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 1200 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: 18.8762 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 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55c4af19a480 pKFCur->mTimeStamp0.11678333333333334 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp0.31698333333333334 vpKFs.front()->mTimeStamp-72.322233341670838 vpKFs.back()->mTimeStamp-0.016675004168751048 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.28803420066833496 -1.8894522190093994 -0.36811736226081848 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp1.55155 vpKFs.front()->mTimeStamp-72.655891679172925 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.27535203099250793 -1.9434657096862793 -0.46509170532226562 pKFcur->mnId454 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=82 Relocalization() failed. Fail to track local map! n_lost_frames=83 Relocalization() failed. Fail to track local map! n_lost_frames=84 Relocalization() failed. Fail to track local map! n_lost_frames=85 Relocalization() failed. Fail to track local map! n_lost_frames=86 Relocalization() failed. Fail to track local map! n_lost_frames=87 Relocalization() failed. Fail to track local map! n_lost_frames=88 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 39.499768610355481 FPS Relocalization() failed. Fail to track local map! n_lost_frames=89 Relocalization() failed. Fail to track local map! n_lost_frames=90 Relocalization() failed. Fail to track local map! n_lost_frames=91 Relocalization() failed. Fail to track local map! n_lost_frames=92 Relocalization() failed. Fail to track local map! n_lost_frames=93 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp1.7684333333333333 vpKFs.front()->mTimeStamp-74.224116683341677 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.27535203099250793 -1.9434657096862793 -0.46509170532226562 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp1.8018000000000001 vpKFs.front()->mTimeStamp-76.009225020843758 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.25626459717750549 2.0584456920623779 -0.019869666546583176 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp1.9018999999999999 vpKFs.front()->mTimeStamp-77.827700025012504 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1846003532409668 7.5688252449035645 -1.3764877319335938 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp1.9352666666666667 vpKFs.front()->mTimeStamp-79.746275029181248 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.82508319616317749 -5.2700209617614746 1.1763792037963867 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp1.9686333333333335 vpKFs.front()->mTimeStamp-81.698216700016673 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.79756945371627808 4.8477487564086914 -1.1927231550216675 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.0020000000000002 vpKFs.front()->mTimeStamp-83.683525037518763 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.60858088731765747 -3.2277359962463379 0.92225456237792969 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.0353666666666665 vpKFs.front()->mTimeStamp-85.702200041687519 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.80712431669235229 3.3507928848266602 -0.92438513040542603 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.1521500000000002 vpKFs.front()->mTimeStamp-87.754241712522941 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.3887721300125122 3.5824010372161865 -1.0369913578033447 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.4357666666666669 vpKFs.front()->mTimeStamp-89.923066716691693 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.7433583736419678 3.7679877281188965 -1.5334500074386597 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.5191833333333333 vpKFs.front()->mTimeStamp-92.375508387527105 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 1.8828719854354858 5.5680880546569824 -1.648423433303833 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.5859166666666669 vpKFs.front()->mTimeStamp-94.911366725029183 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.0740789175033569 4.6893892288208008 -0.99868232011795044 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.6693333333333333 vpKFs.front()->mTimeStamp-97.513958395864606 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.75710934400558472 4.2120399475097656 -1.1963208913803101 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.7861166666666666 vpKFs.front()->mTimeStamp-100.19996673336669 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.54550278186798096 3.7094573974609375 -1.4130730628967285 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp2.8862166666666669 vpKFs.front()->mTimeStamp-103.00275840420211 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.64666038751602173 3.1293158531188965 -0.66524189710617065 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.0196833333333335 vpKFs.front()->mTimeStamp-105.90565007503753 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.39276650547981262 2.6447126865386963 -1.4187940359115601 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.1531500000000001 vpKFs.front()->mTimeStamp-108.94200841253961 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.82652115821838379 2.6310961246490479 -1.1712676286697388 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.2699333333333334 vpKFs.front()->mTimeStamp-112.11183341670836 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 1.4137961864471436 1.9584274291992188 -0.77179360389709473 pKFcur->mnId471 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 34.996635948369466 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.3700333333333332 vpKFs.front()->mTimeStamp-115.39844175421045 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 1.1627302169799805 1.5517005920410156 -0.59448319673538208 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.5201833333333332 vpKFs.front()->mTimeStamp-118.78515009171254 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.6876341700553894 1.0004085302352905 -1.0953906774520874 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.6202833333333335 vpKFs.front()->mTimeStamp-122.32200842921462 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.81075161695480347 0.55879348516464233 -0.082156367599964142 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.7370666666666668 vpKFs.front()->mTimeStamp-125.9589667667167 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.2297194004058838 0.44921380281448364 1.571736216545105 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.85385 vpKFs.front()->mTimeStamp-129.71270843755212 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.036744959652423859 0.84200137853622437 -0.46009081602096558 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp3.9372666666666669 vpKFs.front()->mTimeStamp-133.58323344172086 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.26243233680725098 0.68810707330703735 0.089647077023983002 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.0206833333333334 vpKFs.front()->mTimeStamp-137.53717511255627 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -0.4745447039604187 0.87148702144622803 0.010441679507493973 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.0874166666666669 vpKFs.front()->mTimeStamp-141.57453345005837 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.79828429222106934 0.82169002294540405 0.21747046709060669 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.1875166666666663 vpKFs.front()->mTimeStamp-145.6786251208938 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.89210712909698486 0.69451510906219482 0.00087128172162920237 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.2542499999999999 vpKFs.front()->mTimeStamp-149.88281679172923 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1.034326434135437 0.48477831482887268 0.012850445695221424 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.3710333333333331 vpKFs.front()->mTimeStamp-154.15374179589799 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.4499566555023193 0.41093197464942932 -0.16023053228855133 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.4544500000000005 vpKFs.front()->mTimeStamp-158.54145013340008 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.1866215467453003 0.089168936014175415 0.27116742730140686 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.5378666666666669 vpKFs.front()->mTimeStamp-163.01257513756883 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -1.3578664064407349 -0.0071054068394005299 0.040986917912960052 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.6212833333333334 vpKFs.front()->mTimeStamp-167.56711680840425 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -2.2939827442169189 0.170030876994133 0.089447155594825745 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp4.7213833333333337 vpKFs.front()->mTimeStamp-172.20507514590633 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.1351583003997803 0.025133054703474045 0.36150047183036804 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.0717333333333334 vpKFs.front()->mTimeStamp-176.94313348340842 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.8121631145477295 -0.092709913849830627 0.19932129979133606 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.1551499999999999 vpKFs.front()->mTimeStamp-182.03154182091049 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.5031698942184448 -0.58903902769088745 0.36723938584327698 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.288616666666667 vpKFs.front()->mTimeStamp-187.20336682507923 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1.6886837482452393 0.49640700221061707 -0.1999923437833786 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.4220833333333331 vpKFs.front()->mTimeStamp-192.50865849591466 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.8912584781646729 0.18292525410652161 1.0054265260696411 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.4721333333333337 vpKFs.front()->mTimeStamp-197.94741683341675 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -2.9741218090057373 0.12291817367076874 0.57366311550140381 pKFcur->mnId491 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.6723333333333334 vpKFs.front()->mTimeStamp-203.43622517091885 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -2.2978413105010986 0.43252542614936829 0.018192652612924576 pKFcur->mnId492 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.7891166666666667 vpKFs.front()->mTimeStamp-209.12523350842093 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.4828627109527588 0.43707400560379028 0.61915677785873413 pKFcur->mnId493 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp5.9058999999999999 vpKFs.front()->mTimeStamp-214.93102517925635 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -2.4763813018798828 0.39480492472648621 0.58829295635223389 pKFcur->mnId494 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.0226833333333332 vpKFs.front()->mTimeStamp-220.8536001834251 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.6774129867553711 0.36292612552642822 0.69958168268203735 pKFcur->mnId495 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.1728333333333332 vpKFs.front()->mTimeStamp-226.89295852092718 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.7335202693939209 -0.14904686808586121 0.44113853573799133 pKFcur->mnId496 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.3063000000000002 vpKFs.front()->mTimeStamp-233.08246685842926 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.8252770900726318 0.63231807947158813 0.90541249513626099 pKFcur->mnId497 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.4230833333333335 vpKFs.front()->mTimeStamp-239.405441862598 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.8983035087585449 0.12862035632133484 0.73928999900817871 pKFcur->mnId498 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.489816666666667 vpKFs.front()->mTimeStamp-245.84520020010007 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.9602289199829102 0.22865140438079834 0.85482436418533325 pKFcur->mnId499 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.6232833333333332 vpKFs.front()->mTimeStamp-252.3516918709355 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.2122197151184082 0.1511228084564209 0.81783956289291382 pKFcur->mnId500 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 33.981305864204927 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.7067000000000005 vpKFs.front()->mTimeStamp-258.99165020843759 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.6966726779937744 0.17811831831932068 0.91435271501541138 pKFcur->mnId501 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.790116666666667 vpKFs.front()->mTimeStamp-265.71502521260635 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.9913337230682373 0.11813721805810928 0.95666873455047607 pKFcur->mnId502 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.8902166666666664 vpKFs.front()->mTimeStamp-272.52181688344177 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.502150297164917 -0.093836739659309387 1.1337565183639526 pKFcur->mnId503 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp6.9736333333333338 vpKFs.front()->mTimeStamp-279.42870855427719 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.8713047504425049 0.46750423312187195 0.87182813882827759 pKFcur->mnId504 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.0570500000000003 vpKFs.front()->mTimeStamp-286.41901689177928 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.216529369354248 0.3859228789806366 0.88884431123733521 pKFcur->mnId505 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.1237833333333338 vpKFs.front()->mTimeStamp-293.49274189594803 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -2.6930675506591797 0.32113438844680786 0.63968199491500854 pKFcur->mnId506 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.1905166666666664 vpKFs.front()->mTimeStamp-300.63320023345011 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.063593864440918 0.010034004226326942 0.8672788143157959 pKFcur->mnId507 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.2739333333333338 vpKFs.front()->mTimeStamp-307.84039190428553 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.9912569522857666 0.083294235169887543 0.89853519201278687 pKFcur->mnId508 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.3239833333333335 vpKFs.front()->mTimeStamp-315.1310002417876 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.123539924621582 0.30573511123657227 0.86296069622039795 pKFcur->mnId509 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.3740333333333332 vpKFs.front()->mTimeStamp-322.47165857928968 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.0361247062683105 0.2644115686416626 0.70207679271697998 pKFcur->mnId510 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.4574499999999997 vpKFs.front()->mTimeStamp-329.86236691679176 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -3.2361698150634766 0.29885008931159973 0.65873444080352783 pKFcur->mnId511 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.5241833333333332 vpKFs.front()->mTimeStamp-337.3364919209605 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.0247061252593994 0.30097091197967529 0.53384017944335938 pKFcur->mnId512 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.5742333333333338 vpKFs.front()->mTimeStamp-344.87735025846257 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.9869706630706787 0.31592404842376709 0.88136440515518188 pKFcur->mnId513 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.6409666666666665 vpKFs.front()->mTimeStamp-352.46825859596464 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.9759719371795654 0.27526450157165527 0.88222432136535645 pKFcur->mnId514 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.7077 vpKFs.front()->mTimeStamp-360.12590026680004 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.9551234245300293 0.38374623656272888 0.88072097301483154 pKFcur->mnId515 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.7577499999999997 vpKFs.front()->mTimeStamp-367.85027527096878 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.9834573268890381 0.14116477966308594 0.78165960311889648 pKFcur->mnId516 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.8078000000000003 vpKFs.front()->mTimeStamp-375.62470027513751 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -3.1106956005096436 0.31710836291313171 0.92956686019897461 pKFcur->mnId517 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.85785 vpKFs.front()->mTimeStamp-383.44917527930625 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.1542327404022217 0.12487278133630753 0.89277815818786621 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.9078999999999997 vpKFs.front()->mTimeStamp-391.32370028347498 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -3.2408435344696045 0.17311781644821167 0.98800712823867798 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp7.9579500000000003 vpKFs.front()->mTimeStamp-399.24827528764371 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.2929303646087646 0.23049968481063843 0.90833216905593872 pKFcur->mnId520 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.0080000000000009 vpKFs.front()->mTimeStamp-407.22290029181244 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.2504057884216309 0.30507734417915344 0.82486754655838013 pKFcur->mnId521 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.0580499999999997 vpKFs.front()->mTimeStamp-415.24757529598116 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.5476548671722412 0.18324218690395355 1.0455517768859863 pKFcur->mnId522 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.1081000000000003 vpKFs.front()->mTimeStamp-423.32230030014989 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.4832556247711182 0.28516918420791626 0.82694119215011597 pKFcur->mnId523 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.1748333333333338 vpKFs.front()->mTimeStamp-431.44707530431862 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -4.0259766578674316 -0.18766482174396515 0.96647703647613525 pKFcur->mnId524 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.2415666666666674 vpKFs.front()->mTimeStamp-439.63858364182067 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.673919677734375 0.035755366086959839 1.0756485462188721 pKFcur->mnId525 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.3416666666666668 vpKFs.front()->mTimeStamp-447.89682531265612 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.9052352905273438 0.15744481980800629 0.92001092433929443 pKFcur->mnId526 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.474797362634988 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.4250833333333333 vpKFs.front()->mTimeStamp-456.25516698349156 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.6888854503631592 0.11241800338029861 0.69297009706497192 pKFcur->mnId527 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.5084999999999997 vpKFs.front()->mTimeStamp-464.69692532099367 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.4098680019378662 0.32440295815467834 1.2005969285964966 pKFcur->mnId528 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.5752333333333333 vpKFs.front()->mTimeStamp-473.22210032516244 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.3615303039550781 -0.12273338437080383 1.0799083709716797 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.6419666666666668 vpKFs.front()->mTimeStamp-481.81400866266455 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.4983127117156982 0.36814293265342712 1.2479261159896851 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.7253833333333333 vpKFs.front()->mTimeStamp-490.47265033349998 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.6471912860870361 0.17323818802833557 1.2569191455841064 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.8254833333333327 vpKFs.front()->mTimeStamp-499.21470867100209 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -3.8785741329193115 0.21082736551761627 1.1398273706436157 pKFcur->mnId532 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.9089000000000009 vpKFs.front()->mTimeStamp-508.05686700850418 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -3.3473694324493408 0.17185457050800323 1.2248644828796387 pKFcur->mnId533 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp8.9923166666666674 vpKFs.front()->mTimeStamp-516.98244201267289 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.4123880863189697 0.50758349895477295 0.80055510997772217 pKFcur->mnId534 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.0590500000000009 vpKFs.front()->mTimeStamp-525.99143368350826 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.8953835964202881 -0.10826440155506134 1.3438460826873779 pKFcur->mnId535 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.1591500000000003 vpKFs.front()->mTimeStamp-535.06715868767697 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() -3.4564895629882812 0.43683212995529175 1.0557538270950317 pKFcur->mnId536 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.2258833333333339 vpKFs.front()->mTimeStamp-544.24298369184567 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.7462112903594971 0.1346965879201889 1.2261450290679932 pKFcur->mnId537 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.2926166666666674 vpKFs.front()->mTimeStamp-553.4855420293477 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.6744463443756104 0.42561072111129761 1.2401447296142578 pKFcur->mnId538 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.3593500000000009 vpKFs.front()->mTimeStamp-562.79483370018306 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.7500619888305664 0.13965141773223877 1.2314690351486206 pKFcur->mnId539 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.4594500000000004 vpKFs.front()->mTimeStamp-572.17085870435176 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.7524206638336182 0.34978967905044556 1.1658915281295776 pKFcur->mnId540 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.5428666666666668 vpKFs.front()->mTimeStamp-581.64698370852057 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.9152059555053711 0.27304205298423767 1.3564215898513794 pKFcur->mnId541 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.6262833333333333 vpKFs.front()->mTimeStamp-591.20652537935598 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -3.8545827865600586 0.30420902371406555 1.1108893156051636 pKFcur->mnId542 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.6930166666666668 vpKFs.front()->mTimeStamp-600.84948371685812 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.8820712566375732 0.34844371676445007 1.2656481266021729 pKFcur->mnId543 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.7764333333333333 vpKFs.front()->mTimeStamp-610.55917538769359 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -4.0016851425170898 0.23753023147583008 1.3313373327255249 pKFcur->mnId544 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.8598499999999998 vpKFs.front()->mTimeStamp-620.35228372519566 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.9630670547485352 0.49873369932174683 1.2680829763412476 pKFcur->mnId545 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.9265833333333333 vpKFs.front()->mTimeStamp-630.22880872936446 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.2424349784851074 0.61882328987121582 1.3195782899856567 pKFcur->mnId546 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp9.9933166666666668 vpKFs.front()->mTimeStamp-640.17206706686659 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.99387526512146 0.2475539892911911 1.3419177532196045 pKFcur->mnId547 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.273479507283085 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.076733333333333 vpKFs.front()->mTimeStamp-650.18205873770205 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.3885936737060547 0.15865467488765717 1.4983211755752563 pKFcur->mnId548 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.176833333333333 vpKFs.front()->mTimeStamp-660.27546707520412 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.9453508853912354 0.64639127254486084 1.2816276550292969 pKFcur->mnId549 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.226883333333333 vpKFs.front()->mTimeStamp-670.46897541270619 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.3979964256286621 0.16518934071063995 1.4426203966140747 pKFcur->mnId550 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.326983333333333 vpKFs.front()->mTimeStamp-680.71253375020831 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -4.020470142364502 0.41336613893508911 1.3238219022750854 pKFcur->mnId551 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.410400000000001 vpKFs.front()->mTimeStamp-691.05619208771043 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.1450791358947754 0.09577324241399765 1.3559240102767944 pKFcur->mnId552 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.493816666666667 vpKFs.front()->mTimeStamp-701.48326709187916 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.1727781295776367 0.37012356519699097 1.4401775598526001 pKFcur->mnId553 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.560550000000001 vpKFs.front()->mTimeStamp-711.99375876271461 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -4.712460994720459 0.9394260048866272 1.7174876928329468 pKFcur->mnId554 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.627283333333333 vpKFs.front()->mTimeStamp-722.57098376688339 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.8147540092468262 -0.10732268542051315 1.4167358875274658 pKFcur->mnId555 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.694016666666666 vpKFs.front()->mTimeStamp-733.2149421043855 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -4.4281115531921387 0.76356220245361328 1.4229221343994141 pKFcur->mnId556 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.76075 vpKFs.front()->mTimeStamp-743.92563377522094 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -6.0267691612243652 0.82100975513458252 1.8500365018844604 pKFcur->mnId557 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.844166666666666 vpKFs.front()->mTimeStamp-754.70305877938972 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -2.6253855228424072 0.042851042002439499 1.1096491813659668 pKFcur->mnId558 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.927583333333333 vpKFs.front()->mTimeStamp-765.56390045022511 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -5.6444907188415527 0.61956131458282471 1.6544854640960693 pKFcur->mnId559 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp10.994316666666666 vpKFs.front()->mTimeStamp-776.50815878772721 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -2.8311953544616699 0.06804627925157547 0.97646951675415039 pKFcur->mnId560 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.06105 vpKFs.front()->mTimeStamp-787.51915045856265 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -5.2303290367126465 0.74522686004638672 1.5824241638183594 pKFcur->mnId561 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.1111 vpKFs.front()->mTimeStamp-798.59687546273142 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.4143476486206055 -0.18764649331569672 1.0765858888626099 pKFcur->mnId562 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.161150000000001 vpKFs.front()->mTimeStamp-809.72465046690013 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -5.2535495758056641 0.52589160203933716 1.8051279783248901 pKFcur->mnId563 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.227883333333333 vpKFs.front()->mTimeStamp-820.9024754710689 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -3.3253793716430664 0.33442032337188721 1.0795743465423584 pKFcur->mnId564 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.277933333333333 vpKFs.front()->mTimeStamp-832.147033808571 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -5.3687090873718262 0.13344985246658325 1.8692407608032227 pKFcur->mnId565 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.327983333333334 vpKFs.front()->mTimeStamp-843.44164214607304 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.4260711669921875 0.65778833627700806 1.1935105323791504 pKFcur->mnId566 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.394716666666667 vpKFs.front()->mTimeStamp-854.78630048357513 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -7.1085343360900879 1.5876307487487793 2.053135871887207 pKFcur->mnId567 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.461450000000001 vpKFs.front()->mTimeStamp-866.19769215441056 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.2013404369354248 -0.81772494316101074 1.0813426971435547 pKFcur->mnId568 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.528183333333333 vpKFs.front()->mTimeStamp-877.67581715857932 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -6.4248509407043457 1.4430855512619019 1.9484901428222656 pKFcur->mnId569 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.644966666666667 vpKFs.front()->mTimeStamp-889.22067549608141 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -10.331144332885742 1.9233007431030273 3.1026463508605957 pKFcur->mnId570 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 40.465790382673646 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.778433333333334 vpKFs.front()->mTimeStamp-900.88231716691678 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.059367824345827103 -0.9674186110496521 0.25338241457939148 pKFcur->mnId571 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.828483333333333 vpKFs.front()->mTimeStamp-912.67742550441881 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -8.6064281463623047 1.9111080169677734 2.8292632102966309 pKFcur->mnId572 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp11.928583333333334 vpKFs.front()->mTimeStamp-924.52258384192089 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -1.4879539012908936 -0.97287064790725708 0.68740761280059814 pKFcur->mnId573 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.012 vpKFs.front()->mTimeStamp-936.46784217942297 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -7.9114017486572266 1.5583856105804443 2.4085004329681396 pKFcur->mnId574 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.145466666666668 vpKFs.front()->mTimeStamp-948.49651718359178 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -2.1232342720031738 -0.92033332586288452 1.065929651260376 pKFcur->mnId575 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.429083333333333 vpKFs.front()->mTimeStamp-960.65865885442724 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -6.8484134674072266 0.98346495628356934 2.1507382392883301 pKFcur->mnId576 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.495816666666666 vpKFs.front()->mTimeStamp-973.10441719192931 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -3.3631100654602051 -0.36965307593345642 1.2073922157287598 pKFcur->mnId577 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.595916666666668 vpKFs.front()->mTimeStamp-985.61690886276472 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -4.382993221282959 -0.41466221213340759 1.3925622701644897 pKFcur->mnId578 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.679333333333334 vpKFs.front()->mTimeStamp-998.22950053360012 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.2393283843994141 -1.6524349451065063 1.6611378192901611 pKFcur->mnId579 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.729383333333333 vpKFs.front()->mTimeStamp-1010.9255088711022 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -3.5420567989349365 -3.2648928165435791 1.9956316947937012 pKFcur->mnId580 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.829483333333334 vpKFs.front()->mTimeStamp-1023.6715672086043 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -6.5473551750183105 4.1121625900268555 2.0134990215301514 pKFcur->mnId581 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.896216666666668 vpKFs.front()->mTimeStamp-1036.5177255461065 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -3.7927532196044922 -2.8187334537506104 2.033674955368042 pKFcur->mnId582 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp12.979633333333334 vpKFs.front()->mTimeStamp-1049.430617216942 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -6.0352435111999512 -6.2133579254150391 3.2917277812957764 pKFcur->mnId583 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp13.096416666666666 vpKFs.front()->mTimeStamp-1062.4269255544441 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -4.2897891998291016 5.384279727935791 0.73462158441543579 pKFcur->mnId584 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c4b0d73680 pKFCur->mTimeStamp13.146466666666667 vpKFs.front()->mTimeStamp-1075.5400172252796 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -5.8052835464477539 -4.5141291618347168 2.8068180084228516 pKFcur->mnId585 gopro_slam.cc Caught signal 2