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 1462 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: 12.4645 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 Relocalization() failed. Fail to track local map! n_lost_frames=27 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x562bc418f470 pKFCur->mTimeStamp0.45045000000000002 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp0.60060000000000002 vpKFs.front()->mTimeStamp-72.655900008337497 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.81017297506332397 0.065358936786651611 -0.54265224933624268 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp0.70069999999999999 vpKFs.front()->mTimeStamp-73.273175012506243 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.65027785301208496 0.30297359824180603 -0.067254401743412018 pKFcur->mnId454 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp0.78411666666666668 vpKFs.front()->mTimeStamp-73.990550016674987 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.68284392356872559 0.51397907733917236 -0.19208067655563354 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.0010000000000001 vpKFs.front()->mTimeStamp-74.79134168751041 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.75164544582366943 0.8960108757019043 -0.2829987108707428 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.1011 vpKFs.front()->mTimeStamp-75.809016691679162 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.46843469142913818 1.5360440015792847 -0.77527874708175659 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.25125 vpKFs.front()->mTimeStamp-76.926791695847911 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.27088877558708191 1.7129477262496948 -0.64358615875244141 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.3847166666666666 vpKFs.front()->mTimeStamp-78.194716700016656 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.020575903356075287 2.2072019577026367 -0.68197542428970337 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.5181833333333334 vpKFs.front()->mTimeStamp-79.596108370852079 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.021057957783341408 2.6567790508270264 -0.76039969921112061 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.6349666666666667 vpKFs.front()->mTimeStamp-81.130966708354165 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -0.099351949989795685 2.9362325668334961 -1.1429767608642578 pKFcur->mnId461 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.727884830534641 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.7517500000000001 vpKFs.front()->mTimeStamp-82.782608379189583 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.23384465277194977 3.0745155811309814 -0.69677728414535522 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp1.9185833333333333 vpKFs.front()->mTimeStamp-84.55103338335833 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.33465543389320374 3.5309062004089355 -0.75696784257888794 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp2.1187833333333335 vpKFs.front()->mTimeStamp-86.486291720860422 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.28681805729866028 3.6178267002105713 -1.5858199596405029 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp2.3857166666666667 vpKFs.front()->mTimeStamp-88.621750058362508 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.75623929500579834 4.8850665092468262 -1.7210477590560913 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp2.6026000000000002 vpKFs.front()->mTimeStamp-91.024141729197922 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.5320611000061035 5.7201676368713379 -1.6442828178405762 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp2.7360666666666669 vpKFs.front()->mTimeStamp-93.643416733366678 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.4472428560256958 5.6913833618164062 -1.5965708494186401 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp2.8695333333333335 vpKFs.front()->mTimeStamp-96.396158404202097 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.97506612539291382 -4.7597041130065918 2.2481896877288818 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp2.9029000000000003 vpKFs.front()->mTimeStamp-99.28236674170418 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.9711984395980835 4.0396194458007812 -1.2088369131088257 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.0697333333333332 vpKFs.front()->mTimeStamp-102.20194174587293 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.7517353892326355 -3.6804137229919434 2.4421782493591309 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.25325 vpKFs.front()->mTimeStamp-105.28835008337501 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 1.751325249671936 4.6335806846618652 -2.4765918254852295 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.3366666666666669 vpKFs.front()->mTimeStamp-108.55827508754376 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -2.0905413627624512 -6.0934696197509766 4.5576558113098145 pKFcur->mnId472 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.185439522088672 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.3700333333333332 vpKFs.front()->mTimeStamp-111.91161675837918 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.8729320764541626 4.5653929710388184 -2.2574522495269775 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.4200833333333334 vpKFs.front()->mTimeStamp-115.29832509588127 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.6298332214355469 9.4500513076782227 -4.2504472732543945 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.4868166666666669 vpKFs.front()->mTimeStamp-118.73508343338335 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.8658370971679688 -11.452497482299805 8.1090192794799805 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.5201833333333332 vpKFs.front()->mTimeStamp-122.23857510421877 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.8455038070678711 10.411505699157715 -6.1634392738342285 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.55355 vpKFs.front()->mTimeStamp-125.77543344172085 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.2256619930267334 -12.798364639282227 10.157362937927246 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.5869166666666668 vpKFs.front()->mTimeStamp-129.3456584458896 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 3.3220894336700439 12.212368965148926 -7.9203205108642578 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.6202833333333335 vpKFs.front()->mTimeStamp-132.94925011672501 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.817838191986084 -15.050924301147461 12.130831718444824 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.6536500000000003 vpKFs.front()->mTimeStamp-136.58620845422709 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.0633773803710938 -9.6247949600219727 10.406955718994141 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.6870166666666666 vpKFs.front()->mTimeStamp-140.25653345839584 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 3.19891357421875 9.4628925323486328 -7.1642446517944336 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.7203833333333334 vpKFs.front()->mTimeStamp-143.96022512923125 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.7808754444122314 -12.572510719299316 11.267245292663574 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.7537500000000001 vpKFs.front()->mTimeStamp-147.69728346673332 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 4.0444879531860352 12.344155311584473 -8.6262102127075195 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.7871166666666669 vpKFs.front()->mTimeStamp-151.46770847090207 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -4.7573108673095703 -15.835210800170898 13.269291877746582 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.8204833333333332 vpKFs.front()->mTimeStamp-155.27150014173748 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 5.1054964065551758 15.874445915222168 -11.076005935668945 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.85385 vpKFs.front()->mTimeStamp-159.10865847923955 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 6.3182806968688965 22.081554412841797 -12.57275390625 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.8872166666666668 vpKFs.front()->mTimeStamp-162.97918348340829 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 6.9601426124572754 22.961929321289062 -11.029892921447754 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.9205833333333335 vpKFs.front()->mTimeStamp-166.8830751542437 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 8.2302589416503906 29.16944694519043 -12.40065860748291 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.9539499999999999 vpKFs.front()->mTimeStamp-170.82033349174577 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 9.2891712188720703 35.447975158691406 -13.714164733886719 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp3.9873166666666666 vpKFs.front()->mTimeStamp-174.79095849591451 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 10.197927474975586 41.661731719970703 -14.949233055114746 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.0206833333333334 vpKFs.front()->mTimeStamp-178.79495016674991 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 11.16248893737793 48.010890960693359 -16.135494232177734 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.0540500000000002 vpKFs.front()->mTimeStamp-182.83230850425201 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 12.261407852172852 54.225730895996094 -17.232761383056641 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.0874166666666669 vpKFs.front()->mTimeStamp-186.90303350842078 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 13.305111885070801 60.418685913085938 -18.260898590087891 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.1207833333333337 vpKFs.front()->mTimeStamp-191.00712517925621 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 14.436968803405762 66.765670776367188 -19.252365112304688 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.1541500000000005 vpKFs.front()->mTimeStamp-195.1445835167583 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 15.557255744934082 73.144981384277344 -20.180889129638672 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.1875166666666663 vpKFs.front()->mTimeStamp-199.31540852092706 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 16.856592178344727 79.832122802734375 -21.104364395141602 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.2208833333333331 vpKFs.front()->mTimeStamp-203.51960019176249 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 18.095657348632812 86.593696594238281 -21.970926284790039 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.2542499999999999 vpKFs.front()->mTimeStamp-207.75715852926459 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 19.121370315551758 93.095314025878906 -22.714212417602539 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.2876166666666666 vpKFs.front()->mTimeStamp-212.02808353343335 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 20.037483215332031 99.716560363769531 -23.402627944946289 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.3209833333333334 vpKFs.front()->mTimeStamp-216.33237520426877 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 20.840324401855469 106.3314208984375 -24.025684356689453 pKFcur->mnId500 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.3543500000000002 vpKFs.front()->mTimeStamp-220.67003354177086 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 21.630363464355469 113.08679962158203 -24.601062774658203 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.3877166666666669 vpKFs.front()->mTimeStamp-225.04105854593962 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 22.266042709350586 119.88179016113281 -25.118515014648438 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.4210833333333337 vpKFs.front()->mTimeStamp-229.44545021677504 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 23.102993011474609 126.655029296875 -25.568748474121094 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.4544500000000005 vpKFs.front()->mTimeStamp-233.88320855427713 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 23.831533432006836 133.69805908203125 -25.971189498901367 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.4878166666666663 vpKFs.front()->mTimeStamp-238.35433355844589 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 24.484949111938477 140.54574584960938 -26.273778915405273 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.5211833333333331 vpKFs.front()->mTimeStamp-242.85882522928131 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 25.273420333862305 147.57778930664062 -26.538883209228516 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.5545499999999999 vpKFs.front()->mTimeStamp-247.39668356678339 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 26.029750823974609 154.15640258789062 -26.652099609375 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.5879166666666666 vpKFs.front()->mTimeStamp-251.96790857095215 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 26.916543960571289 161.68704223632812 -26.825563430786133 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.6212833333333334 vpKFs.front()->mTimeStamp-256.57250024178757 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 27.627510070800781 169.10928344726562 -26.913263320922852 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.6546500000000002 vpKFs.front()->mTimeStamp-261.21045857928965 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 28.346515655517578 176.59829711914062 -26.940156936645508 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.6880166666666669 vpKFs.front()->mTimeStamp-265.8817835834584 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 29.301792144775391 183.92042541503906 -26.837015151977539 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.7213833333333337 vpKFs.front()->mTimeStamp-270.58647525429382 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 29.696380615234375 191.35595703125 -26.678077697753906 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.7547500000000005 vpKFs.front()->mTimeStamp-275.3245335917959 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 30.453653335571289 198.72566223144531 -26.438241958618164 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.7881166666666664 vpKFs.front()->mTimeStamp-280.09595859596465 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 30.517185211181641 206.10096740722656 -26.103925704956055 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.8214833333333331 vpKFs.front()->mTimeStamp-284.90075026680006 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 30.471532821655273 213.38667297363281 -25.686792373657227 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x562bc5d68670 pKFCur->mTimeStamp4.8548499999999999 vpKFs.front()->mTimeStamp-289.73890860430214 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 31.173347473144531 220.54780578613281 -25.179653167724609 pKFcur->mnId516 gopro_slam.cc Caught signal 2