668323516846 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.6419666666666668 vpKFs.front()->mTimeStamp-377.87697526263128 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1166635751724243 -3.3770313262939453 2.7561800479888916 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.7253833333333333 vpKFs.front()->mTimeStamp-386.53561693346671 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.91952997446060181 -3.3961048126220703 2.6811788082122803 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.8254833333333327 vpKFs.front()->mTimeStamp-395.27767527096881 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.98580443859100342 -3.5594921112060547 2.8421370983123779 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.9089000000000009 vpKFs.front()->mTimeStamp-404.11983360847091 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 1.3397120237350464 -3.6933941841125488 3.0030794143676758 pKFcur->mnId517 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp8.9589499999999997 vpKFs.front()->mTimeStamp-413.04540861263968 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.97729796171188354 -3.5936481952667236 2.7739813327789307 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.0423666666666662 vpKFs.front()->mTimeStamp-422.02103361680844 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.94104444980621338 -3.6221303939819336 2.783635139465332 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.1090999999999998 vpKFs.front()->mTimeStamp-431.08007528764387 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.3490985631942749 -3.5921645164489746 3.0805521011352539 pKFcur->mnId520 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.1758333333333333 vpKFs.front()->mTimeStamp-440.20585029181262 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.9123576283454895 -3.3447809219360352 2.7803654670715332 pKFcur->mnId521 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.2258833333333339 vpKFs.front()->mTimeStamp-449.39835862931471 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.97213786840438843 -3.5683431625366211 3.0767598152160645 pKFcur->mnId522 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.2759333333333327 vpKFs.front()->mTimeStamp-458.6409169668168 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.99996066093444824 -3.4530661106109619 2.7886815071105957 pKFcur->mnId523 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.3593500000000009 vpKFs.front()->mTimeStamp-467.93352530431889 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1152580976486206 -3.5825347900390625 2.8231275081634521 pKFcur->mnId524 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.4928166666666662 vpKFs.front()->mTimeStamp-477.30955030848764 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.99471700191497803 -3.4690332412719727 2.721041202545166 pKFcur->mnId525 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.6429666666666662 vpKFs.front()->mTimeStamp-486.81904197932306 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 1.3302141427993774 -3.5064480304718018 2.955711841583252 pKFcur->mnId526 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.7096999999999998 vpKFs.front()->mTimeStamp-496.47868365015847 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.1065529584884644 -3.4487271308898926 2.7936210632324219 pKFcur->mnId527 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.7931166666666662 vpKFs.front()->mTimeStamp-506.20505865432722 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1704732179641724 -3.585080623626709 2.7741377353668213 pKFcur->mnId528 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.8765333333333327 vpKFs.front()->mTimeStamp-516.01485032516268 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.73236024379730225 -3.5473976135253906 2.9050197601318359 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp9.959950000000001 vpKFs.front()->mTimeStamp-525.90805866266476 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1212321519851685 -3.8296136856079102 2.8870909214019775 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.026683333333333 vpKFs.front()->mTimeStamp-535.88468366683355 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.98650056123733521 -3.3825039863586426 2.6565496921539307 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.093416666666666 vpKFs.front()->mTimeStamp-545.92804200433568 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.1995794773101807 -3.3825843334197998 2.9978113174438477 pKFcur->mnId532 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.176833333333333 vpKFs.front()->mTimeStamp-556.03813367517114 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 0.90872305631637573 -3.9278082847595215 3.3571722507476807 pKFcur->mnId533 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.260250000000001 vpKFs.front()->mTimeStamp-566.23164201267321 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.48397719860076904 -3.8759851455688477 2.8185281753540039 pKFcur->mnId534 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.377033333333333 vpKFs.front()->mTimeStamp-576.50856701684199 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.2959858179092407 -3.9555220603942871 3.2485671043395996 pKFcur->mnId535 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.477133333333333 vpKFs.front()->mTimeStamp-586.90227535434406 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.91445642709732056 -3.922339916229248 2.9767353534698486 pKFcur->mnId536 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.577233333333334 vpKFs.front()->mTimeStamp-597.39608369184612 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.0505478382110596 -3.9170417785644531 2.7315032482147217 pKFcur->mnId537 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.627283333333333 vpKFs.front()->mTimeStamp-607.98999202934817 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.4420967102050781 -4.5684676170349121 3.558992862701416 pKFcur->mnId538 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.710700000000001 vpKFs.front()->mTimeStamp-618.63395036685029 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.0364631414413452 -4.1785249710083008 3.0302417278289795 pKFcur->mnId539 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.777433333333333 vpKFs.front()->mTimeStamp-629.36132537101901 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.2141015529632568 -4.3992362022399902 3.4828548431396484 pKFcur->mnId540 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.827483333333333 vpKFs.front()->mTimeStamp-640.15543370852106 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.1500309705734253 -4.2390742301940918 3.1912541389465332 pKFcur->mnId541 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.877533333333334 vpKFs.front()->mTimeStamp-650.99959204602317 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.1062322854995728 -4.3545541763305664 3.3530302047729492 pKFcur->mnId542 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp10.96095 vpKFs.front()->mTimeStamp-661.89380038352522 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1223142147064209 -4.3432111740112305 3.3292162418365479 pKFcur->mnId543 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.044366666666667 vpKFs.front()->mTimeStamp-672.87142538769399 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.1719510555267334 -4.319124698638916 3.4057695865631104 pKFcur->mnId544 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.144466666666666 vpKFs.front()->mTimeStamp-683.93246705852937 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.91064786911010742 -4.094602108001709 3.3748219013214111 pKFcur->mnId545 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.26125 vpKFs.front()->mTimeStamp-695.09360872936475 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.92651927471160889 -4.3486933708190918 3.3905537128448486 pKFcur->mnId546 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.394716666666667 vpKFs.front()->mTimeStamp-706.37153373353351 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.282778263092041 -4.3737525939941406 3.0414028167724609 pKFcur->mnId547 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.478133333333334 vpKFs.front()->mTimeStamp-717.78292540436894 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.18181344866752625 -4.2381796836853027 2.6359682083129883 pKFcur->mnId548 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.611600000000001 vpKFs.front()->mTimeStamp-729.27773374187097 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.2928688526153564 -3.7061557769775391 3.4875950813293457 pKFcur->mnId549 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.678333333333333 vpKFs.front()->mTimeStamp-740.90600874603967 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.2494732141494751 -4.2435383796691895 3.4424479007720947 pKFcur->mnId550 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 16.990616269531117 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.761750000000001 vpKFs.front()->mTimeStamp-752.60101708354171 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.2882617712020874 -3.5490233898162842 2.9823265075683594 pKFcur->mnId551 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.878533333333333 vpKFs.front()->mTimeStamp-764.37944208771046 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.319983959197998 -3.9179801940917969 3.3331704139709473 pKFcur->mnId552 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.928583333333334 vpKFs.front()->mTimeStamp-776.2746504252126 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.652312159538269 -3.5907816886901855 3.097895622253418 pKFcur->mnId553 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp11.978633333333333 vpKFs.front()->mTimeStamp-788.21990876271468 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.2245118618011475 -3.9770357608795166 3.2267875671386719 pKFcur->mnId554 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.045366666666666 vpKFs.front()->mTimeStamp-800.21521710021682 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.8876703977584839 -4.0900025367736816 3.4447908401489258 pKFcur->mnId555 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.178833333333333 vpKFs.front()->mTimeStamp-812.27725877105229 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.9693756103515625 -5.0358834266662598 3.0197732448577881 pKFcur->mnId556 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.295616666666668 vpKFs.front()->mTimeStamp-824.47276710855442 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.1291954517364502 -4.4090218544006348 2.0963928699493408 pKFcur->mnId557 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.379033333333334 vpKFs.front()->mTimeStamp-836.78505877938983 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.5064971446990967 -4.2556819915771484 3.7853679656982422 pKFcur->mnId558 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.445766666666668 vpKFs.front()->mTimeStamp-849.18076711689196 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.1590210199356079 -4.1281962394714355 2.9985418319702148 pKFcur->mnId559 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.545866666666667 vpKFs.front()->mTimeStamp-861.64320878772742 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.5752148628234863 -4.7459893226623535 3.40718674659729 pKFcur->mnId560 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.645966666666666 vpKFs.front()->mTimeStamp-874.20575045856287 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.0056183747947216034 -4.7759709358215332 3.3695096969604492 pKFcur->mnId561 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.7127 vpKFs.front()->mTimeStamp-886.86839212939833 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.5612790584564209 -4.7911596298217773 3.7523252964019775 pKFcur->mnId562 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.812800000000001 vpKFs.front()->mTimeStamp-899.59776713356712 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.60871881246566772 -4.8836350440979004 3.3308818340301514 pKFcur->mnId563 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.9129 vpKFs.front()->mTimeStamp-912.4272421377359 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 2.9988894462585449 -4.9888401031494141 3.9253273010253906 pKFcur->mnId564 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp12.962950000000001 vpKFs.front()->mTimeStamp-925.35681714190468 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.1507524847984314 -4.3557186126708984 3.3594353199005127 pKFcur->mnId565 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.013 vpKFs.front()->mTimeStamp-938.33644214607341 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.097168311476707458 -4.139249324798584 3.3262698650360107 pKFcur->mnId566 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.06305 vpKFs.front()->mTimeStamp-951.36611715024219 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 2.6725482940673828 -4.6863069534301758 3.7159092426300049 pKFcur->mnId567 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.146466666666667 vpKFs.front()->mTimeStamp-964.44584215441091 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.76125168800354 -4.5095973014831543 3.8605153560638428 pKFcur->mnId568 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.279933333333334 vpKFs.front()->mTimeStamp-977.60898382524636 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -0.083038575947284698 -4.4974150657653809 3.1098842620849609 pKFcur->mnId569 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.346666666666668 vpKFs.front()->mTimeStamp-990.90559216274846 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.7328925132751465 -4.1896638870239258 3.6140451431274414 pKFcur->mnId570 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.539455573794177 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.413400000000001 vpKFs.front()->mTimeStamp-1004.2689338335839 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.41211298108100891 -4.1075434684753418 3.1569337844848633 pKFcur->mnId571 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.546866666666666 vpKFs.front()->mTimeStamp-1017.6990088377527 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.3838653564453125 -4.5146522521972656 3.46842360496521 pKFcur->mnId572 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.630283333333333 vpKFs.front()->mTimeStamp-1031.262550508588 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.3457505702972412 -4.1615395545959473 3.3508143424987793 pKFcur->mnId573 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.747066666666667 vpKFs.front()->mTimeStamp-1044.9095088460901 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.2829017639160156 -4.4787492752075195 3.109919548034668 pKFcur->mnId574 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.813800000000001 vpKFs.front()->mTimeStamp-1058.6732505169255 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.0657445192337036 -4.3228163719177246 3.4525876045227051 pKFcur->mnId575 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.880533333333334 vpKFs.front()->mTimeStamp-1072.5037255210941 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.6366544961929321 -4.7131433486938477 3.4931080341339111 pKFcur->mnId576 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp13.930583333333333 vpKFs.front()->mTimeStamp-1086.4009338585961 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.7712360620498657 -5.4847307205200195 3.4759583473205566 pKFcur->mnId577 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.080733333333333 vpKFs.front()->mTimeStamp-1100.3481921960981 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.99611777067184448 -4.6255502700805664 3.4981591701507568 pKFcur->mnId578 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.2142 vpKFs.front()->mTimeStamp-1114.4456005336001 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.5822395086288452 -5.8152332305908203 4.0682382583618164 pKFcur->mnId579 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.314300000000001 vpKFs.front()->mTimeStamp-1128.676475537769 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.84897583723068237 -4.8834710121154785 3.5446746349334717 pKFcur->mnId580 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.36435 vpKFs.front()->mTimeStamp-1143.0074505419377 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.5457202196121216 -6.2890486717224121 4.3204965591430664 pKFcur->mnId581 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.414400000000001 vpKFs.front()->mTimeStamp-1157.3884755461065 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.7161943912506104 -6.4304494857788086 4.2667818069458008 pKFcur->mnId582 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.5145 vpKFs.front()->mTimeStamp-1171.8195505502754 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.1656808853149414 -5.9231986999511719 3.8376975059509277 pKFcur->mnId583 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.581233333333333 vpKFs.front()->mTimeStamp-1186.3507255544441 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.4614888429641724 -5.9993786811828613 4.2693500518798828 pKFcur->mnId584 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55882c7fc670 pKFCur->mTimeStamp14.631283333333334 vpKFs.front()->mTimeStamp-1200.9486338919462 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.0551662445068359 -5.8190255165100098 4.0612435340881348 pKFcur->mnId585 gopro_slam.cc Caught signal 2