diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stdout.txt index 4ea7abe0b58bf2d3a25c0bc1e456bd867d61b114..d4ffbcae4d4c187dc9bf0346162552719ef74f8d 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stdout.txt @@ -1,296 +1,3 @@ -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 1754 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x558c2ce21bc0 -pKFCur->mTimeStamp0 -vpKFs.front()->mTimeStamp-63.2131 -vpKFs.back()->mTimeStamp-0.016675 -pKFcur->GetMapPointMatches().size()5234 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -Video FPS: 59.9401 -ORB-SLAM 3 running at: 6.68959 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.004740474993204 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.222865538073611 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 10.911920310507858 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 9.2572039028482731 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 14.141165514013196 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.694831415872056 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 10.410373920955633 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.498176527180908 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 10.487527503409783 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.007866449373916 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.052567625300805 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 14.670964594209043 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.25642943816333 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 14.575645105663076 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.468361790278244 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.070640985018143 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.963362871155407 FPS -Shutdown -mpLocalMapper is not finished -mpLoopCloser is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished - -Saving camera trajectory to /data/camera_trajectory.csv ... -There are 1 maps in the atlas - Map 0 has 97 KFs - -CSV camera trajectory saved! +version https://git-lfs.github.com/spec/v1 +oid sha256:09b910482a8d3ee8fb6422cd5f3e73972a42e72265bd1814026edb9cf030d0a1 +size 10797 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/camera_trajectory.csv index 604bad6b0947172982af4cd12d9413b24c62f158..44ffd8d892bfe940baa03bf374b1af89d0662206 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/camera_trajectory.csv @@ -1,1555 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,2,false,false,-0.062725693,0.261334509,0.135530978,-0.016827276,-0.052919034,-0.041911140,0.997577071 -1,0.016683,2,false,false,-0.076514862,0.263247252,0.142509609,0.016000612,0.051938735,0.041211609,-0.997671306 -2,0.033367,2,false,false,-0.085084870,0.263312519,0.145915568,0.016278576,0.050745741,0.040817395,-0.997744381 -3,0.050050,2,false,false,-0.085100800,0.263377607,0.146074235,0.016803363,0.050948523,0.040654059,-0.997732043 -4,0.066733,2,false,false,-0.085083179,0.263425708,0.146313861,0.017353954,0.051065549,0.040475011,-0.997723937 -5,0.083417,2,false,false,-0.085070968,0.263400733,0.146586433,0.017885530,0.051286545,0.040304072,-0.997710109 -6,0.100100,2,false,false,-0.085067689,0.263300866,0.146800920,0.018236434,0.051711440,0.039969735,-0.997695267 -7,0.116783,2,false,false,-0.085264444,0.263097346,0.146936208,0.018514732,0.052122924,0.039638557,-0.997681916 -8,0.133467,2,false,false,-0.085408248,0.262869060,0.147125542,0.018624067,0.052424505,0.039541800,-0.997667968 -9,0.150150,2,false,false,-0.085253179,0.262896895,0.147508994,0.018794803,0.052608419,0.039341144,-0.997663021 -10,0.166833,2,false,false,-0.085262932,0.262979060,0.147753239,0.019417819,0.052835807,0.039077949,-0.997649372 -11,0.183517,2,false,false,-0.084589824,0.262436539,0.148121089,0.019924371,0.052602693,0.038891193,-0.997659028 -12,0.200200,2,false,false,-0.084650859,0.261458695,0.148724705,0.020167135,0.052457646,0.038670417,-0.997670352 -13,0.216883,2,false,false,-0.084752269,0.260452658,0.149155319,0.019998804,0.052405242,0.038524967,-0.997682154 -14,0.233567,2,false,false,-0.084954873,0.259937286,0.149209902,0.019461403,0.052430492,0.038425408,-0.997695267 -15,0.250250,2,false,false,-0.085766293,0.259911120,0.149087787,0.018563764,0.052442882,0.038297340,-0.997716606 -16,0.266933,2,false,false,-0.085747130,0.260012001,0.149419278,0.017832456,0.052394558,0.038208384,-0.997735918 -17,0.283617,2,false,false,-0.085651815,0.260261506,0.149906456,0.017343167,0.052629869,0.038148846,-0.997734487 -18,0.300300,2,false,false,-0.085566096,0.260497332,0.150408149,0.017208107,0.052944086,0.038104571,-0.997721851 -19,0.316983,2,false,false,-0.085854255,0.260667503,0.150252223,0.017181123,0.053493343,0.038193349,-0.997689664 -20,0.333667,2,false,false,-0.085675493,0.260576814,0.150892034,0.017073752,0.055073097,0.038740788,-0.997584462 -21,0.350350,2,false,false,-0.086077988,0.260778755,0.151963577,0.016751688,0.057074871,0.039317235,-0.997454822 -22,0.367033,2,false,false,-0.086264729,0.261349350,0.152559951,0.016687259,0.059218980,0.040172018,-0.997296751 -23,0.383717,2,false,false,-0.086072542,0.261142403,0.154180288,0.016790504,0.061244294,0.041131608,-0.997133672 -24,0.400400,2,false,false,-0.086072847,0.260781884,0.155835584,0.017214902,0.062489457,0.042218328,-0.997003734 -25,0.417083,2,false,false,-0.085760042,0.260391563,0.156824201,0.017749289,0.062827252,0.043257955,-0.996928573 -26,0.433767,2,false,false,-0.085717022,0.260335267,0.157499239,0.018443890,0.062336151,0.044325180,-0.996899903 -27,0.450450,2,false,false,-0.085283011,0.260904014,0.158426255,0.019466719,0.061323084,0.045465183,-0.996891916 -28,0.467133,2,false,false,-0.085215092,0.260692418,0.159276113,0.020564768,0.060025949,0.046683885,-0.996892512 -29,0.483817,2,false,false,-0.084803365,0.260748535,0.160368368,0.021377336,0.058727115,0.047880631,-0.996896029 -30,0.500500,2,false,false,-0.085224509,0.260516256,0.161272228,0.021939598,0.057814632,0.048960850,-0.996884644 -31,0.517183,2,false,false,-0.085516825,0.260231853,0.162782937,0.022275947,0.057122476,0.050207511,-0.996855080 -32,0.533867,2,false,false,-0.085695930,0.260022104,0.163946405,0.022628212,0.056624312,0.051532716,-0.996807933 -33,0.550550,2,false,false,-0.086355217,0.259549797,0.164621189,0.022866113,0.056150541,0.052622184,-0.996772408 -34,0.567233,2,false,false,-0.087178715,0.258970857,0.165332496,0.023161361,0.055819161,0.053409576,-0.996742308 -35,0.583917,2,false,false,-0.088185094,0.258676022,0.166567340,0.023753801,0.055706557,0.054273933,-0.996688008 -36,0.600600,2,false,false,-0.088855810,0.258429825,0.167643234,0.024677265,0.055675011,0.055101570,-0.996621966 -37,0.617283,2,false,false,-0.089519106,0.257983804,0.167952359,0.025751770,0.055849668,0.055875603,-0.996541798 -38,0.633967,2,false,false,-0.089587465,0.257936865,0.168368131,0.027313743,0.056061585,0.056681063,-0.996442854 -39,0.650650,2,false,false,-0.090189353,0.257555068,0.169642329,0.029154724,0.056200705,0.056934420,-0.996368408 -40,0.667333,2,false,false,-0.090587750,0.257169694,0.170197368,0.030946530,0.056555670,0.057122979,-0.996283472 -41,0.684017,2,false,false,-0.091190398,0.256543159,0.171197623,0.032079771,0.057078931,0.057682965,-0.996185601 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sha256:8492b5e97e3142937ab8a9a62cfd9a1c8b421fb1b39656ae9fc5d228559859bf +size 178483 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/extract_gopro_imu_stdout.txt index 285316bcfb7ee8967dda2d4b23da6d15e301e231..e44c2e87b553e336161b419449cffbc8c2b07cfa 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 195049542 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:ec9d869375285d80289bd9e7e7a035e236a205aea2d1a3a0876591458568af42 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/imu_data.json index a02bd4f77e6e8fa572345106cd78450e6fbc339d..707de5785a85654ad33ef9f34977b9a057b17a4b 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[8.158273381294965,-0.1342925659472422,5.235011990407674],"cts":80.106,"date":"2015-10-18T00:39:00.579Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.940059940059946} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:ab37c81b9e19996f905e08aafb91b1d2d8da537d4d6e2e1a48fb6b70efda5e1e +size 2312263 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stdout.txt index 2b7f2aa94eef5f47802165e3f01c338158583788..d81b5055948c1732e6c458bf015305a84b6968bb 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stdout.txt @@ -1,153 +1,3 @@ -Mask img size mismatch! Converting [2704 x 2028] to [640 x 480] - -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_480.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): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ] - -Original image size: [ 640 , 480 ] - -Current image size: [ 640 , 480 ] - -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: 6 - -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 2 cameras in the atlas -Camera 0 is fisheye -Camera 0 is fisheye -Discard points further than 20 m from current camera -Video opened using backend FFMPEG -There are 1554 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x561be7559f90 -pKFCur->mTimeStamp0 -vpKFs.front()->mTimeStamp-63.2131 -vpKFs.back()->mTimeStamp-0.016675 -pKFcur->GetMapPointMatches().size()3342 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -Video FPS: 59.9401 -ORB-SLAM 3 running at: 6.51786 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 27.460199804258206 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 23.137918188948866 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 26.225010908293289 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 29.627437638169408 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 27.859942940608061 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 27.573196911449006 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 27.062365356275365 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 18.577913484068826 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 21.450304417357714 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 20.869935286713364 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 18.001766477340887 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 15.776708085416171 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.567781860631488 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.24504968662162 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.558076044288878 FPS -Shutdown -mpLocalMapper is not finished -mpLoopCloser is not finished - -Saving camera trajectory to /data/camera_trajectory.csv ... -There are 1 maps in the atlas - Map 0 has 91 KFs - -CSV camera trajectory saved! +version https://git-lfs.github.com/spec/v1 +oid sha256:798925c736ef358bca481fe921d399eb61a0600ee816464bab659a073053ce3b +size 6507 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/camera_trajectory.csv index dbbb1686318a5fd62fe105bfd04cb1c416eea3fa..b711c21bff908ab2f5dc2c371eb10e1d2e6e6991 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/camera_trajectory.csv @@ -1,1498 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,2,false,false,-0.054746091,0.236528292,0.159666598,-0.023565806,-0.097069681,0.018271131,0.994830787 -1,0.016683,2,false,false,-0.056681633,0.235399723,0.158552021,0.024620814,0.097348973,-0.018726669,-0.994769514 -2,0.033367,2,false,false,-0.062733158,0.235529050,0.157699496,0.024984391,0.098318242,-0.019570095,-0.994648874 -3,0.050050,2,false,false,-0.063074641,0.235388950,0.157556280,0.024823412,0.099752925,-0.019505404,-0.994511306 -4,0.066733,2,false,false,-0.063500412,0.235233396,0.157364979,0.024323951,0.101052061,-0.019374948,-0.994395077 -5,0.083417,2,false,false,-0.063961186,0.235137299,0.157192811,0.023943828,0.101955280,-0.018960286,-0.994320095 -6,0.100100,2,false,false,-0.064647727,0.234860435,0.156968236,0.023293054,0.102825828,-0.018106177,-0.994261861 -7,0.116783,2,false,false,-0.065232612,0.234800205,0.156948686,0.022799322,0.103235446,-0.017357245,-0.994244158 -8,0.133467,2,false,false,-0.065725014,0.234846726,0.156839103,0.022420937,0.103206776,-0.016689016,-0.994267225 -9,0.150150,2,false,false,-0.066488340,0.235065967,0.156781375,0.022448415,0.103264913,-0.016061964,-0.994270861 -10,0.166833,2,false,false,-0.066557564,0.234193265,0.156092510,0.023447108,0.103003383,-0.014827265,-0.994294107 -11,0.183517,2,false,false,-0.066463754,0.233010322,0.156097770,0.023549700,0.102910705,-0.013771949,-0.994316459 -12,0.200200,2,false,false,-0.066900298,0.232973978,0.156094775,0.023521787,0.103536166,-0.012586167,-0.994267941 -13,0.216883,2,false,false,-0.066933364,0.233179644,0.155374646,0.023317145,0.104286417,-0.011637589,-0.994205832 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-1494,24.924900,2,false,false,-0.066486113,0.220625728,0.239343658,0.063413978,-0.003105051,0.033478078,-0.997420788 -1495,24.941583,2,false,false,-0.066309489,0.220598519,0.238919273,0.063463159,-0.003157533,0.033780091,-0.997407317 -1496,24.958267,2,false,false,-0.066446319,0.220618486,0.238796294,0.063435420,-0.003464227,0.034121066,-0.997396469 +version https://git-lfs.github.com/spec/v1 +oid sha256:4755a61768c9e5ddf8d00eb133cac36b0e80003aea15e040c478e8d9f4a975c8 +size 171598 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/extract_gopro_imu_stdout.txt index 6f8743f1bc6e6c610ec89fd64fee7da5cea25788..1acb74cf8571f71fc1032d6e66ae09774eff6f0a 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 187892571 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:f8f66925c06d21df36b3f6defef081febb5f633f0070eeb242a1e8dc81634d7c +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/imu_data.json index 6803d45b029f265cb44d885a1796d35f25b81baf..34806e4754b18357255e84cedf42573b68ce64e2 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[8.390887290167866,1.6618705035971224,5.273381294964029],"cts":80.123,"date":"2015-10-18T00:39:42.159Z","temperature [°C]":61.62890625},{"value":[8.32853717026379,1.669064748201439,5.347721822541966],"cts":85.05886206896552,"date":"2015-10-18T00:39:42.165Z","temperature [°C]":61.62890625},{"value":[8.278177458033573,1.7026378896882495,5.465227817745803],"cts":89.99472413793104,"date":"2015-10-18T00:39:42.171Z","temperature [°C]":61.62890625},{"value":[8.189448441247002,1.6954436450839327,5.570743405275779],"cts":94.93058620689656,"date":"2015-10-18T00:39:42.177Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:2662cd08df2db5444179c7607ce1fbc8858bf4783e79dae141ccb4eaebc1a31e +size 2224570 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stdout.txt index 673bf802cde93002881ecb78c7a244fde5b46245..6a751401e9b6a7c1802f7c08fa203454992c946f 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stdout.txt @@ -1,143 +1,3 @@ -Mask img size mismatch! Converting [2704 x 2028] to [640 x 480] - -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_480.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): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ] - -Original image size: [ 640 , 480 ] - -Current image size: [ 640 , 480 ] - -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: 6 - -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 2 cameras in the atlas -Camera 0 is fisheye -Camera 0 is fisheye -Discard points further than 20 m from current camera -Video opened using backend FFMPEG -There are 1497 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x56215fe3bfb0 -pKFCur->mTimeStamp0 -vpKFs.front()->mTimeStamp-63.2131 -vpKFs.back()->mTimeStamp-0.016675 -pKFcur->GetMapPointMatches().size()3395 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -Video FPS: 59.9401 -ORB-SLAM 3 running at: 7.48247 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 25.40958923849011 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 18.483689087048823 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 23.138304192297447 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 28.750524625198096 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 18.817360151308137 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 23.216512177803565 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.43311046263814 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 19.355254410593115 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.668262652815674 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 18.181599672047579 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 14.920910223270532 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.14735945153965 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.930506889048651 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.577415243197777 FPS -Shutdown -mpLocalMapper is not finished -mpLoopCloser is not finished - -Saving camera trajectory to /data/camera_trajectory.csv ... -There are 1 maps in the atlas - Map 0 has 95 KFs - -CSV camera trajectory saved! +version https://git-lfs.github.com/spec/v1 +oid sha256:7c39b682d8e59e018a61dd7b0082d595f4b7e99f4118cfb2ef675559ccbd9e8a +size 5917 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/camera_trajectory.csv index 754259c10ff08a233a6b7de3ea4af897f36f6a69..3d15990472cbe4adb72a0104a5bf7502c3e421af 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/camera_trajectory.csv @@ -1,1530 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,2,false,false,-0.062093154,0.246897936,0.181834221,-0.083607771,-0.034245193,0.001541091,0.995908976 -1,0.016683,2,false,false,-0.064645961,0.248844579,0.184516475,0.083247088,0.033436239,-0.001527276,-0.995966733 -2,0.033367,2,false,false,-0.070752993,0.250676900,0.175173655,0.083373725,0.031900998,-0.002718199,-0.996003926 -3,0.050050,2,false,false,-0.070821308,0.250649542,0.175175920,0.083236448,0.031751782,-0.002941567,-0.996019602 -4,0.066733,2,false,false,-0.070872337,0.250582874,0.175211519,0.082979240,0.031600572,-0.003291072,-0.996044695 -5,0.083417,2,false,false,-0.071059413,0.250503391,0.175252840,0.082434468,0.031595070,-0.003261960,-0.996090233 -6,0.100100,2,false,false,-0.071254894,0.250360578,0.175376326,0.081961021,0.031795751,-0.003220648,-0.996123075 -7,0.116783,2,false,false,-0.071408071,0.250316948,0.175678551,0.081679545,0.032078672,-0.003133495,-0.996137381 -8,0.133467,2,false,false,-0.071534574,0.250417262,0.175877318,0.081556208,0.032437276,-0.003179033,-0.996135652 -9,0.150150,2,false,false,-0.071810894,0.250618339,0.176245138,0.081638061,0.032659549,-0.003231640,-0.996121585 -10,0.166833,2,false,false,-0.072211824,0.251061708,0.176873684,0.082132921,0.032570682,-0.003221513,-0.996083856 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b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/extract_gopro_imu_stdout.txt index 5cfa115184a2e72534c06fae9fb82cbc936bb426..221eb380f03e3d8ba23aca32fa3924de1a333ac1 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 191844378 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:bbc3923da765d2314ad7adf6d1d4e968eaaa061cdd7f5ee8a6e671e79544689e +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/imu_data.json index b1aeced16a627754a85b727ca34d5752e9c8cd98..5d44ae160a5fb3cbd265e9351aa707c118d4da76 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[7.28537170263789,0.6762589928057554,6.5443645083932855],"cts":82.589,"date":"2015-10-18T00:40:18.349Z","temperature [°C]":62.041015625},{"value":[7.299760191846523,0.6810551558752997,6.546762589928058],"cts":87.52492574257425,"date":"2015-10-18T00:40:18.355Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:43bb6e658dddcbfbaf202e4c742fd48097f07a0a60b6e97e3a55c5dc017de955 +size 2273412 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stdout.txt index 26c20962c040d324b9b723d3eb200f1645b66978..f5af86c9c10b3355559df0436e7cac3c84e3f6fb 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stdout.txt @@ -1,331 +1,3 @@ -Mask img size mismatch! Converting [2704 x 2028] to [640 x 480] - -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_480.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): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ] - -Original image size: [ 640 , 480 ] - -Current image size: [ 640 , 480 ] - -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: 6 - -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 2 cameras in the atlas -Camera 0 is fisheye -Camera 0 is fisheye -Discard points further than 20 m from current camera -Video opened using backend FFMPEG -There are 1529 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55ef73d06f90 -pKFCur->mTimeStamp0 -vpKFs.front()->mTimeStamp-63.2131 -vpKFs.back()->mTimeStamp-0.016675 -pKFcur->GetMapPointMatches().size()3423 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -Video FPS: 59.9401 -ORB-SLAM 3 running at: 5.13514 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 24.438679577164898 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 22.130197974095452 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 24.503508081489748 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.264629110101769 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 19.908672548245981 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.632100890034952 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.581297579722506 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.314020887852411 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 19.801030532753458 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.306746893361051 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.163324576044079 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.019725536605538 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.105643746123775 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.217497453962565 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 15.73398563081175 FPS -Shutdown -mpLocalMapper is not finished -mpLoopCloser is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished - -Saving camera trajectory to /data/camera_trajectory.csv ... -There are 1 maps in the atlas - Map 0 has 93 KFs - -CSV camera trajectory saved! -b9820 -pKFCur->mTimeStamp11.378033333333333 -vpKFs.front()->mTimeStamp-1512.475950842088 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -998.59246826171875 - 748.3172607421875 - -707.7786865234375 -pKFcur->mnId693 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55bece4b9820 -pKFCur->mTimeStamp11.4114 -vpKFs.front()->mTimeStamp-1523.8706591795901 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -984.161376953125 - 750.751708984375 --705.42950439453125 -pKFcur->mnId694 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55bece4b9820 -pKFCur->mTimeStamp11.444766666666666 -vpKFs.front()->mTimeStamp-1535.2987341837588 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -971.93963623046875 - 755.674072265625 --702.81805419921875 -pKFcur->mnId695 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:88aa23f4f88e4c0c9bf4455eff140404a43f4fb854042e51bf07f938802bf51c +size 111835 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/extract_gopro_imu_stdout.txt index 741a1d791fd65b5e9fdec34d89bfb51a8ec11e17..befc11bb66637b363c1a3d079b46a522e4d46ff0 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 127889942 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:adc9246beec171dc4d6b66d63e519565c059f2c1aaeeecbe5914157aafc41a21 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/imu_data.json index c1b0b2843583ba7c9c1a41a984bf531f6b159738..913faf321a716379a7ea5b38316be3c51ddaf3b0 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[6.290167865707434,-2.2517985611510793,7.5155875299760195],"cts":78.386,"date":"2015-10-18T00:41:01.139Z","temperature [°C]":61.755859375},{"value":[6.302158273381295,-2.287769784172662,7.458033573141487],"cts":83.32188669950739,"date":"2015-10-18T00:41:01.145Z","temperature [°C]":61.755859375},{"value":[6.366906474820144,-2.366906474820144,7.402877697841727],"cts":88.25777339901478,"date":"2015-10-18T00:41:01.151Z","temperature [°C]":61.755859375},{"value":[6.402877697841727,-2.4556354916067145,7.407673860911271],"cts":93.19366009852217,"date":"2015-10-18T00:41:01.157Z","temperature [°C]":61.755859375},{"value":[6.376498800959233,-2.47242206235012,7.3405275779376495],"cts":98.12954679802957,"date":"2015-10-18T00:41:01.163Z","temperature [°C]":61.755859375},{"value":[6.381294964028777,-2.422062350119904,7.3117505995203835],"cts":103.06543349753696,"date":"2015-10-18T00:41:01.170Z","temperature [°C]":61.755859375},{"value":[6.424460431654676,-2.431654676258993,7.2829736211031175],"cts":108.00132019704435,"date":"2015-10-18T00:41:01.176Z","temperature [°C]":61.755859375},{"value":[6.4124700239808154,-2.41726618705036,7.335731414868105],"cts":112.93720689655174,"date":"2015-10-18T00:41:01.182Z","temperature [°C]":61.755859375},{"value":[6.371702637889689,-2.371702637889688,7.359712230215828],"cts":117.87309359605914,"date":"2015-10-18T00:41:01.188Z","temperature [°C]":61.755859375},{"value":[6.3549160671462825,-2.3141486810551557,7.3189448441247],"cts":122.80898029556653,"date":"2015-10-18T00:41:01.195Z","temperature [°C]":61.755859375},{"value":[6.378896882494005,-2.3093525179856114,7.347721822541966],"cts":127.74486699507392,"date":"2015-10-18T00:41:01.201Z","temperature [°C]":61.755859375},{"value":[6.347721822541966,-2.273381294964029,7.429256594724221],"cts":132.6807536945813,"date":"2015-10-18T00:41:01.207Z","temperature [°C]":61.755859375},{"value":[6.3261390887290165,-2.2302158273381294,7.460431654676259],"cts":137.6166403940887,"date":"2015-10-18T00:41:01.213Z","temperature [°C]":61.755859375},{"value":[6.316546762589928,-2.1534772182254196,7.52757793764988],"cts":142.5525270935961,"date":"2015-10-18T00:41:01.220Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.940059940059946} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:9c2327da2efc4bc4fe9b7082d50664fbbb5b6db9233bf210195c241f1b32ee8a +size 1524005 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stdout.txt index 9034fc818f184a754a3956f8379c2f062dd2b282..1efeeccc74994009eed457f24c3885fec24f09ba 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stdout.txt @@ -1,2155 +1,3 @@ -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 1020 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 6.32573 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 17.636665951264707 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 20.583760808301232 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.370583116405371 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x556d40acbac0 -pKFCur->mTimeStamp5.5555500000000002 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp5.6890166666666664 -vpKFs.front()->mTimeStamp-68.78536667500417 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 1.0375455617904663 - 1.0615981817245483 -0.49523478746414185 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp5.8391666666666664 -vpKFs.front()->mTimeStamp-74.491058345839591 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6.5863494873046875 --1.6508020162582397 --5.6815972328186035 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0CurrentFrame.mnIdmpImuPreintegrated0x560e152817b0 -pKFCur->mTimeStamp5.7557499999999999 -vpKFs.front()->mTimeStamp-85.902441687510432 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -41.803611755371094 - -10.73001766204834 --16.053779602050781 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x560e152817b0 -pKFCur->mTimeStamp5.7891166666666667 -vpKFs.front()->mTimeStamp-91.674866691679185 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -50.967723846435547 --13.199945449829102 --20.227190017700195 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x560e152817b0 -pKFCur->mTimeStamp5.8224833333333335 -vpKFs.front()->mTimeStamp-97.480658362514603 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -60.212665557861328 --15.006028175354004 - -24.38099479675293 -pKFcur->mnId498 -gopro_slam.cc Caught signal 2 -107111930847168 -5.0326046943664551 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.7567500000000003 -vpKFs.front()->mTimeStamp-137.67075838752709 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -5.2387871742248535 --11.892905235290527 --4.2640748023986816 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.790116666666667 -vpKFs.front()->mTimeStamp-144.44418339169584 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 7.5332531929016113 -18.856513977050781 -7.8814754486083984 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.8234833333333338 -vpKFs.front()->mTimeStamp-151.25097506253127 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -9.3261823654174805 --22.255535125732422 --8.5737142562866211 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.8568500000000006 -vpKFs.front()->mTimeStamp-158.09113340003336 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5.2838239669799805 --34.049201965332031 --11.368683815002441 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.8902166666666664 -vpKFs.front()->mTimeStamp-164.96465840420211 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 7.5056705474853516 -49.091564178466797 -17.724994659423828 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.9235833333333332 -vpKFs.front()->mTimeStamp-171.87155007503753 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 14.145916938781738 -36.740032196044922 -14.572372436523438 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.95695 -vpKFs.front()->mTimeStamp-178.81180841253962 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 21.998668670654297 -24.404973983764648 -11.266566276550293 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp6.9903166666666667 -vpKFs.front()->mTimeStamp-185.78543341670837 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 30.779197692871094 -11.949825286865234 -7.7994484901428223 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.0236833333333335 -vpKFs.front()->mTimeStamp-192.79242508754379 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 40.113945007324219 --0.7972027063369751 - 4.185938835144043 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.0570500000000003 -vpKFs.front()->mTimeStamp-199.83278342504587 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 49.713493347167969 --13.195880889892578 -0.59974628686904907 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.090416666666667 -vpKFs.front()->mTimeStamp-206.90650842921463 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 59.560989379882812 --24.804731369018555 --2.8999736309051514 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.1237833333333338 -vpKFs.front()->mTimeStamp-214.01360010005004 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 70.205886840820312 --36.464565277099609 --6.4915652275085449 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.1571500000000006 -vpKFs.front()->mTimeStamp-221.15405843755212 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 81.646400451660156 --47.638633728027344 --10.125537872314453 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.1905166666666664 -vpKFs.front()->mTimeStamp-228.32788344172087 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 94.303756713867188 --58.935962677001953 --13.998278617858887 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.2238833333333332 -vpKFs.front()->mTimeStamp-235.53507511255629 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 108.25710296630859 --70.258338928222656 --18.130531311035156 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.25725 -vpKFs.front()->mTimeStamp-242.77563345005836 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 123.34716796875 --81.318519592285156 --22.459388732910156 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.2906166666666667 -vpKFs.front()->mTimeStamp-250.04955845422711 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 139.1737060546875 --91.935882568359375 --26.902374267578125 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.3406666666666665 -vpKFs.front()->mTimeStamp-257.35685012506252 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 156.28211975097656 - -102.369384765625 --31.603824615478516 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.3740333333333332 -vpKFs.front()->mTimeStamp-264.71419179589793 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 174.7391357421875 --111.89125823974609 --36.517257690429688 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.4074 -vpKFs.front()->mTimeStamp-272.10490013340001 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 194.31460571289062 --121.02479553222656 --41.681747436523438 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.4407666666666668 -vpKFs.front()->mTimeStamp-279.52897513756875 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 214.9539794921875 --129.58442687988281 --47.103950500488281 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.4741333333333335 -vpKFs.front()->mTimeStamp-286.98641680840416 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 237.41383361816406 - -137.60205078125 --52.979808807373047 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.5075000000000003 -vpKFs.front()->mTimeStamp-294.47722514590623 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 261.44500732421875 --145.44898986816406 --59.397270202636719 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.5408666666666671 -vpKFs.front()->mTimeStamp-302.00140015007497 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 286.91357421875 --152.50920104980469 --66.272178649902344 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.5742333333333338 -vpKFs.front()->mTimeStamp-309.55894182091038 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 314.12335205078125 --159.32112121582031 - -73.77056884765625 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.6075999999999997 -vpKFs.front()->mTimeStamp-317.14985015841245 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 343.03421020507812 --166.22801208496094 --81.983085632324219 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.6409666666666665 -vpKFs.front()->mTimeStamp-324.77412516258119 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 373.23385620117188 --172.63235473632812 - -90.6993408203125 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.6743333333333332 -vpKFs.front()->mTimeStamp-332.43176683341659 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 404.7332763671875 --177.81449890136719 --99.884315490722656 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.7077 -vpKFs.front()->mTimeStamp-340.12277517091866 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 437.11813354492188 --182.54144287109375 --109.43804931640625 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.7410666666666668 -vpKFs.front()->mTimeStamp-347.84715017508739 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 470.26315307617188 --186.27305603027344 --119.28730773925781 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.7744333333333335 -vpKFs.front()->mTimeStamp-355.60489184592279 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 504.03778076171875 --189.28898620605469 --129.38397216796875 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.8078000000000003 -vpKFs.front()->mTimeStamp-363.39600018342486 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 538.7567138671875 --192.39053344726562 --139.96902465820312 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.8411666666666671 -vpKFs.front()->mTimeStamp-371.22047518759359 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 574.799072265625 --194.36061096191406 --151.20878601074219 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.8745333333333338 -vpKFs.front()->mTimeStamp-379.07831685842899 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 612.47271728515625 --196.21754455566406 --163.34217834472656 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.9078999999999997 -vpKFs.front()->mTimeStamp-386.96952519593106 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 652.00018310546875 --197.82737731933594 --176.54550170898438 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.9412666666666665 -vpKFs.front()->mTimeStamp-394.89410020009979 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 693.28216552734375 --198.74595642089844 - -190.765380859375 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp7.9746333333333332 -vpKFs.front()->mTimeStamp-402.85204187093518 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 736.00909423828125 --199.49043273925781 --205.88604736328125 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.0080000000000009 -vpKFs.front()->mTimeStamp-410.84335020843724 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 779.90380859375 --199.95777893066406 - -221.7684326171875 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.0413666666666668 -vpKFs.front()->mTimeStamp-418.86802521260597 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 824.64013671875 --199.47187805175781 --238.21803283691406 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.0747333333333327 -vpKFs.front()->mTimeStamp-426.92606688344137 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 870.2628173828125 --198.09217834472656 --255.24357604980469 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.1081000000000003 -vpKFs.front()->mTimeStamp-435.01747522094342 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 917.0205078125 - -195.53466796875 --273.0010986328125 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.2081999999999997 -vpKFs.front()->mTimeStamp-443.14225022511215 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 963.77655029296875 --191.35067749023438 - -290.7830810546875 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.2749333333333333 -vpKFs.front()->mTimeStamp-451.36712522928087 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1009.0818481445312 --181.66763305664062 --307.82363891601562 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.3083000000000009 -vpKFs.front()->mTimeStamp-459.65873356678298 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1052.0135498046875 - -171.855224609375 --323.1126708984375 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.3416666666666668 -vpKFs.front()->mTimeStamp-467.98370857095176 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1094.0987548828125 --161.01130676269531 --337.97308349609375 -pKFcur->mnId548 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 10.904496705844235 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.3750333333333327 -vpKFs.front()->mTimeStamp-476.34205024178721 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1135.333251953125 --149.73521423339844 --352.32760620117188 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.4084000000000003 -vpKFs.front()->mTimeStamp-484.73375857928932 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 1175.4981689453125 - -137.65771484375 --366.13192749023438 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.4417666666666662 -vpKFs.front()->mTimeStamp-493.15883358345809 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1215.194091796875 --125.68035888671875 - -379.6048583984375 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.4751333333333339 -vpKFs.front()->mTimeStamp-501.61727525429353 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1254.0157470703125 --113.53012084960938 --392.56610107421875 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.5084999999999997 -vpKFs.front()->mTimeStamp-510.10908359179564 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1292.7083740234375 --101.68442535400391 - -405.3662109375 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.5418666666666674 -vpKFs.front()->mTimeStamp-518.63425859596441 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 1331.806396484375 --90.319480895996094 --418.27566528320312 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.5752333333333333 -vpKFs.front()->mTimeStamp-527.19280026679985 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1371.211669921875 --79.706489562988281 - -431.1993408203125 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.6086000000000009 -vpKFs.front()->mTimeStamp-535.78470860430195 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1411.6680908203125 --70.024765014648438 --444.54208374023438 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.6419666666666668 -vpKFs.front()->mTimeStamp-544.40998360847072 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1453.324462890625 --62.048839569091797 --458.32415771484375 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.6753333333333327 -vpKFs.front()->mTimeStamp-553.06862527930616 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 1495.824462890625 --54.552242279052734 --472.51113891601562 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.7087000000000003 -vpKFs.front()->mTimeStamp-561.76063361680826 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1539.502685546875 --47.409214019775391 --487.33526611328125 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.7420666666666662 -vpKFs.front()->mTimeStamp-570.48600862097703 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 1583.8876953125 --40.823574066162109 - -502.49755859375 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.7754333333333339 -vpKFs.front()->mTimeStamp-579.24475029181247 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1628.8116455078125 --34.900875091552734 --517.89447021484375 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.8087999999999997 -vpKFs.front()->mTimeStamp-588.03685862931457 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1673.77197265625 --28.38446044921875 --533.3038330078125 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.8421666666666674 -vpKFs.front()->mTimeStamp-596.86233363348333 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1718.018310546875 --22.649030685424805 - -548.1527099609375 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.8755333333333333 -vpKFs.front()->mTimeStamp-605.72117530431876 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1761.0638427734375 --15.569774627685547 --562.35943603515625 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.9089000000000009 -vpKFs.front()->mTimeStamp-614.61338364182086 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1802.6815185546875 --7.9880719184875488 - -575.7569580078125 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.9422666666666668 -vpKFs.front()->mTimeStamp-623.53895864598962 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1842.7237548828125 -0.20245322585105896 - -588.320556640625 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp8.9756333333333327 -vpKFs.front()->mTimeStamp-632.49790031682505 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1881.301025390625 -8.1132593154907227 --600.0557861328125 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.0090000000000003 -vpKFs.front()->mTimeStamp-641.49020865432715 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1918.89892578125 -15.92352294921875 - -611.2578125 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.0423666666666662 -vpKFs.front()->mTimeStamp-650.51588365849591 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1955.424072265625 - 23.088237762451172 --621.84942626953125 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.0757333333333339 -vpKFs.front()->mTimeStamp-659.57492532933134 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1991.6434326171875 -30.009420394897461 --632.2508544921875 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.1090999999999998 -vpKFs.front()->mTimeStamp-668.66733366683343 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2027.588134765625 - 36.210197448730469 --642.43865966796875 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.1424666666666674 -vpKFs.front()->mTimeStamp-677.79310867100219 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2063.389892578125 - 41.858585357666016 --652.49420166015625 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.1758333333333333 -vpKFs.front()->mTimeStamp-686.95225034183761 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2099.2412109375 - 46.442626953125 --662.4827880859375 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.2092000000000009 -vpKFs.front()->mTimeStamp-696.1447586793397 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2135.1005859375 - 50.331134796142578 --672.41156005859375 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.2425666666666668 -vpKFs.front()->mTimeStamp-705.37063368350846 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 2170.814453125 -54.226566314697266 - -682.24609375 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.2759333333333327 -vpKFs.front()->mTimeStamp-714.62987535434388 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2206.604248046875 -57.429000854492188 --692.0540771484375 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.3093000000000004 -vpKFs.front()->mTimeStamp-723.92248369184597 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2242.46435546875 - 59.73541259765625 --701.83465576171875 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.3426666666666662 -vpKFs.front()->mTimeStamp-733.24845869601472 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2278.402587890625 -62.371402740478516 --711.6302490234375 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.3760333333333339 -vpKFs.front()->mTimeStamp-742.60780036685014 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2314.393310546875 - 64.299964904785156 --721.40655517578125 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.4093999999999998 -vpKFs.front()->mTimeStamp-752.00050870435223 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 2350.275634765625 -65.949447631835938 - -731.100341796875 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.4427666666666674 -vpKFs.front()->mTimeStamp-761.42658370852098 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2386.248779296875 - 67.469680786132812 --740.80218505859375 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.4761333333333333 -vpKFs.front()->mTimeStamp-770.8860253793564 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2422.20068359375 - 68.622505187988281 --750.46343994140625 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.509500000000001 -vpKFs.front()->mTimeStamp-780.37883371685848 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 2458.555419921875 -69.564735412597656 - -760.267822265625 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.5428666666666668 -vpKFs.front()->mTimeStamp-789.90500872102723 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2494.72802734375 - 70.793113708496094 --769.97723388671875 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.5762333333333327 -vpKFs.front()->mTimeStamp-799.46455039186264 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2530.516845703125 -72.676971435546875 --779.5213623046875 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.6096000000000004 -vpKFs.front()->mTimeStamp-809.05745872936473 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 2564.738037109375 -75.269317626953125 - -788.41259765625 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.6429666666666662 -vpKFs.front()->mTimeStamp-818.68373373353347 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 2596.364501953125 - 79.099601745605469 --796.30596923828125 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.6763333333333339 -vpKFs.front()->mTimeStamp-828.34337540436889 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2625.756103515625 -85.992752075195312 - -803.512451171875 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.7096999999999998 -vpKFs.front()->mTimeStamp-838.03638374187096 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2653.029296875 -93.337326049804688 --809.9691162109375 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.7430666666666674 -vpKFs.front()->mTimeStamp-847.76275874603971 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 2679.158203125 -100.92940521240234 - -816.000244140625 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.7764333333333333 -vpKFs.front()->mTimeStamp-857.52250041687512 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() 2704.215087890625 - 107.10377502441406 --821.53472900390625 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.809800000000001 -vpKFs.front()->mTimeStamp-867.31560875437719 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 2727.676025390625 -111.51226043701172 --826.4869384765625 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.8431666666666668 -vpKFs.front()->mTimeStamp-877.14208375854594 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1260 -1691 pKFcur->GetVelocity() 2749.359375 -113.32733154296875 --830.8951416015625 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.8765333333333327 -vpKFs.front()->mTimeStamp-887.00192542938134 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 2769.332275390625 -114.07150268554688 - -834.89794921875 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.9099000000000004 -vpKFs.front()->mTimeStamp-896.89513376688342 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 2788.139404296875 -113.54801177978516 - -838.655029296875 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.9432666666666663 -vpKFs.front()->mTimeStamp-906.82170877105216 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 2806.072509765625 -111.09093475341797 - -842.27734375 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp9.9766333333333339 -vpKFs.front()->mTimeStamp-916.78165044188756 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2823.389404296875 - 107.85560607910156 --845.81756591796875 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp10.01 -vpKFs.front()->mTimeStamp-926.77495877938964 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 2839.94189453125 -102.70792388916016 --849.3270263671875 -pKFcur->mnId598 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 10.762428517026033 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp10.043366666666667 -vpKFs.front()->mTimeStamp-936.80163378355837 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 2855.857421875 - 95.334953308105469 --852.90142822265625 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp10.076733333333333 -vpKFs.front()->mTimeStamp-946.86167545439378 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2870.41455078125 -88.027275085449219 --856.2911376953125 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp10.110100000000001 -vpKFs.front()->mTimeStamp-956.95508379189585 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 2883.343017578125 -80.149734497070312 - -859.540771484375 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp10.143466666666667 -vpKFs.front()->mTimeStamp-967.08185879606458 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 2894.112548828125 -71.600044250488281 - -862.6337890625 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp10.176833333333333 -vpKFs.front()->mTimeStamp-977.24200046689998 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2902.031494140625 -63.270011901855469 --865.4801025390625 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556d419b6830 -pKFCur->mTimeStamp10.2102 -vpKFs.front()->mTimeStamp-987.43550880440205 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 2906.081298828125 -55.530055999755859 - -868.0732421875 -pKFcur->mnId604 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:2c3bbd17f17406ed220906fdd1f8a6c377f593f32284ba010cdfcb3f7edbe66e +size 72858 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/camera_trajectory.csv index 5fa3698e8ca09ca515f964daf28cd1a8624f5804..d509b930a23cf488482aa231fea0c8f763b39fdb 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/camera_trajectory.csv @@ -1,710 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,6,true,false,0,0,0,0,0,0,0 -1,0.000000,6,true,false,0,0,0,0,0,0,0 -2,0.000000,6,true,false,0,0,0,0,0,0,0 -3,0.000000,6,true,false,0,0,0,0,0,0,0 -4,0.000000,6,true,false,0,0,0,0,0,0,0 -5,0.000000,6,true,false,0,0,0,0,0,0,0 -6,0.000000,6,true,false,0,0,0,0,0,0,0 -7,0.000000,6,true,false,0,0,0,0,0,0,0 -8,0.133467,2,false,false,0.014393436,0.160125807,0.479481459,-0.072731517,-0.038633104,0.060768776,0.994748592 -9,0.150150,2,false,false,0.015769821,0.147175640,0.469228536,0.074635871,0.041965682,-0.063550919,-0.994298637 -10,0.166833,2,false,false,0.016294729,0.147386014,0.470328063,0.074782439,0.041944582,-0.062616698,-0.994347751 -11,0.183517,2,false,false,-0.254523575,0.263520092,0.194365725,0.013626633,-0.066650882,-0.050484054,-0.996405244 -12,0.200200,2,false,false,-0.253794283,0.262699574,0.194969818,0.013715469,-0.066335022,-0.050253745,-0.996436775 -13,0.216883,2,false,false,-0.253128022,0.262130737,0.195662543,0.013756440,-0.066017404,-0.049940404,-0.996473014 -14,0.233567,2,false,false,-0.252732635,0.261545867,0.196222097,0.013901857,-0.065837204,-0.049568269,-0.996501505 -15,0.250250,2,false,false,-0.252571076,0.261743903,0.196439296,0.013968062,-0.065610968,-0.049266323,-0.996530414 -16,0.266933,2,false,false,-0.170797333,0.145834699,-0.148086414,-0.090823442,-0.020430712,-0.046086296,-0.994590282 -17,0.283617,2,false,false,-0.185402215,0.161175206,-0.168838888,-0.090690523,-0.020588750,-0.045868102,-0.994609177 -18,0.300300,2,false,false,-0.201072589,0.178837046,-0.187983662,-0.090229243,-0.020560086,-0.045598753,-0.994664192 -19,0.316983,2,false,false,-0.218001053,0.196307644,-0.208339229,-0.089934185,-0.020351097,-0.045297977,-0.994708896 -20,0.333667,2,false,false,-0.235036775,0.214210033,-0.229701206,-0.089763336,-0.019965431,-0.045098931,-0.994741201 -21,0.333667,6,true,false,0,0,0,0,0,0,0 -22,0.333667,6,true,false,0,0,0,0,0,0,0 -23,0.333667,6,true,false,0,0,0,0,0,0,0 -24,0.333667,6,true,false,0,0,0,0,0,0,0 -25,0.333667,6,true,false,0,0,0,0,0,0,0 -26,0.333667,6,true,false,0,0,0,0,0,0,0 -27,0.333667,6,true,false,0,0,0,0,0,0,0 -28,0.333667,6,true,false,0,0,0,0,0,0,0 -29,0.333667,6,true,false,0,0,0,0,0,0,0 -30,0.333667,6,true,false,0,0,0,0,0,0,0 -31,0.333667,6,true,false,0,0,0,0,0,0,0 -32,0.333667,6,true,false,0,0,0,0,0,0,0 -33,0.333667,6,true,false,0,0,0,0,0,0,0 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sha256:8c373dfbb51b30870025794f855cd95f834551a9e0d64cbf6a1af7f0765c947e +size 44782 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/extract_gopro_imu_stdout.txt index fb1e4c75b8cbd1fa672701680e823dd61ae451f7..69dbc11f718a4418bff5fc8ca0697401cd76336f 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 88754049 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:8142953bb10e758f513e982694ab6933a8f61baa473e67b0a749f103249427f6 +size 304 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/imu_data.json index f583dcd86096fc021671f2fb43ccfbbda4a0799b..548f7149e0186fe332c2a6a8ce939d3df557e8f4 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[7.539568345323741,1.2973621103117505,6.095923261390888],"cts":78.886,"date":"2015-10-18T00:41:29.684Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.940059940059946} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:0dc0e25832f1f423290e0d09c5cd9d15d7ee2bb97ee14629b402922e72d5a04b +size 1055232 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stdout.txt index c891f1843e721b8ab39a9f456b83efd608bc14ce..7a10f439485b33830f33a0cc9b06da644506d5eb 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stdout.txt @@ -1,3491 +1,3 @@ -Mask img size mismatch! Converting [2704 x 2028] to [640 x 480] - -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_480.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): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ] - -Original image size: [ 640 , 480 ] - -Current image size: [ 640 , 480 ] - -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: 6 - -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 2 cameras in the atlas -Camera 0 is fisheye -Camera 0 is fisheye -Discard points further than 20 m from current camera -Video opened using backend FFMPEG -There are 709 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 18.7669 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x5592e43a8ec0 -pKFCur->mTimeStamp0.13346666666666668 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.3710333333333331 -vpKFs.front()->mTimeStamp-63.363283341670829 -vpKFs.back()->mTimeStamp-0.016675004168751034 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -1.0185282230377197 - -1.7598879337310791 --0.25552085041999817 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.4711333333333334 -vpKFs.front()->mTimeStamp-67.750991679172913 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 0.96742969751358032 - 2.5711619853973389 - 1.3292779922485352 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.5879166666666666 -vpKFs.front()->mTimeStamp-72.238800016675 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6.0865988731384277 - -9.005253791809082 --2.0466139316558838 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.6212833333333334 -vpKFs.front()->mTimeStamp-76.843391687510419 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -12.743403434753418 --16.115737915039062 --4.1180868148803711 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.6546500000000002 -vpKFs.front()->mTimeStamp-81.481350025012503 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -19.371433258056641 --22.941179275512695 --6.1454033851623535 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.6880166666666669 -vpKFs.front()->mTimeStamp-86.152675029181253 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -26.328218460083008 --29.321006774902344 --8.1600179672241211 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.7213833333333337 -vpKFs.front()->mTimeStamp-90.857366700016669 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -33.098777770996094 --35.261871337890625 --10.081870079040527 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.7547500000000005 -vpKFs.front()->mTimeStamp-95.595425037518751 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -39.908973693847656 --41.161457061767578 --12.002536773681641 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.7881166666666664 -vpKFs.front()->mTimeStamp-100.3668500416875 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -47.075813293457031 --46.781848907470703 - -13.93562126159668 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.8214833333333331 -vpKFs.front()->mTimeStamp-105.17164171252291 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -54.028942108154297 --51.577980041503906 --15.734884262084961 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.8548499999999999 -vpKFs.front()->mTimeStamp-110.00980005002499 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -61.254554748535156 --55.778907775878906 - -17.50996208190918 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.8882166666666667 -vpKFs.front()->mTimeStamp-114.88132505419374 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -68.975799560546875 --59.665210723876953 --19.336172103881836 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.9215833333333334 -vpKFs.front()->mTimeStamp-119.78621672502915 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -77.324661254882812 --62.701038360595703 --21.203042984008789 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.9549500000000002 -vpKFs.front()->mTimeStamp-124.72447506253124 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -86.449851989746094 --64.473976135253906 --23.153484344482422 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp4.988316666666667 -vpKFs.front()->mTimeStamp-129.69610006669998 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -96.751312255859375 --65.101203918457031 - -25.3184814453125 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.0216833333333337 -vpKFs.front()->mTimeStamp-134.70109173753539 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -108.16459655761719 --64.523384094238281 --27.736665725708008 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.0550500000000005 -vpKFs.front()->mTimeStamp-139.73945007503747 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -120.60771942138672 - -63.55517578125 --30.416654586791992 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.0884166666666664 -vpKFs.front()->mTimeStamp-144.81117507920621 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -133.74931335449219 --61.462123870849609 --33.310062408447266 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.1217833333333331 -vpKFs.front()->mTimeStamp-149.91626675004161 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -147.94009399414062 --58.757030487060547 --36.535625457763672 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.1551499999999999 -vpKFs.front()->mTimeStamp-155.05472508754369 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -162.81634521484375 --54.943119049072266 --40.048198699951172 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.1885166666666667 -vpKFs.front()->mTimeStamp-160.22655009171243 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -178.30227661132812 --50.592601776123047 --43.784896850585938 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.2218833333333334 -vpKFs.front()->mTimeStamp-165.43174176254783 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -194.81672668457031 --45.338359832763672 --47.946075439453125 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.2552500000000002 -vpKFs.front()->mTimeStamp-170.67030010004993 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -212.14607238769531 --39.264389038085938 --52.478767395019531 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.288616666666667 -vpKFs.front()->mTimeStamp-175.94222510421869 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -230.34049987792969 --32.708873748779297 --57.386749267578125 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.3219833333333337 -vpKFs.front()->mTimeStamp-181.24751677505412 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -249.72096252441406 --25.484315872192383 --62.871566772460938 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.3553500000000005 -vpKFs.front()->mTimeStamp-186.58617511255622 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -270.32101440429688 --17.467489242553711 --68.988204956054688 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.3887166666666664 -vpKFs.front()->mTimeStamp-191.95820011672498 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -292.1951904296875 --8.6970157623291016 - -75.80621337890625 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.4220833333333331 -vpKFs.front()->mTimeStamp-197.36359178756041 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -315.16845703125 -0.55565989017486572 - -83.23089599609375 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.4554499999999999 -vpKFs.front()->mTimeStamp-202.8023501250625 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -339.160400390625 -10.606096267700195 --91.31317138671875 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.4888166666666667 -vpKFs.front()->mTimeStamp-208.27447512923126 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -364.035400390625 - 21.291616439819336 --99.983100891113281 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.5221833333333334 -vpKFs.front()->mTimeStamp-213.77996680006669 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -389.81503295898438 - 32.896999359130859 --109.33486175537109 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.5555500000000002 -vpKFs.front()->mTimeStamp-219.31882513756878 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -416.494873046875 - 45.031669616699219 --119.30113983154297 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.588916666666667 -vpKFs.front()->mTimeStamp-224.89105014173754 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -443.97805786132812 - 57.835758209228516 --129.87661743164062 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.6222833333333337 -vpKFs.front()->mTimeStamp-230.49664181257296 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -472.19842529296875 - 71.233139038085938 --141.01637268066406 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.6556500000000005 -vpKFs.front()->mTimeStamp-236.13560015007505 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -501.11911010742188 - 85.390243530273438 --152.77947998046875 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.6890166666666664 -vpKFs.front()->mTimeStamp-241.8079251542438 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -530.52459716796875 - 99.927871704101562 --164.91593933105469 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.7223833333333332 -vpKFs.front()->mTimeStamp-247.51361682507923 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -560.56463623046875 - 115.14263916015625 --177.64181518554688 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.7557499999999999 -vpKFs.front()->mTimeStamp-253.25267516258131 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -591.322265625 - 130.614990234375 --190.88450622558594 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.7891166666666667 -vpKFs.front()->mTimeStamp-259.02510016675006 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -622.79559326171875 - 145.89096069335938 --204.49075317382812 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.8224833333333335 -vpKFs.front()->mTimeStamp-264.83089183758545 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -654.7177734375 - 161.99234008789062 --218.63835144042969 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.8558500000000002 -vpKFs.front()->mTimeStamp-270.67005017508757 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -687.0638427734375 - 177.95521545410156 --232.95405578613281 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.889216666666667 -vpKFs.front()->mTimeStamp-276.54257517925635 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -719.5107421875 - 194.14083862304688 --247.33110046386719 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.9225833333333338 -vpKFs.front()->mTimeStamp-282.44846685009179 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -752.62518310546875 - 210.35029602050781 --262.13934326171875 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.9559500000000005 -vpKFs.front()->mTimeStamp-288.3877251875939 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -786.235595703125 -226.73020935058594 --277.3221435546875 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp5.9893166666666664 -vpKFs.front()->mTimeStamp-294.36035019176268 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -820.4224853515625 - 243.33940124511719 --292.95196533203125 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.0226833333333332 -vpKFs.front()->mTimeStamp-300.36634186259812 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -855.29486083984375 - 260.306396484375 --309.18417358398438 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.0560499999999999 -vpKFs.front()->mTimeStamp-306.40570020010023 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -890.93017578125 - 277.44537353515625 --326.01260375976562 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.0894166666666667 -vpKFs.front()->mTimeStamp-312.478425204269 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -927.09735107421875 - 295.1448974609375 - -343.371337890625 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.1227833333333335 -vpKFs.front()->mTimeStamp-318.58451687510444 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -963.89324951171875 - 311.893310546875 --360.67840576171875 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.1561500000000002 -vpKFs.front()->mTimeStamp-324.72397521260655 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1001.3253784179688 - 328.33456420898438 --378.36129760742188 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.189516666666667 -vpKFs.front()->mTimeStamp-330.89680021677532 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1039.206787109375 - 344.88406372070312 --396.33502197265625 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.2228833333333338 -vpKFs.front()->mTimeStamp-337.10299188761076 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1077.8040771484375 - 360.85931396484375 --414.61309814453125 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.2562500000000005 -vpKFs.front()->mTimeStamp-343.34255022511286 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1116.9342041015625 - 376.69613647460938 --433.21051025390625 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.2896166666666664 -vpKFs.front()->mTimeStamp-349.61547522928163 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1156.7684326171875 - 392.50601196289062 --452.31460571289062 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.3229833333333332 -vpKFs.front()->mTimeStamp-355.92176690011706 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1197.1195068359375 - 408.26785278320312 --471.77841186523438 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.3563499999999999 -vpKFs.front()->mTimeStamp-362.26142523761916 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -1237.7442626953125 - 424.363037109375 - -491.4852294921875 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.3897166666666667 -vpKFs.front()->mTimeStamp-368.63445024178793 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1278.3350830078125 - 440.56729125976562 --511.05557250976562 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.4230833333333335 -vpKFs.front()->mTimeStamp-375.04084191262336 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1318.5489501953125 - 456.9595947265625 --530.20916748046875 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.4564500000000002 -vpKFs.front()->mTimeStamp-381.48060025012546 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1358.1473388671875 - 473.91607666015625 --548.88665771484375 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.489816666666667 -vpKFs.front()->mTimeStamp-387.95372525429423 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1397.136474609375 - 491.25927734375 --567.06195068359375 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.5231833333333338 -vpKFs.front()->mTimeStamp-394.46021692512966 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1435.843505859375 - 508.264892578125 --584.7491455078125 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.5565500000000005 -vpKFs.front()->mTimeStamp-401.00007526263175 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1474.3680419921875 - 525.4775390625 - -602.2578125 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.5899166666666664 -vpKFs.front()->mTimeStamp-407.57330026680052 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1513.0177001953125 - 543.00372314453125 --619.90045166015625 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.6232833333333332 -vpKFs.front()->mTimeStamp-414.17989193763594 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1551.32421875 - 561.21551513671875 --637.41290283203125 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.65665 -vpKFs.front()->mTimeStamp-420.81985027513804 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1589.6025390625 - 579.7867431640625 --654.9744873046875 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.6900166666666667 -vpKFs.front()->mTimeStamp-427.4931752793068 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -1628.709228515625 - 598.94940185546875 --673.32806396484375 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.7400666666666664 -vpKFs.front()->mTimeStamp-434.19986695014222 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -1668.232177734375 - 618.681884765625 --692.11663818359375 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.7734333333333332 -vpKFs.front()->mTimeStamp-440.95660862097765 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1708.2174072265625 - 638.6917724609375 - -711.15673828125 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.8068 -vpKFs.front()->mTimeStamp-447.74671695847974 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1747.7857666015625 - 658.77142333984375 - -729.7958984375 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.8401666666666667 -vpKFs.front()->mTimeStamp-454.57019196264849 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1787.1470947265625 - 679.46160888671875 --748.40277099609375 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.8735333333333335 -vpKFs.front()->mTimeStamp-461.42703363348392 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -1825.4468994140625 - 700.9498291015625 - -766.390869140625 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.9069000000000003 -vpKFs.front()->mTimeStamp-468.317241970986 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1862.9268798828125 - 723.29925537109375 - -784.00830078125 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.940266666666667 -vpKFs.front()->mTimeStamp-475.24081697515476 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1899.8914794921875 - 746.59722900390625 - -801.55419921875 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp6.9736333333333338 -vpKFs.front()->mTimeStamp-482.19775864599018 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1936.8297119140625 - 769.9075927734375 --818.96990966796875 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.0070000000000006 -vpKFs.front()->mTimeStamp-489.18806698349226 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1972.9107666015625 - 793.74652099609375 - -835.8756103515625 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.0403666666666664 -vpKFs.front()->mTimeStamp-496.21174198766101 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2008.9210205078125 - 817.66278076171875 - -852.6678466796875 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.0737333333333332 -vpKFs.front()->mTimeStamp-503.26878365849643 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2045.094482421875 - 841.823486328125 --869.5599365234375 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.1071 -vpKFs.front()->mTimeStamp-510.35919199599851 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2081.00341796875 - 866.51727294921875 --886.39703369140625 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.1404666666666667 -vpKFs.front()->mTimeStamp-517.48296700016726 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -2117.032470703125 - 891.4771728515625 - -903.298095703125 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.1738333333333335 -vpKFs.front()->mTimeStamp-524.64010867100274 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2153.1923828125 - 916.716064453125 --920.28558349609375 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.2238833333333332 -vpKFs.front()->mTimeStamp-531.83061700850487 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2188.92724609375 - 941.952880859375 --936.822509765625 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.25725 -vpKFs.front()->mTimeStamp-539.07117534600695 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2223.912109375 -966.44915771484375 - -952.420166015625 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.2906166666666667 -vpKFs.front()->mTimeStamp-546.3451003501757 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2258.072998046875 - 990.13531494140625 --967.08502197265625 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.3239833333333335 -vpKFs.front()->mTimeStamp-553.65239202101111 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2291.3564453125 - 1013.0050659179688 --980.85662841796875 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.3573500000000003 -vpKFs.front()->mTimeStamp-560.99305035851319 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2323.63916015625 - 1034.8836669921875 --993.65521240234375 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.390716666666667 -vpKFs.front()->mTimeStamp-568.36707536268193 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2355.558349609375 - 1055.64453125 - -1005.8662109375 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.4240833333333338 -vpKFs.front()->mTimeStamp-575.77446703351734 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2386.896484375 - 1075.8450927734375 --1017.5730590820312 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.4908166666666665 -vpKFs.front()->mTimeStamp-583.21522537101941 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2418.387451171875 -1095.4976806640625 - -1029.2021484375 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.5241833333333332 -vpKFs.front()->mTimeStamp-590.72271704185482 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2451.01904296875 - 1114.2489013671875 --1041.1927490234375 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.55755 -vpKFs.front()->mTimeStamp-598.26357537935689 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2484.814453125 - 1133.37646484375 --1053.9361572265625 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.5909166666666668 -vpKFs.front()->mTimeStamp-605.83780038352563 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2520.02001953125 -1152.892333984375 --1067.60791015625 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.6242833333333335 -vpKFs.front()->mTimeStamp-613.44539205436104 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2556.5068359375 - 1172.7362060546875 --1082.1065673828125 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.6576500000000003 -vpKFs.front()->mTimeStamp-621.08635039186311 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2594.06640625 -1193.088623046875 - -1097.3974609375 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.6910166666666671 -vpKFs.front()->mTimeStamp-628.76067539603184 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2633.0556640625 - 1213.9283447265625 --1113.7689208984375 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.7243833333333338 -vpKFs.front()->mTimeStamp-636.46836706686724 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -2672.59033203125 - 1235.924560546875 --1130.8778076171875 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.7577499999999997 -vpKFs.front()->mTimeStamp-644.20942540436931 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2712.6953125 -1258.4749755859375 - -1148.52880859375 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.7911166666666665 -vpKFs.front()->mTimeStamp-651.98385040853805 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2753.234619140625 - 1281.716064453125 - -1166.67236328125 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.8244833333333332 -vpKFs.front()->mTimeStamp-659.79164207937345 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2793.625244140625 - 1305.765380859375 --1184.965576171875 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.85785 -vpKFs.front()->mTimeStamp-667.63280041687551 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2833.724609375 -1330.0245361328125 - -1203.07470703125 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.8912166666666668 -vpKFs.front()->mTimeStamp-675.50732542104424 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2873.242431640625 -1354.6893310546875 --1220.875244140625 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.9245833333333335 -vpKFs.front()->mTimeStamp-683.41521709187964 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2912.089111328125 -1379.5697021484375 --1238.253173828125 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.9579500000000003 -vpKFs.front()->mTimeStamp-691.3564754293817 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2950.6376953125 - 1405.222900390625 --1255.6668701171875 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp7.9913166666666671 -vpKFs.front()->mTimeStamp-699.33110043355043 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2988.4453125 -1431.7015380859375 --1272.835693359375 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.0246833333333338 -vpKFs.front()->mTimeStamp-707.33909210438583 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -3026.321533203125 - 1458.05859375 --1289.862060546875 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.0580499999999997 -vpKFs.front()->mTimeStamp-715.38045044188789 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -3064.046142578125 - 1484.599609375 - -1306.74658203125 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.0914166666666674 -vpKFs.front()->mTimeStamp-723.45517544605661 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3101.48291015625 - 1510.8043212890625 --1323.2061767578125 -pKFcur->mnId598 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.1247833333333332 -vpKFs.front()->mTimeStamp-731.56326711689201 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -3139.06884765625 - 1537.0260009765625 --1339.6785888671875 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.1581500000000009 -vpKFs.front()->mTimeStamp-739.70472545439407 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -3176.9658203125 -1563.4100341796875 --1356.330322265625 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.1915166666666668 -vpKFs.front()->mTimeStamp-747.87955045856279 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3215.74169921875 -1590.5111083984375 - -1373.75048828125 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.2248833333333327 -vpKFs.front()->mTimeStamp-756.08774212939818 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3254.724853515625 -1617.7869873046875 - -1391.29150390625 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.2582500000000003 -vpKFs.front()->mTimeStamp-764.32930046690024 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3293.928955078125 - 1645.242431640625 - -1408.97216796875 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.2916166666666662 -vpKFs.front()->mTimeStamp-772.60422547106896 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -3333.78271484375 -1673.2169189453125 --1427.184326171875 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.3249833333333338 -vpKFs.front()->mTimeStamp-780.91251714190435 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3373.899658203125 -1701.1165771484375 --1445.430908203125 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.3583499999999997 -vpKFs.front()->mTimeStamp-789.2541754794064 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3414.328125 -1728.380615234375 --1463.49853515625 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.3917166666666674 -vpKFs.front()->mTimeStamp-797.62920048357512 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3455.02685546875 - 1755.4952392578125 --1481.5836181640625 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.4250833333333333 -vpKFs.front()->mTimeStamp-806.0375921544105 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3496.2919921875 - 1782.0538330078125 --1499.7315673828125 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.4584500000000009 -vpKFs.front()->mTimeStamp-814.47935049191256 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3538.321044921875 - 1807.982421875 --1518.0115966796875 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.4918166666666668 -vpKFs.front()->mTimeStamp-822.95447549608127 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3581.131591796875 - 1832.7684326171875 --1536.2454833984375 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.5251833333333327 -vpKFs.front()->mTimeStamp-831.46296716691666 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -3624.003173828125 - 1856.24072265625 --1553.9730224609375 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.5585500000000003 -vpKFs.front()->mTimeStamp-840.0048255044187 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3666.938232421875 - 1877.7430419921875 --1571.0135498046875 -pKFcur->mnId612 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.5919166666666662 -vpKFs.front()->mTimeStamp-848.58005050858742 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3709.280517578125 - 1898.35791015625 - -1587.32861328125 -pKFcur->mnId613 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.6419666666666668 -vpKFs.front()->mTimeStamp-857.1886421794228 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -3751.51171875 - 1917.575439453125 --1603.115478515625 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.6753333333333327 -vpKFs.front()->mTimeStamp-865.84728385025824 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3793.277099609375 -1935.3040771484375 - -1618.15625 -pKFcur->mnId615 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.7087000000000003 -vpKFs.front()->mTimeStamp-874.53929218776034 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3833.506591796875 - 1951.876708984375 --1631.9847412109375 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.7420666666666662 -vpKFs.front()->mTimeStamp-883.26466719192911 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3873.080322265625 - 1968.120361328125 --1645.343505859375 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.7754333333333339 -vpKFs.front()->mTimeStamp-892.02340886276454 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3911.377685546875 - 1983.94287109375 --1657.9122314453125 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.8087999999999997 -vpKFs.front()->mTimeStamp-900.81551720026664 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3948.80029296875 - 1999.9605712890625 --1670.0592041015625 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.8588500000000003 -vpKFs.front()->mTimeStamp-909.64099220443541 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3985.202880859375 - 2015.1597900390625 --1681.5086669921875 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.8922166666666662 -vpKFs.front()->mTimeStamp-918.51651720860411 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4021.088134765625 - 2031.2249755859375 --1692.8817138671875 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.9255833333333339 -vpKFs.front()->mTimeStamp-927.42540887943949 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4057.25927734375 - 2047.2744140625 --1704.3868408203125 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.9589499999999997 -vpKFs.front()->mTimeStamp-936.36766721694153 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -4093.45458984375 - 2063.80322265625 --1716.0035400390625 -pKFcur->mnId623 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp8.9923166666666674 -vpKFs.front()->mTimeStamp-945.34329222111023 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4129.92919921875 - 2081.296875 - -1727.9677734375 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.0256833333333333 -vpKFs.front()->mTimeStamp-954.3522838919456 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4166.43798828125 - 2099.81591796875 --1740.187255859375 -pKFcur->mnId625 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.0590500000000009 -vpKFs.front()->mTimeStamp-963.39464222944764 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4202.8017578125 -2119.671630859375 --1752.66357421875 -pKFcur->mnId626 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.0924166666666668 -vpKFs.front()->mTimeStamp-972.47036723361634 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -4239.0751953125 - 2139.988037109375 --1765.2020263671875 -pKFcur->mnId627 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.1257833333333327 -vpKFs.front()->mTimeStamp-981.57945890445171 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4275.43115234375 - 2161.67333984375 --1778.1268310546875 -pKFcur->mnId628 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.1591500000000003 -vpKFs.front()->mTimeStamp-990.72191724195375 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4312.05126953125 - 2184.658203125 --1791.52587890625 -pKFcur->mnId629 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.1925166666666662 -vpKFs.front()->mTimeStamp-999.89774224612245 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4348.4853515625 - 2208.888427734375 --1805.1773681640625 -pKFcur->mnId630 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.2258833333333339 -vpKFs.front()->mTimeStamp-1009.1069339169578 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4384.509765625 - 2234.787841796875 --1819.1300048828125 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.2592499999999998 -vpKFs.front()->mTimeStamp-1018.3494922544598 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4419.74658203125 - 2261.1748046875 - -1832.8369140625 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.2926166666666674 -vpKFs.front()->mTimeStamp-1027.6254172586287 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4454.16552734375 - 2288.46875 --1846.42724609375 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.3927166666666668 -vpKFs.front()->mTimeStamp-1036.934708929464 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4488.2294921875 - 2316.38720703125 --1860.0135498046875 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.4594500000000004 -vpKFs.front()->mTimeStamp-1046.3441006002995 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4522.52001953125 - 2345.550048828125 --1873.902099609375 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.5261833333333339 -vpKFs.front()->mTimeStamp-1055.8202256044683 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4556.7705078125 - 2374.85888671875 --1887.6939697265625 -pKFcur->mnId636 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.5595499999999998 -vpKFs.front()->mTimeStamp-1065.3630839419704 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4591.84912109375 - 2404.404296875 --1901.8001708984375 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.5929166666666674 -vpKFs.front()->mTimeStamp-1074.9393089461391 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4627.5693359375 - 2434.255615234375 --1916.2279052734375 -pKFcur->mnId638 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.6262833333333333 -vpKFs.front()->mTimeStamp-1084.5489006169746 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4663.68603515625 - 2463.9208984375 --1930.6851806640625 -pKFcur->mnId639 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.659650000000001 -vpKFs.front()->mTimeStamp-1094.1918589544766 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4700.5966796875 - 2492.994384765625 --1945.2056884765625 -pKFcur->mnId640 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.6930166666666668 -vpKFs.front()->mTimeStamp-1103.8681839586454 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4737.34912109375 - 2521.296630859375 --1959.2984619140625 -pKFcur->mnId641 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.7263833333333327 -vpKFs.front()->mTimeStamp-1113.5778756294808 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4774.1005859375 - 2548.605712890625 --1972.981201171875 -pKFcur->mnId642 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.7597500000000004 -vpKFs.front()->mTimeStamp-1123.3209339669829 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4810.55859375 - 2574.27392578125 --1985.9525146484375 -pKFcur->mnId643 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.7931166666666662 -vpKFs.front()->mTimeStamp-1133.0973589711516 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4846.68017578125 - 2599.0537109375 --1998.4703369140625 -pKFcur->mnId644 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.8264833333333339 -vpKFs.front()->mTimeStamp-1142.9071506419871 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4882.4482421875 -2621.62646484375 - -2010.19140625 -pKFcur->mnId645 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.8598499999999998 -vpKFs.front()->mTimeStamp-1152.7503089794891 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4917.3779296875 - 2643.77783203125 --2021.439697265625 -pKFcur->mnId646 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.8932166666666674 -vpKFs.front()->mTimeStamp-1162.6268339836579 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4951.73291015625 - 2665.1240234375 --2032.2357177734375 -pKFcur->mnId647 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.9265833333333333 -vpKFs.front()->mTimeStamp-1172.5367256544932 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4984.9521484375 - 2685.841796875 --2042.4227294921875 -pKFcur->mnId648 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.959950000000001 -vpKFs.front()->mTimeStamp-1182.4799839919954 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5017.4931640625 -2705.340087890625 --2052.06884765625 -pKFcur->mnId649 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp9.9933166666666668 -vpKFs.front()->mTimeStamp-1192.4566089961641 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5049.31494140625 -2723.566650390625 - -2061.18359375 -pKFcur->mnId650 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.026683333333333 -vpKFs.front()->mTimeStamp-1202.4666006669995 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5080.541015625 - 2740.796875 --2069.90283203125 -pKFcur->mnId651 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.06005 -vpKFs.front()->mTimeStamp-1212.5099590045015 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5111.54296875 - 2757.242431640625 --2078.414306640625 -pKFcur->mnId652 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.093416666666666 -vpKFs.front()->mTimeStamp-1222.5866840086703 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5142.26953125 - 2772.9501953125 --2086.718994140625 -pKFcur->mnId653 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.126783333333334 -vpKFs.front()->mTimeStamp-1232.6967756795057 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5173.1796875 -2788.236572265625 --2095.02392578125 -pKFcur->mnId654 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.16015 -vpKFs.front()->mTimeStamp-1242.8402340170078 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5204.40576171875 - 2803.4453125 --2103.422607421875 -pKFcur->mnId655 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.193516666666667 -vpKFs.front()->mTimeStamp-1253.0170590211765 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5235.7080078125 - 2817.97119140625 --2111.730224609375 -pKFcur->mnId656 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.226883333333333 -vpKFs.front()->mTimeStamp-1263.2272506920119 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5266.5185546875 -2831.26416015625 --2119.6767578125 -pKFcur->mnId657 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.260250000000001 -vpKFs.front()->mTimeStamp-1273.4708090295139 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5296.9658203125 - 2844.306640625 --2127.45849609375 -pKFcur->mnId658 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.293616666666667 -vpKFs.front()->mTimeStamp-1283.7477340336827 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -5326.87548828125 - 2856.8955078125 --2134.997314453125 -pKFcur->mnId659 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.326983333333333 -vpKFs.front()->mTimeStamp-1294.0580257045181 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5356.099609375 - 2868.696533203125 --2142.208740234375 -pKFcur->mnId660 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.36035 -vpKFs.front()->mTimeStamp-1304.4016840420202 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5384.35888671875 - 2879.796142578125 --2149.029541015625 -pKFcur->mnId661 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.393716666666666 -vpKFs.front()->mTimeStamp-1314.7787090461889 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5411.60205078125 -2890.903076171875 --2155.55224609375 -pKFcur->mnId662 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.427083333333334 -vpKFs.front()->mTimeStamp-1325.1891007170243 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -5437.54150390625 - 2901.8642578125 --2161.69091796875 -pKFcur->mnId663 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.46045 -vpKFs.front()->mTimeStamp-1335.6328590545263 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5461.759765625 - 2912.599365234375 --2167.360107421875 -pKFcur->mnId664 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.493816666666667 -vpKFs.front()->mTimeStamp-1346.1099840586951 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5484.599609375 - 2923.9794921875 --2172.773681640625 -pKFcur->mnId665 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.543866666666666 -vpKFs.front()->mTimeStamp-1356.6204757295304 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5506.45458984375 - 2935.36962890625 --2177.965087890625 -pKFcur->mnId666 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.827483333333333 -vpKFs.front()->mTimeStamp-1367.1810174003658 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5527.75537109375 - 2947.470947265625 --2183.109130859375 -pKFcur->mnId667 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.894216666666667 -vpKFs.front()->mTimeStamp-1378.0251757378678 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5553.01123046875 - 2959.221923828125 --2189.027099609375 -pKFcur->mnId668 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.927583333333333 -vpKFs.front()->mTimeStamp-1388.9360674087031 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5577.771484375 -2970.046142578125 - -2194.7109375 -pKFcur->mnId669 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.96095 -vpKFs.front()->mTimeStamp-1399.8803257462052 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5602.33447265625 - 2981.3115234375 --2200.396728515625 -pKFcur->mnId670 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp10.994316666666666 -vpKFs.front()->mTimeStamp-1410.8579507503739 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5627.09228515625 - 2991.73046875 --2206.042724609375 -pKFcur->mnId671 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.027683333333334 -vpKFs.front()->mTimeStamp-1421.8689424212093 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5651.88818359375 - 3002.0927734375 --2211.694091796875 -pKFcur->mnId672 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.06105 -vpKFs.front()->mTimeStamp-1432.9133007587113 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5676.6396484375 - 3012.5283203125 --2217.340576171875 -pKFcur->mnId673 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.094416666666667 -vpKFs.front()->mTimeStamp-1443.9910257628801 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5701.54443359375 - 3021.93310546875 --2222.925048828125 -pKFcur->mnId674 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.127783333333333 -vpKFs.front()->mTimeStamp-1455.1021174337154 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5726.58935546875 - 3031.721435546875 --2228.581298828125 -pKFcur->mnId675 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.161150000000001 -vpKFs.front()->mTimeStamp-1466.2465757712175 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5751.54052734375 - 3041.2412109375 --2234.19189453125 -pKFcur->mnId676 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.194516666666667 -vpKFs.front()->mTimeStamp-1477.4244007753862 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5776.783203125 - 3050.6748046875 --2239.8623046875 -pKFcur->mnId677 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.227883333333333 -vpKFs.front()->mTimeStamp-1488.6355924462216 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5801.72021484375 - 3060.286865234375 --2245.469970703125 -pKFcur->mnId678 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.26125 -vpKFs.front()->mTimeStamp-1499.8801507837236 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5826.8564453125 - 3069.9501953125 --2251.126708984375 -pKFcur->mnId679 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.294616666666666 -vpKFs.front()->mTimeStamp-1511.1580757878924 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5852.212890625 - 3079.8056640625 --2256.8525390625 -pKFcur->mnId680 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.327983333333334 -vpKFs.front()->mTimeStamp-1522.4693674587277 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5877.34375 - 3089.52978515625 --2262.50732421875 -pKFcur->mnId681 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.36135 -vpKFs.front()->mTimeStamp-1533.8140257962298 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5902.78564453125 - 3099.40625 - -2268.248046875 -pKFcur->mnId682 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.394716666666667 -vpKFs.front()->mTimeStamp-1545.1920508003984 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5928.587890625 - 3108.661865234375 --2274.012939453125 -pKFcur->mnId683 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.428083333333333 -vpKFs.front()->mTimeStamp-1556.6034424712338 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5955.0224609375 - 3119.6376953125 --2280.09228515625 -pKFcur->mnId684 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.461450000000001 -vpKFs.front()->mTimeStamp-1568.0482008087358 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5981.23193359375 - 3129.957763671875 --2286.043701171875 -pKFcur->mnId685 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.494816666666667 -vpKFs.front()->mTimeStamp-1579.5263258129046 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6007.06591796875 - 3139.509033203125 --2291.826416015625 -pKFcur->mnId686 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.528183333333333 -vpKFs.front()->mTimeStamp-1591.0378174837399 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6033.1787109375 - 3149.86279296875 --2297.746337890625 -pKFcur->mnId687 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.56155 -vpKFs.front()->mTimeStamp-1602.582675821242 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6059.79736328125 -3160.068115234375 --2303.77392578125 -pKFcur->mnId688 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.594916666666666 -vpKFs.front()->mTimeStamp-1614.1609008254106 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6086.17626953125 - 3170.38134765625 --2309.74658203125 -pKFcur->mnId689 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.628283333333334 -vpKFs.front()->mTimeStamp-1625.7724924962461 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6112.9169921875 - 3180.8505859375 - -2315.81640625 -pKFcur->mnId690 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.66165 -vpKFs.front()->mTimeStamp-1637.417450833748 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -6139.76123046875 - 3191.4482421875 - -2321.9189453125 -pKFcur->mnId691 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.695016666666668 -vpKFs.front()->mTimeStamp-1649.0957758379168 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6166.66162109375 - 3202.5810546875 --2328.077392578125 -pKFcur->mnId692 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.728383333333333 -vpKFs.front()->mTimeStamp-1660.8074675087521 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6193.66455078125 - 3213.850341796875 --2334.262939453125 -pKFcur->mnId693 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.761750000000001 -vpKFs.front()->mTimeStamp-1672.5525258462542 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6220.4970703125 - 3225.35693359375 --2340.425048828125 -pKFcur->mnId694 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5592e4e71770 -pKFCur->mTimeStamp11.795116666666667 -vpKFs.front()->mTimeStamp-1684.3309508504231 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -6246.4658203125 - 3236.869140625 --2346.37744140625 -pKFcur->mnId695 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55604bb9dac0 -pKFCur->mTimeStamp0 -vpKFs.front()->mTimeStamp-63.2131 -vpKFs.back()->mTimeStamp-0.016675 -pKFcur->GetMapPointMatches().size()5074 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -Video FPS: 59.9401 -ORB-SLAM 3 running at: 4.00481 FPS -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0 -pKFCur->mTimeStamp0.16683333333333333 -vpKFs.front()->mTimeStamp-63.229816675004166 -vpKFs.back()->mTimeStamp-0.016675004168751041 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId493 -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.890824018765338 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 9.4456509899212264 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.983194747466801 FPS -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -No IMU Preintegration for KeyFrame 492, skipping inertial edge. -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.482888589691607 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.05597557513876 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.488778208340896 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.179094003182753 FPS -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 14.996907487706961 FPS -Shutdown -mpLocalMapper is not finished -mpLoopCloser is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished -mpLocalMapper is not finished - -Saving camera trajectory to /data/camera_trajectory.csv ... -There are 1 maps in the atlas - Map 0 has 92 KFs - -CSV camera trajectory saved! +version https://git-lfs.github.com/spec/v1 +oid sha256:fc913403370ff1ab98bf8936abdfe70aa2eb82a4b88341da80a3e05ed52626aa +size 6175 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/extract_gopro_imu_stdout.txt index c32f450694eacf321b8ab20c325f5f46df78b2ed..9a51c8e97a1a249d2c9316f454e82228ba1d5575 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 105856030 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:6c0f962ac10b3ac1205b01786632e616e360bd6c09f3bea141f9028d450c26e6 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/imu_data.json index 2e4b56f993f0a047d17451d4a7335c7ac2940f94..cfa8f5716987238879d4080140e2de0cd84f3790 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[3.707434052757794,-5.491606714628297,7.258992805755396],"cts":81.452,"date":"2015-10-18T00:42:16.929Z","temperature [°C]":62.01953125},{"value":[3.678657074340528,-5.4700239808153475,7.2398081534772185],"cts":86.38792610837439,"date":"2015-10-18T00:42:16.935Z","temperature [°C]":62.01953125},{"value":[3.683453237410072,-5.486810551558753,7.167865707434053],"cts":91.32385221674878,"date":"2015-10-18T00:42:16.941Z","temperature [°C]":62.01953125},{"value":[3.6810551558753,-5.508393285371703,7.110311750599521],"cts":96.25977832512316,"date":"2015-10-18T00:42:16.947Z","temperature [°C]":62.01953125},{"value":[3.724220623501199,-5.482014388489208,7.057553956834532],"cts":101.19570443349755,"date":"2015-10-18T00:42:16.953Z","temperature [°C]":62.01953125},{"value":[3.738609112709832,-5.458033573141487,7.043165467625899],"cts":106.13163054187194,"date":"2015-10-18T00:42:16.960Z","temperature [°C]":62.01953125},{"value":[3.7553956834532376,-5.496402877697841,6.952038369304557],"cts":111.06755665024633,"date":"2015-10-18T00:42:16.966Z","temperature [°C]":62.01953125},{"value":[3.762589928057554,-5.510791366906475,6.94484412470024],"cts":116.00348275862072,"date":"2015-10-18T00:42:16.972Z","temperature [°C]":62.01953125},{"value":[3.7673860911270984,-5.494004796163069,7.057553956834532],"cts":120.93940886699511,"date":"2015-10-18T00:42:16.978Z","temperature [°C]":62.01953125},{"value":[3.7458033573141485,-5.5011990407673865,7.03357314148681],"cts":125.8753349753695,"date":"2015-10-18T00:42:16.985Z","temperature [°C]":62.01953125},{"value":[3.7338129496402876,-5.494004796163069,7.079136690647482],"cts":130.8112610837439,"date":"2015-10-18T00:42:16.991Z","temperature [°C]":62.01953125},{"value":[3.697841726618705,-5.477218225419664,7.129496402877698],"cts":135.74718719211828,"date":"2015-10-18T00:42:16.997Z","temperature [°C]":62.01953125},{"value":[3.697841726618705,-5.467625899280575,7.184652278177458],"cts":140.68311330049266,"date":"2015-10-18T00:42:17.003Z","temperature [°C]":62.01953125},{"value":[3.65947242206235,-5.436450839328537,7.172661870503597],"cts":145.61903940886705,"date":"2015-10-18T00:42:17.010Z","temperature [°C]":62.01953125},{"value":[3.6378896882494005,-5.407673860911271,7.184652278177458],"cts":150.55496551724144,"date":"2015-10-18T00:42:17.016Z","temperature [°C]":62.01953125},{"value":[3.671462829736211,-5.410071942446043,7.184652278177458],"cts":155.49089162561583,"date":"2015-10-18T00:42:17.022Z","temperature [°C]":62.01953125},{"value":[3.678657074340528,-5.41726618705036,7.103117505995204],"cts":160.42681773399022,"date":"2015-10-18T00:42:17.028Z","temperature [°C]":62.01953125},{"value":[3.6858513189448443,-5.419664268585132,7.031175059952038],"cts":165.3627438423646,"date":"2015-10-18T00:42:17.035Z","temperature [°C]":62.01953125},{"value":[3.724220623501199,-5.4268585131894485,6.980815347721823],"cts":170.298669950739,"date":"2015-10-18T00:42:17.041Z","temperature [°C]":62.01953125},{"value":[3.7482014388489207,-5.429256594724221,6.930455635491607],"cts":175.2345960591134,"date":"2015-10-18T00:42:17.047Z","temperature [°C]":62.01953125},{"value":[3.7170263788968825,-5.431654676258993,6.863309352517986],"cts":180.17052216748777,"date":"2015-10-18T00:42:17.053Z","temperature [°C]":62.01953125},{"value":[3.7793764988009593,-5.458033573141487,6.863309352517986],"cts":185.10644827586216,"date":"2015-10-18T00:42:17.059Z","temperature [°C]":62.01953125},{"value":[3.7649880095923263,-5.448441247002398,6.875299760191846],"cts":190.04237438423655,"date":"2015-10-18T00:42:17.066Z","temperature [°C]":62.01953125},{"value":[3.7434052757793763,-5.424460431654676,6.865707434052758],"cts":194.97830049261094,"date":"2015-10-18T00:42:17.072Z","temperature [°C]":62.01953125},{"value":[3.7553956834532376,-5.405275779376499,6.880095923261391],"cts":199.91422660098533,"date":"2015-10-18T00:42:17.078Z","temperature [°C]":62.01953125},{"value":[3.7649880095923263,-5.41726618705036,6.913669064748201],"cts":204.85015270935972,"date":"2015-10-18T00:42:17.084Z","temperature [°C]":62.01953125},{"value":[3.7577937649880098,-5.4124700239808154,6.971223021582734],"cts":209.7860788177341,"date":"2015-10-18T00:42:17.091Z","temperature [°C]":62.01953125},{"value":[3.7146282973621103,-5.414868105515588,7.083932853717027],"cts":214.7220049261085,"date":"2015-10-18T00:42:17.097Z","temperature [°C]":62.01953125},{"value":[3.709832134292566,-5.386091127098322,7.160671462829736],"cts":219.65793103448289,"date":"2015-10-18T00:42:17.103Z","temperature [°C]":62.01953125},{"value":[3.673860911270983,-5.371702637889689,7.177458033573141],"cts":224.59385714285727,"date":"2015-10-18T00:42:17.109Z","temperature [°C]":62.01953125},{"value":[3.683453237410072,-5.424460431654676,7.237410071942446],"cts":229.52978325123166,"date":"2015-10-18T00:42:17.116Z","temperature [°C]":62.01953125},{"value":[3.7002398081534773,-5.429256594724221,7.294964028776978],"cts":234.46570935960605,"date":"2015-10-18T00:42:17.122Z","temperature [°C]":62.01953125},{"value":[3.6882494004796165,-5.400479616306955,7.333333333333333],"cts":239.40163546798044,"date":"2015-10-18T00:42:17.128Z","temperature [°C]":62.01953125},{"value":[3.661870503597122,-5.434052757793765,7.342925659472422],"cts":244.33756157635483,"date":"2015-10-18T00:42:17.134Z","temperature [°C]":62.01953125},{"value":[3.6402877697841727,-5.453237410071942,7.321342925659472],"cts":249.27348768472922,"date":"2015-10-18T00:42:17.141Z","temperature [°C]":62.01953125},{"value":[3.673860911270983,-5.448441247002398,7.342925659472422],"cts":254.2094137931036,"date":"2015-10-18T00:42:17.147Z","temperature [°C]":62.01953125},{"value":[3.709832134292566,-5.479616306954436,7.357314148681056],"cts":259.145339901478,"date":"2015-10-18T00:42:17.153Z","temperature [°C]":62.01953125},{"value":[3.707434052757794,-5.474820143884892,7.3549160671462825],"cts":264.08126600985236,"date":"2015-10-18T00:42:17.159Z","temperature [°C]":62.01953125},{"value":[3.6882494004796165,-5.477218225419664,7.364508393285372],"cts":269.0171921182267,"date":"2015-10-18T00:42:17.165Z","temperature [°C]":62.01953125},{"value":[3.6666666666666665,-5.465227817745803,7.369304556354916],"cts":273.9531182266011,"date":"2015-10-18T00:42:17.172Z","temperature [°C]":62.01953125},{"value":[3.671462829736211,-5.462829736211031,7.328537170263789],"cts":278.88904433497544,"date":"2015-10-18T00:42:17.178Z","temperature [°C]":62.01953125},{"value":[3.678657074340528,-5.477218225419664,7.28537170263789],"cts":283.8249704433498,"date":"2015-10-18T00:42:17.184Z","temperature [°C]":62.01953125},{"value":[3.7050359712230216,-5.446043165467626,7.270983213429257],"cts":288.76089655172416,"date":"2015-10-18T00:42:17.190Z","temperature [°C]":62.01953125},{"value":[3.724220623501199,-5.465227817745803,7.206235011990407],"cts":293.6968226600985,"date":"2015-10-18T00:42:17.197Z","temperature [°C]":62.01953125},{"value":[3.7050359712230216,-5.436450839328537,7.2086330935251794],"cts":298.6327487684729,"date":"2015-10-18T00:42:17.203Z","temperature [°C]":62.01953125},{"value":[3.6882494004796165,-5.39568345323741,7.258992805755396],"cts":303.56867487684724,"date":"2015-10-18T00:42:17.209Z","temperature [°C]":62.01953125},{"value":[3.6690647482014387,-5.398081534772182,7.232613908872902],"cts":308.5046009852216,"date":"2015-10-18T00:42:17.215Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.940059940059946} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:99b76891c081f73165fb868cd754a6e3ecb0b02f4e247ff0a8049de1a61e8554 +size 1256696 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stdout.txt index 96c3e9056472269844c341439b76206cdb3b0943..8888020985b8dbd90e2e9b1bd9d81f4ea81da6b4 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stdout.txt @@ -1,1321 +1,3 @@ -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 844 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 6.47618 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.098964220362618 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.918306053531134 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x556afa4d7aa0 -pKFCur->mTimeStamp4.0874166666666669 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.3386666666666667 -vpKFs.front()->mTimeStamp-67.317233341670828 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 0.2774147093296051 --4.1016745567321777 --1.6610792875289917 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.4220833333333331 -vpKFs.front()->mTimeStamp-72.672575012506243 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1.0369912385940552 - 5.9302725791931152 - 6.572718620300293 -pKFcur->mnId494 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.4554499999999999 -vpKFs.front()->mTimeStamp-78.111333350008323 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1.0369912385940552 - 5.9302725791931152 - 6.572718620300293 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.4888166666666667 -vpKFs.front()->mTimeStamp-83.583458354177068 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 1.2280561923980713 --6.9557681083679199 - -2.21600341796875 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.5221833333333334 -vpKFs.front()->mTimeStamp-89.08895002501248 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1.5098623037338257 - 8.4728126525878906 - 9.8037595748901367 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.5555500000000002 -vpKFs.front()->mTimeStamp-94.627808362514571 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 24.766866683959961 --9.2094316482543945 - -7.002769947052002 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.588916666666667 -vpKFs.front()->mTimeStamp-100.20003336668333 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 51.639057159423828 --26.740207672119141 --24.051340103149414 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.6222833333333337 -vpKFs.front()->mTimeStamp-105.80562503751875 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 78.601631164550781 --43.671585083007812 --40.805068969726562 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.6556500000000005 -vpKFs.front()->mTimeStamp-111.44458337502084 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 104.57536315917969 --58.506973266601562 --55.967731475830078 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.6890166666666664 -vpKFs.front()->mTimeStamp-117.1169083791896 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 131.26222229003906 --72.928848266601562 --71.363189697265625 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.7223833333333332 -vpKFs.front()->mTimeStamp-122.82260005002502 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 157.7528076171875 --86.779808044433594 --86.349784851074219 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.7557499999999999 -vpKFs.front()->mTimeStamp-128.5616583875271 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 184.58311462402344 --100.00827026367188 --101.25522613525391 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.7891166666666667 -vpKFs.front()->mTimeStamp-134.33408339169586 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 211.33538818359375 --112.39974975585938 --115.76875305175781 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.8224833333333335 -vpKFs.front()->mTimeStamp-140.13987506253127 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 237.68806457519531 --123.83946228027344 --129.71478271484375 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.8558500000000002 -vpKFs.front()->mTimeStamp-145.97903340003336 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 264.789794921875 --134.55656433105469 --143.90080261230469 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.889216666666667 -vpKFs.front()->mTimeStamp-151.85155840420211 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 293.03878784179688 --145.02850341796875 --158.72164916992188 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.9225833333333338 -vpKFs.front()->mTimeStamp-157.75745007503753 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 321.87103271484375 --155.53617858886719 --173.89993286132812 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.9559500000000005 -vpKFs.front()->mTimeStamp-163.69670841253961 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 351.93402099609375 - -164.5845947265625 --189.52153015136719 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp5.9893166666666664 -vpKFs.front()->mTimeStamp-169.66933341670835 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 382.85394287109375 --173.73251342773438 --205.67059326171875 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.0226833333333332 -vpKFs.front()->mTimeStamp-175.67532508754377 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 414.05377197265625 - -182.0054931640625 --221.66984558105469 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.0560499999999999 -vpKFs.front()->mTimeStamp-181.71468342504585 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 444.64068603515625 - -190.674560546875 --237.02218627929688 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.0894166666666667 -vpKFs.front()->mTimeStamp-187.78740842921459 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 474.17047119140625 - -198.8671875 --251.49752807617188 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.1227833333333335 -vpKFs.front()->mTimeStamp-193.89350010005001 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 503.29849243164062 --206.69757080078125 --265.59744262695312 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.1561500000000002 -vpKFs.front()->mTimeStamp-200.03295843755208 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 532.14178466796875 --214.49569702148438 --279.45730590820312 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.189516666666667 -vpKFs.front()->mTimeStamp-206.20578344172083 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 560.9786376953125 --222.84210205078125 - -293.354736328125 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.2228833333333338 -vpKFs.front()->mTimeStamp-212.41197511255623 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 590.20465087890625 --231.89839172363281 --307.57479858398438 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.2562500000000005 -vpKFs.front()->mTimeStamp-218.65153345005831 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 619.8521728515625 - -241.6055908203125 --322.13070678710938 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.2896166666666664 -vpKFs.front()->mTimeStamp-224.92445845422705 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 650.09747314453125 --251.69964599609375 --337.07693481445312 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.3229833333333332 -vpKFs.front()->mTimeStamp-231.23075012506246 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 680.81829833984375 --262.65325927734375 - -352.4609375 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.3563499999999999 -vpKFs.front()->mTimeStamp-237.57040846256453 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 712.18194580078125 --273.91915893554688 --368.27178955078125 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.3897166666666667 -vpKFs.front()->mTimeStamp-243.94343346673327 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 743.72625732421875 --285.56185913085938 --384.22036743164062 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.4230833333333335 -vpKFs.front()->mTimeStamp-250.34982513756867 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 775.67083740234375 --297.88604736328125 --400.53890991210938 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.4564500000000002 -vpKFs.front()->mTimeStamp-256.78958347507074 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 807.9849853515625 --309.98794555664062 --416.97891235351562 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.489816666666667 -vpKFs.front()->mTimeStamp-263.26270847923951 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 840.41229248046875 - -322.5350341796875 --433.53909301757812 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.5231833333333338 -vpKFs.front()->mTimeStamp-269.76920015007494 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 873.16375732421875 --335.90203857421875 --450.47018432617188 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.5565500000000005 -vpKFs.front()->mTimeStamp-276.30905848757703 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 906.0032958984375 --349.84930419921875 - -467.552978515625 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.5899166666666664 -vpKFs.front()->mTimeStamp-282.8822834917458 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 938.8092041015625 --364.49874877929688 --484.74325561523438 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.6232833333333332 -vpKFs.front()->mTimeStamp-289.48887516258122 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 971.50555419921875 --379.60324096679688 --501.92153930664062 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.65665 -vpKFs.front()->mTimeStamp-296.12883350008332 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1004.2467651367188 --395.56869506835938 - -519.3265380859375 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.6900166666666667 -vpKFs.front()->mTimeStamp-302.80215850425208 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1036.760986328125 --412.02633666992188 - -536.65771484375 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.7233833333333335 -vpKFs.front()->mTimeStamp-309.5088501750875 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1069.43994140625 - -429.1060791015625 --554.24676513671875 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.7567500000000003 -vpKFs.front()->mTimeStamp-316.24890851258959 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1102.037109375 --446.61770629882812 - -571.854736328125 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.790116666666667 -vpKFs.front()->mTimeStamp-323.02233351675835 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1134.5816650390625 --464.84732055664062 --589.61175537109375 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.8234833333333338 -vpKFs.front()->mTimeStamp-329.82912518759377 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1166.90673828125 --483.58383178710938 - -607.3321533203125 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.8568500000000006 -vpKFs.front()->mTimeStamp-336.66928352509586 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1199.4638671875 --502.9923095703125 - -625.383544921875 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.8902166666666664 -vpKFs.front()->mTimeStamp-343.54280852926462 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1231.6998291015625 --523.22723388671875 --643.47296142578125 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.9235833333333332 -vpKFs.front()->mTimeStamp-350.44970020010004 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 1263.759521484375 - -543.9547119140625 --661.57037353515625 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x556afb3c2810 -pKFCur->mTimeStamp6.95695 -vpKFs.front()->mTimeStamp-357.38995853760213 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 1295.4737548828125 --565.4754638671875 - -679.701171875 -pKFcur->mnId540 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:54137bf9c2ebbd53af674b57062abaed07b2af9ff7a96a0bf62c67279960d2f6 +size 40708 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/extract_gopro_imu_stdout.txt index fbf11115683cbc58ccc7bfb4d3604d6795caf063..e6ac73a8c45b765c67073f54d7ce9cfe51861a3c 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 185642298 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:1d055b70386982965859790b777d83d2231ce04288e8f5639d2d0be9bb574d38 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/imu_data.json index a444934533643b5ae5c5346d7b333656dc6a1679..cfdfa14983f3360dfec928eb8513a74188d781a2 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[6.94484412470024,-0.08872901678657075,7.179856115107913],"cts":80.177,"date":"2015-10-18T00:42:41.130Z","temperature [°C]":62.142578125},{"value":[6.925659472422062,-0.08393285371702638,7.170263788968825],"cts":85.11295073891627,"date":"2015-10-18T00:42:41.136Z","temperature [°C]":62.142578125},{"value":[6.928057553956834,-0.03597122302158273,7.237410071942446],"cts":90.04890147783253,"date":"2015-10-18T00:42:41.142Z","temperature [°C]":62.142578125},{"value":[6.918465227817745,-0.045563549160671464,7.287769784172662],"cts":94.98485221674879,"date":"2015-10-18T00:42:41.148Z","temperature [°C]":62.142578125},{"value":[6.925659472422062,-0.0407673860911271,7.237410071942446],"cts":99.92080295566505,"date":"2015-10-18T00:42:41.154Z","temperature [°C]":62.142578125},{"value":[6.908872901678657,-0.002398081534772182,7.148681055155875],"cts":104.85675369458131,"date":"2015-10-18T00:42:41.161Z","temperature [°C]":62.142578125},{"value":[6.882494004796163,0.03597122302158273,7.110311750599521],"cts":109.79270443349758,"date":"2015-10-18T00:42:41.167Z","temperature [°C]":62.142578125},{"value":[6.906474820143885,0.06235011990407674,7.103117505995204],"cts":114.72865517241384,"date":"2015-10-18T00:42:41.173Z","temperature [°C]":62.142578125},{"value":[6.899280575539568,0.15827338129496402,7.067146282973621],"cts":119.6646059113301,"date":"2015-10-18T00:42:41.179Z","temperature [°C]":62.142578125},{"value":[6.930455635491607,0.2637889688249401,6.988009592326139],"cts":124.60055665024636,"date":"2015-10-18T00:42:41.186Z","temperature [°C]":62.142578125},{"value":[6.9496402877697845,0.31414868105515587,6.911270983213429],"cts":129.5365073891626,"date":"2015-10-18T00:42:41.192Z","temperature [°C]":62.142578125},{"value":[6.96642685851319,0.3764988009592326,6.884892086330935],"cts":134.47245812807887,"date":"2015-10-18T00:42:41.198Z","temperature [°C]":62.142578125},{"value":[7.023980815347722,0.46522781774580335,6.796163069544365],"cts":139.40840886699513,"date":"2015-10-18T00:42:41.204Z","temperature [°C]":62.142578125},{"value":[7.067146282973621,0.5035971223021583,6.772182254196642],"cts":144.3443596059114,"date":"2015-10-18T00:42:41.210Z","temperature [°C]":62.142578125},{"value":[7.069544364508393,0.5515587529976019,6.832134292565947],"cts":149.28031034482765,"date":"2015-10-18T00:42:41.217Z","temperature [°C]":62.142578125},{"value":[7.086330935251799,0.6402877697841727,6.784172661870503],"cts":154.21626108374392,"date":"2015-10-18T00:42:41.223Z","temperature [°C]":62.142578125},{"value":[7.07673860911271,0.7050359712230215,6.7601918465227815],"cts":159.15221182266018,"date":"2015-10-18T00:42:41.229Z","temperature [°C]":62.142578125},{"value":[7.079136690647482,0.7242206235011991,6.73621103117506],"cts":164.08816256157644,"date":"2015-10-18T00:42:41.235Z","temperature [°C]":62.142578125},{"value":[7.074340527577938,0.7817745803357314,6.84652278177458],"cts":169.0241133004927,"date":"2015-10-18T00:42:41.242Z","temperature [°C]":62.142578125},{"value":[7.0215827338129495,0.882494004796163,6.84652278177458],"cts":173.96006403940896,"date":"2015-10-18T00:42:41.248Z","temperature [°C]":62.142578125},{"value":[6.9928057553956835,0.8992805755395683,6.817745803357314],"cts":178.89601477832522,"date":"2015-10-18T00:42:41.254Z","temperature [°C]":62.142578125},{"value":[6.988009592326139,0.882494004796163,6.865707434052758],"cts":183.83196551724149,"date":"2015-10-18T00:42:41.260Z","temperature [°C]":62.142578125},{"value":[6.983213429256595,0.9160671462829736,6.925659472422062],"cts":188.76791625615775,"date":"2015-10-18T00:42:41.266Z","temperature [°C]":62.142578125},{"value":[6.959232613908873,0.9280575539568345,6.870503597122302],"cts":193.703866995074,"date":"2015-10-18T00:42:41.273Z","temperature [°C]":62.142578125},{"value":[7.028776978417266,0.9136690647482014,6.824940047961631],"cts":198.63981773399027,"date":"2015-10-18T00:42:41.279Z","temperature [°C]":62.142578125},{"value":[7.016786570743405,0.9712230215827338,6.894484412470024],"cts":203.57576847290653,"date":"2015-10-18T00:42:41.285Z","temperature [°C]":62.142578125},{"value":[7.004796163069544,0.9928057553956835,6.94484412470024],"cts":208.5117192118228,"date":"2015-10-18T00:42:41.291Z","temperature [°C]":62.142578125},{"value":[7.031175059952038,0.9808153477218226,6.870503597122302],"cts":213.44766995073905,"date":"2015-10-18T00:42:41.298Z","temperature [°C]":62.142578125},{"value":[7.047961630695443,0.9712230215827338,6.832134292565947],"cts":218.38362068965532,"date":"2015-10-18T00:42:41.304Z","temperature [°C]":62.142578125},{"value":[7.040767386091127,1.0023980815347722,6.908872901678657],"cts":223.31957142857158,"date":"2015-10-18T00:42:41.310Z","temperature [°C]":62.142578125},{"value":[7.0359712230215825,0.9520383693045563,6.913669064748201],"cts":228.25552216748784,"date":"2015-10-18T00:42:41.316Z","temperature [°C]":62.142578125},{"value":[7.0503597122302155,0.8848920863309353,6.894484412470024],"cts":233.1914729064041,"date":"2015-10-18T00:42:41.323Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:7219ca75d808acdc377e68a1d7e88ef7271d6d2f4c39dd2c6a3b11d94ca4751f +size 2197331 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stdout.txt index f93d4f5df6531a6cbb97f486cbc44f3d2368f4d8..27994570dde5a0e99cdfc64b234cd462a6aa3c78 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stdout.txt @@ -1,3033 +1,3 @@ -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 1479 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 2.06462 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.336447998602527 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.394614046247844 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.285390264425608 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.939878651431302 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.595342594544155 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x564538a07b80 -pKFCur->mTimeStamp8.6753333333333327 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp8.7754333333333339 -vpKFs.front()->mTimeStamp-71.9051500083375 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 3.3089432716369629 -1.4724127054214478 -5.0250635147094727 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp8.9422666666666668 -vpKFs.front()->mTimeStamp-80.697258345839586 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -11.82597541809082 --20.408102035522461 --9.2665443420410156 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp8.9756333333333327 -vpKFs.front()->mTimeStamp-89.656200016675001 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 18.783653259277344 -31.276403427124023 -12.910465240478516 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.0090000000000003 -vpKFs.front()->mTimeStamp-98.648508354177082 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 16.855352401733398 -16.479103088378906 -4.2146844863891602 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.0590500000000009 -vpKFs.front()->mTimeStamp-107.67418335834583 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 15.364957809448242 - 2.9475605487823486 --4.2709383964538574 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.0924166666666668 -vpKFs.front()->mTimeStamp-116.74990836251459 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -18.583934783935547 - -1.064800500869751 -0.13905324041843414 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.1257833333333327 -vpKFs.front()->mTimeStamp-125.85900003335001 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 21.66290283203125 -2.7269742488861084 -2.3799140453338623 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.1591500000000003 -vpKFs.front()->mTimeStamp-135.00145837085211 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 18.604970932006836 --5.3745617866516113 --5.4848957061767578 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.1925166666666662 -vpKFs.front()->mTimeStamp-144.17728337502086 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 14.696237564086914 --11.895257949829102 --13.252686500549316 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.2592499999999998 -vpKFs.front()->mTimeStamp-153.38647504585629 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -8.4932003021240234 - 12.339690208435059 - 6.9693646430969238 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.3760333333333339 -vpKFs.front()->mTimeStamp-162.66240005002504 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2.3803272247314453 - 4.3680872917175293 --0.4462832510471344 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.5428666666666668 -vpKFs.front()->mTimeStamp-172.05510838752713 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3.2709496021270752 - 5.4249038696289062 --0.28075769543647766 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.7096999999999998 -vpKFs.front()->mTimeStamp-181.61465005836254 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -8.9005861282348633 - 6.4731965065002441 --0.44959074258804321 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.7430666666666674 -vpKFs.front()->mTimeStamp-191.34102506253129 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 17.082921981811523 --8.6890087127685547 - 11.879863739013672 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.809800000000001 -vpKFs.front()->mTimeStamp-201.1007667333667 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -11.153875350952148 - 7.2471604347229004 --2.9880416393280029 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.8431666666666668 -vpKFs.front()->mTimeStamp-210.92724173753544 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -44.766372680664062 --12.086289405822754 --6.6185708045959473 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.8765333333333327 -vpKFs.front()->mTimeStamp-220.78708340837085 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -89.593063354492188 - 3.7619559764862061 - -19.65593147277832 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.9099000000000004 -vpKFs.front()->mTimeStamp-230.68029174587292 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -135.050537109375 - 21.048061370849609 --33.252925872802734 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.9432666666666663 -vpKFs.front()->mTimeStamp-240.60686675004166 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -180.09761047363281 - 39.6319580078125 --46.849376678466797 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp9.9766333333333339 -vpKFs.front()->mTimeStamp-250.56680842087707 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -225.53172302246094 - 60.019809722900391 --60.985099792480469 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.01 -vpKFs.front()->mTimeStamp-260.56011675837914 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -270.97012329101562 - 80.947929382324219 --75.159080505371094 -pKFcur->mnId513 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.285331679114369 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.043366666666667 -vpKFs.front()->mTimeStamp-270.58679176254788 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -316.75466918945312 - 101.95130157470703 --89.480880737304688 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.076733333333333 -vpKFs.front()->mTimeStamp-280.64683343338328 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -362.84463500976562 - 124.08192443847656 --104.19107818603516 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.110100000000001 -vpKFs.front()->mTimeStamp-290.74024177088535 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -409.51910400390625 - 147.46870422363281 --119.48426055908203 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.143466666666667 -vpKFs.front()->mTimeStamp-300.86701677505408 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -456.4569091796875 - 171.58929443359375 --135.05973815917969 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.176833333333333 -vpKFs.front()->mTimeStamp-311.02715844588948 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -504.028564453125 - 197.00559997558594 --151.32244873046875 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.2102 -vpKFs.front()->mTimeStamp-321.22066678339155 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -552.9276123046875 -222.54197692871094 - -168.3056640625 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.243566666666666 -vpKFs.front()->mTimeStamp-331.44754178756028 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -603.39599609375 - 248.29936218261719 --186.19676208496094 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.276933333333334 -vpKFs.front()->mTimeStamp-341.70778345839568 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -655.27239990234375 - 275.65328979492188 --205.39071655273438 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.3103 -vpKFs.front()->mTimeStamp-352.00139179589775 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -707.85711669921875 - 302.50363159179688 --224.65287780761719 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.343666666666667 -vpKFs.front()->mTimeStamp-362.32836680006648 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -760.55908203125 - 329.03903198242188 --243.84754943847656 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.377033333333333 -vpKFs.front()->mTimeStamp-372.68870847090187 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -813.964599609375 - 353.59860229492188 --262.78970336914062 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.410400000000001 -vpKFs.front()->mTimeStamp-383.08241680840393 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -869.282470703125 - 378.47210693359375 --283.02838134765625 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.443766666666667 -vpKFs.front()->mTimeStamp-393.50949181257266 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -926.9388427734375 - 403.2115478515625 --304.75985717773438 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.477133333333333 -vpKFs.front()->mTimeStamp-403.96993348340806 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -986.55029296875 - 427.84918212890625 --327.78155517578125 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.5105 -vpKFs.front()->mTimeStamp-414.46374182091012 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1048.5877685546875 - 452.57968139648438 --352.59896850585938 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.543866666666666 -vpKFs.front()->mTimeStamp-424.99091682507884 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1112.390380859375 - 477.16009521484375 --378.66976928710938 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.577233333333334 -vpKFs.front()->mTimeStamp-435.55145849591423 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1178.0589599609375 - 501.20184326171875 - -406.00634765625 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.6106 -vpKFs.front()->mTimeStamp-446.14536683341635 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1245.01611328125 - 524.84521484375 --434.19232177734375 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.643966666666667 -vpKFs.front()->mTimeStamp-456.77264183758507 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1313.444580078125 - 548.75482177734375 --463.63827514648438 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.677333333333333 -vpKFs.front()->mTimeStamp-467.43328350842052 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1382.9608154296875 - 572.57647705078125 --493.90643310546875 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.710700000000001 -vpKFs.front()->mTimeStamp-478.12729184592263 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1453.40283203125 - 596.13970947265625 --524.80841064453125 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.744066666666667 -vpKFs.front()->mTimeStamp-488.85466685009141 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1524.748046875 - 619.4376220703125 --556.31549072265625 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.777433333333333 -vpKFs.front()->mTimeStamp-499.61540852092685 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1596.705810546875 - 642.4267578125 --588.15692138671875 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.8108 -vpKFs.front()->mTimeStamp-510.40951685842896 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1669.2462158203125 - 664.67755126953125 --620.18487548828125 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.844166666666666 -vpKFs.front()->mTimeStamp-521.23699186259773 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1742.230224609375 - 686.8280029296875 - -652.466796875 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.877533333333334 -vpKFs.front()->mTimeStamp-532.09783353343312 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1816.01513671875 -709.20526123046875 - -685.446533203125 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.9109 -vpKFs.front()->mTimeStamp-542.99204187093517 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1889.922119140625 - 731.7110595703125 --718.4324951171875 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.944266666666667 -vpKFs.front()->mTimeStamp-553.91961687510388 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1964.029541015625 - 755.14788818359375 --751.73577880859375 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp10.977633333333333 -vpKFs.front()->mTimeStamp-564.88055854593927 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2038.2320556640625 - 779.0321044921875 - -785.0887451171875 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.011000000000001 -vpKFs.front()->mTimeStamp-575.87486688344131 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2111.778076171875 - 804.0751953125 --817.96844482421875 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.044366666666667 -vpKFs.front()->mTimeStamp-586.90254188761003 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2184.573974609375 -830.16595458984375 - -850.289306640625 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.077733333333333 -vpKFs.front()->mTimeStamp-597.96358355844541 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2257.173095703125 -856.49932861328125 - -882.31396484375 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.1111 -vpKFs.front()->mTimeStamp-609.05799189594745 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2330.158203125 -883.84210205078125 - -914.889404296875 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.144466666666666 -vpKFs.front()->mTimeStamp-620.18576690011616 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2402.59423828125 - 911.2835693359375 --946.81829833984375 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.177833333333334 -vpKFs.front()->mTimeStamp-631.34690857095154 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2474.09765625 -939.25384521484375 - -977.895751953125 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.2112 -vpKFs.front()->mTimeStamp-642.54141690845358 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2545.610107421875 - 968.3603515625 --1009.2572021484375 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.244566666666667 -vpKFs.front()->mTimeStamp-653.76929191262229 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2615.640625 -997.57305908203125 --1039.188232421875 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.277933333333333 -vpKFs.front()->mTimeStamp-665.03053358345767 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2685.148681640625 - 1027.536376953125 --1068.8092041015625 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.311300000000001 -vpKFs.front()->mTimeStamp-676.32514192095971 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2754.2255859375 - 1057.5577392578125 --1097.9537353515625 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.344666666666667 -vpKFs.front()->mTimeStamp-687.65311692512842 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2823.70166015625 - 1087.629638671875 --1127.3267822265625 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.378033333333333 -vpKFs.front()->mTimeStamp-699.01445859596379 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2893.222900390625 - 1118.147705078125 --1156.775146484375 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.4114 -vpKFs.front()->mTimeStamp-710.40916693346583 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2962.899169921875 - 1148.93896484375 --1186.316650390625 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.444766666666666 -vpKFs.front()->mTimeStamp-721.83724193763453 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3033.23876953125 - 1179.6456298828125 --1216.2432861328125 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.478133333333334 -vpKFs.front()->mTimeStamp-733.2986836084699 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3103.668212890625 -1210.5103759765625 --1246.152587890625 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.5115 -vpKFs.front()->mTimeStamp-744.79349194597194 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3174.21240234375 - 1241.4788818359375 --1276.0262451171875 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.544866666666667 -vpKFs.front()->mTimeStamp-756.32166695014064 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3244.908203125 - 1272.614990234375 --1305.9154052734375 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.578233333333333 -vpKFs.front()->mTimeStamp-767.88320862097601 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3315.03369140625 -1304.4781494140625 - -1335.421875 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.611600000000001 -vpKFs.front()->mTimeStamp-779.47811695847804 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -3384.248779296875 -1336.3013916015625 - -1364.00634765625 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.644966666666667 -vpKFs.front()->mTimeStamp-791.10639196264674 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3451.323486328125 - 1369.30810546875 --1391.1959228515625 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.678333333333333 -vpKFs.front()->mTimeStamp-802.7680336334821 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3517.905517578125 - 1401.890869140625 --1417.7003173828125 -pKFcur->mnId563 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 8.973212922506983 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.7117 -vpKFs.front()->mTimeStamp-814.46304197098414 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3583.51953125 - 1435.7664794921875 --1443.8165283203125 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.745066666666666 -vpKFs.front()->mTimeStamp-826.19141697515283 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3648.92431640625 -1469.563720703125 --1469.58544921875 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.778433333333334 -vpKFs.front()->mTimeStamp-837.9531586459882 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3714.527587890625 - 1503.5003662109375 --1495.3563232421875 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.8118 -vpKFs.front()->mTimeStamp-849.74826698349034 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3780.170166015625 -1536.5108642578125 - -1520.60595703125 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.845166666666668 -vpKFs.front()->mTimeStamp-861.57674198765903 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3845.929931640625 - 1568.6722412109375 --1545.4508056640625 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.878533333333333 -vpKFs.front()->mTimeStamp-873.43858365849451 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -3911.680419921875 - 1599.283203125 --1569.5933837890625 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.911900000000001 -vpKFs.front()->mTimeStamp-885.33379199599665 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3976.978515625 - 1628.366943359375 --1592.777099609375 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.945266666666667 -vpKFs.front()->mTimeStamp-897.26236700016545 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4042.124267578125 -1655.7979736328125 - -1615.23095703125 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp11.978633333333333 -vpKFs.front()->mTimeStamp-909.22430867100093 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4107.6923828125 -1681.641357421875 --1637.40380859375 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.012 -vpKFs.front()->mTimeStamp-921.21961700850306 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4174.005859375 - 1704.77734375 --1659.28076171875 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.045366666666666 -vpKFs.front()->mTimeStamp-933.24829201267187 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4241.083984375 - 1725.5078125 --1681.043212890625 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.078733333333334 -vpKFs.front()->mTimeStamp-945.31033368350734 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4307.60302734375 -1743.9310302734375 - -1701.8779296875 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.1121 -vpKFs.front()->mTimeStamp-957.40574202100947 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4373.830078125 -1759.1624755859375 - -1721.92822265625 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.145466666666668 -vpKFs.front()->mTimeStamp-969.53451702517827 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4440.13134765625 - 1772.90380859375 --1741.7833251953125 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.178833333333333 -vpKFs.front()->mTimeStamp-981.69665869601374 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4505.79931640625 - 1783.98486328125 --1760.855224609375 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.212200000000001 -vpKFs.front()->mTimeStamp-993.89216703351588 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4570.90478515625 - 1793.2066650390625 --1779.3538818359375 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.245566666666667 -vpKFs.front()->mTimeStamp-1006.1210420376847 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4635.48779296875 -1800.9256591796875 - -1797.38134765625 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.278933333333333 -vpKFs.front()->mTimeStamp-1018.3832837085201 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4698.78662109375 -1807.3541259765625 --1814.508544921875 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.3123 -vpKFs.front()->mTimeStamp-1030.6788920460222 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4760.22607421875 -1812.7286376953125 - -1830.431640625 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.345666666666666 -vpKFs.front()->mTimeStamp-1043.007867050191 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -4819.90673828125 - 1817.297119140625 --1845.2659912109375 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.379033333333334 -vpKFs.front()->mTimeStamp-1055.3702087210263 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4877.58740234375 - 1820.6961669921875 --1858.9127197265625 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.445766666666668 -vpKFs.front()->mTimeStamp-1067.7659170585284 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4933.1640625 - 1823.573486328125 --1871.4075927734375 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.479133333333333 -vpKFs.front()->mTimeStamp-1080.2283587293639 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4982.02294921875 - 1826.0758056640625 --1880.6968994140625 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.512500000000001 -vpKFs.front()->mTimeStamp-1092.7241670668659 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5027.974609375 - 1829.52880859375 --1888.7945556640625 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.545866666666667 -vpKFs.front()->mTimeStamp-1105.2533420710347 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5072.5244140625 - 1834.8607177734375 --1896.3895263671875 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.579233333333333 -vpKFs.front()->mTimeStamp-1117.81588374187 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5116.1142578125 - 1840.5477294921875 --1903.6177978515625 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.6126 -vpKFs.front()->mTimeStamp-1130.4117920793722 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5159.77294921875 -1848.5328369140625 - -1910.98046875 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.645966666666666 -vpKFs.front()->mTimeStamp-1143.0410670835408 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5204.7109375 - 1859.213623046875 --1918.9805908203125 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.679333333333334 -vpKFs.front()->mTimeStamp-1155.7037087543763 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5250.94482421875 -1871.6246337890625 - -1927.6083984375 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.7127 -vpKFs.front()->mTimeStamp-1168.3997170918783 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5298.86376953125 - 1884.9566650390625 --1936.9251708984375 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.746066666666668 -vpKFs.front()->mTimeStamp-1181.1290920960471 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5347.27001953125 - 1900.5618896484375 --1946.6134033203125 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.779433333333333 -vpKFs.front()->mTimeStamp-1193.8918337668824 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -5394.9228515625 - 1916.9599609375 --1956.0068359375 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.812800000000001 -vpKFs.front()->mTimeStamp-1206.6879421043845 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5440.92822265625 - 1934.420654296875 --1964.808837890625 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.846166666666667 -vpKFs.front()->mTimeStamp-1219.5174171085532 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5485.091796875 - 1953.15234375 --1973.022216796875 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.879533333333333 -vpKFs.front()->mTimeStamp-1232.3802587793887 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5529.10888671875 - 1974.095947265625 --1981.4571533203125 -pKFcur->mnId598 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.9129 -vpKFs.front()->mTimeStamp-1245.2764671168907 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5573.15869140625 - 1995.7188720703125 --1989.9232177734375 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.946266666666666 -vpKFs.front()->mTimeStamp-1258.2060421210595 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5618.5498046875 - 2018.2567138671875 --1998.9625244140625 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp12.979633333333334 -vpKFs.front()->mTimeStamp-1271.1689837918948 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5665.38623046875 - 2040.04736328125 - -2008.3203125 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.013 -vpKFs.front()->mTimeStamp-1284.1652921293969 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5713.51904296875 - 2061.119873046875 --2017.990478515625 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.046366666666668 -vpKFs.front()->mTimeStamp-1297.1949671335656 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5762.3037109375 - 2082.123779296875 --2027.8680419921875 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.079733333333333 -vpKFs.front()->mTimeStamp-1310.258008804401 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5811.94580078125 - 2103.263671875 --2038.05712890625 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.113100000000001 -vpKFs.front()->mTimeStamp-1323.354417141903 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5861.982421875 -2124.870849609375 --2048.41162109375 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.146466666666667 -vpKFs.front()->mTimeStamp-1336.4841921460718 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5913.0166015625 -2146.449951171875 - -2059.095703125 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.179833333333333 -vpKFs.front()->mTimeStamp-1349.6473338169071 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5965.09423828125 -2167.603759765625 - -2070.0869140625 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.213200000000001 -vpKFs.front()->mTimeStamp-1362.8438421544092 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6018.42138671875 - 2188.2294921875 --2081.464111328125 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.246566666666666 -vpKFs.front()->mTimeStamp-1376.0737171585779 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6073.88916015625 - 2209.162109375 --2093.799072265625 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.279933333333334 -vpKFs.front()->mTimeStamp-1389.3369588294133 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6130.1220703125 - 2229.560791015625 --2106.291259765625 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.3133 -vpKFs.front()->mTimeStamp-1402.6335671669153 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6188.482421875 - 2248.760986328125 --2119.519287109375 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.346666666666668 -vpKFs.front()->mTimeStamp-1415.9635421710841 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6248.1640625 -2266.546142578125 --2133.10107421875 -pKFcur->mnId612 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 8.7106695196548323 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.380033333333333 -vpKFs.front()->mTimeStamp-1429.3268838419194 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6307.95849609375 - 2283.08251953125 --2146.444580078125 -pKFcur->mnId613 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.413400000000001 -vpKFs.front()->mTimeStamp-1442.7235921794215 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -6367.78173828125 - 2298.3779296875 --2159.514404296875 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.446766666666667 -vpKFs.front()->mTimeStamp-1456.1536671835902 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6425.7490234375 -2311.531005859375 - -2171.294921875 -pKFcur->mnId615 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.480133333333333 -vpKFs.front()->mTimeStamp-1469.6171088544256 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -6481.70654296875 - 2323.66650390625 --2181.93115234375 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.513500000000001 -vpKFs.front()->mTimeStamp-1483.1139171919276 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6536.32275390625 -2333.567626953125 - -2191.681640625 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.546866666666666 -vpKFs.front()->mTimeStamp-1496.6440921960964 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -6590.24072265625 -2341.238037109375 --2200.88427734375 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.580233333333334 -vpKFs.front()->mTimeStamp-1510.2076338669317 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6643.47607421875 - 2347.0703125 --2209.61181640625 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.6136 -vpKFs.front()->mTimeStamp-1523.8045422044338 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6695.8740234375 - 2352.0302734375 --2217.8642578125 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.646966666666668 -vpKFs.front()->mTimeStamp-1537.4348172086025 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -6746.35986328125 -2355.239013671875 - -2225.2001953125 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.680333333333333 -vpKFs.front()->mTimeStamp-1551.0984588794379 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6794.05908203125 - 2357.76513671875 --2231.37255859375 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.713700000000001 -vpKFs.front()->mTimeStamp-1564.7954672169399 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6838.111328125 - 2358.37109375 --2236.16064453125 -pKFcur->mnId623 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.747066666666667 -vpKFs.front()->mTimeStamp-1578.5258422211086 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6878.05419921875 - 2356.33544921875 --2239.59814453125 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.780433333333333 -vpKFs.front()->mTimeStamp-1592.2895838919439 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6914.05419921875 - 2352.57275390625 --2241.90966796875 -pKFcur->mnId625 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.813800000000001 -vpKFs.front()->mTimeStamp-1606.086692229446 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6946.0537109375 - 2346.9267578125 --2243.237548828125 -pKFcur->mnId626 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.847166666666666 -vpKFs.front()->mTimeStamp-1619.9171672336147 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6973.54052734375 - 2340.0869140625 --2243.598388671875 -pKFcur->mnId627 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.880533333333334 -vpKFs.front()->mTimeStamp-1633.7810089044501 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6996.568359375 - 2331.09619140625 --2243.227783203125 -pKFcur->mnId628 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.9139 -vpKFs.front()->mTimeStamp-1647.6782172419521 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -7014.80078125 - 2320.2666015625 --2242.25244140625 -pKFcur->mnId629 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.947266666666668 -vpKFs.front()->mTimeStamp-1661.6087922461209 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -7028.34814453125 - 2306.884521484375 --2240.955322265625 -pKFcur->mnId630 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp13.980633333333333 -vpKFs.front()->mTimeStamp-1675.5727339169562 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -7037.39306640625 -2292.178466796875 - -2239.41796875 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp14.014000000000001 -vpKFs.front()->mTimeStamp-1689.5700422544583 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -7042.43994140625 - 2276.4501953125 --2237.797607421875 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp14.047366666666667 -vpKFs.front()->mTimeStamp-1703.6007172586269 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -7043.88134765625 - 2259.837158203125 --2236.205810546875 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp14.080733333333333 -vpKFs.front()->mTimeStamp-1717.6647589294623 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7043.5810546875 -2243.948974609375 - -2234.5224609375 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp14.114100000000001 -vpKFs.front()->mTimeStamp-1731.7621672669643 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -7042.30224609375 - 2229.107421875 - -2232.7236328125 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp14.147466666666666 -vpKFs.front()->mTimeStamp-1745.8929422711331 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -7039.88720703125 - 2215.502685546875 --2230.802001953125 -pKFcur->mnId636 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp14.180833333333334 -vpKFs.front()->mTimeStamp-1760.0570839419684 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -7036.64013671875 - 2202.640380859375 --2228.805908203125 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5645396c2820 -pKFCur->mTimeStamp14.2142 -vpKFs.front()->mTimeStamp-1774.2545922794704 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7032.42626953125 - 2190.10302734375 --2226.788818359375 -pKFcur->mnId638 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:00b31dc396d3bf093d820cec74478afa6cc63766579ad0dab432c30a58a4538d +size 97735 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/extract_gopro_imu_stdout.txt index 14deaf261d06690b73fafb8bba0f86d85db30491..686ca4eca41f618176d416a2931df4b272520539 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 199874308 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:2167eb483007d9dcd7ce17fb77a515c8bda6f830f6ca8397945c2165be779cbe +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/imu_data.json index 417432a9ac1bcbeab79eebe061c788f50e312c10..18634bf44a1092c945eafaf745e2318a8589c6e4 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[8.532374100719425,0.023980815347721823,4.661870503597123],"cts":80.77,"date":"2015-10-18T00:43:17.760Z","temperature [°C]":62.37109375},{"value":[8.580335731414868,-0.019184652278177457,4.64748201438849],"cts":85.70597536945813,"date":"2015-10-18T00:43:17.766Z","temperature [°C]":62.37109375},{"value":[8.53956834532374,-0.0407673860911271,4.6882494004796165],"cts":90.64195073891626,"date":"2015-10-18T00:43:17.772Z","temperature [°C]":62.37109375},{"value":[8.52757793764988,-0.08633093525179857,4.707434052757794],"cts":95.5779261083744,"date":"2015-10-18T00:43:17.778Z","temperature [°C]":62.37109375},{"value":[8.537170263788969,-0.15347721822541965,4.683453237410072],"cts":100.51390147783253,"date":"2015-10-18T00:43:17.784Z","temperature [°C]":62.37109375},{"value":[8.525179856115107,-0.1223021582733813,4.733812949640288],"cts":105.44987684729067,"date":"2015-10-18T00:43:17.791Z","temperature [°C]":62.37109375},{"value":[8.498800959232614,-0.10311750599520383,4.853717026378897],"cts":110.3858522167488,"date":"2015-10-18T00:43:17.797Z","temperature [°C]":62.37109375},{"value":[8.462829736211031,-0.11270983213429256,4.92326139088729],"cts":115.32182758620694,"date":"2015-10-18T00:43:17.803Z","temperature [°C]":62.37109375},{"value":[8.453237410071942,-0.11031175059952038,4.892086330935252],"cts":120.25780295566507,"date":"2015-10-18T00:43:17.809Z","temperature [°C]":62.37109375},{"value":[8.450839328537171,-0.045563549160671464,4.920863309352518],"cts":125.1937783251232,"date":"2015-10-18T00:43:17.816Z","temperature [°C]":62.37109375},{"value":[8.450839328537171,-0.03117505995203837,5],"cts":130.12975369458132,"date":"2015-10-18T00:43:17.822Z","temperature [°C]":62.37109375},{"value":[8.455635491606715,-0.05275779376498801,5.002398081534772],"cts":135.06572906403946,"date":"2015-10-18T00:43:17.828Z","temperature [°C]":62.37109375},{"value":[8.46043165467626,-0.04316546762589928,4.947242206235012],"cts":140.0017044334976,"date":"2015-10-18T00:43:17.834Z","temperature [°C]":62.37109375},{"value":[8.486810551558753,-0.0671462829736211,5.0071942446043165],"cts":144.93767980295573,"date":"2015-10-18T00:43:17.841Z","temperature [°C]":62.37109375},{"value":[8.532374100719425,-0.12949640287769784,5.03357314148681],"cts":149.87365517241386,"date":"2015-10-18T00:43:17.847Z","temperature [°C]":62.37109375},{"value":[8.496402877697841,-0.19664268585131894,5.040767386091127],"cts":154.809630541872,"date":"2015-10-18T00:43:17.853Z","temperature [°C]":62.37109375},{"value":[8.489208633093526,-0.2278177458033573,5.057553956834532],"cts":159.74560591133013,"date":"2015-10-18T00:43:17.859Z","temperature [°C]":62.37109375},{"value":[8.529976019184652,-0.30455635491606714,5.079136690647482],"cts":164.68158128078827,"date":"2015-10-18T00:43:17.865Z","temperature [°C]":62.37109375},{"value":[8.522781774580336,-0.35731414868105515,5.07673860911271],"cts":169.6175566502464,"date":"2015-10-18T00:43:17.872Z","temperature [°C]":62.37109375},{"value":[8.498800959232614,-0.3932853717026379,5.09832134292566],"cts":174.55353201970453,"date":"2015-10-18T00:43:17.878Z","temperature [°C]":62.37109375},{"value":[8.49400479616307,-0.3669064748201439,5.086330935251799],"cts":179.48950738916267,"date":"2015-10-18T00:43:17.884Z","temperature [°C]":62.37109375},{"value":[8.462829736211031,-0.34532374100719426,5.05515587529976],"cts":184.4254827586208,"date":"2015-10-18T00:43:17.890Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:fe0eb0f62a322fd7ef959c298f0b8f0a694c38b5e401a36cfb6393c79d56d88c +size 2378188 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stdout.txt index 6b22a955af4def0ed8d4d883e343c55757a3ec47..2986e588a7551d5f97b1dea5593c7f97af2c045f 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stdout.txt @@ -1,4195 +1,3 @@ -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 1594 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 7.44351 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a7143d0ba0 -pKFCur->mTimeStamp0.11678333333333334 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp3.7037 -vpKFs.front()->mTimeStamp-63.346600008337496 -vpKFs.back()->mTimeStamp-0.016675004168751048 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -0.52546477317810059 - -1.3999514579772949 --0.17255035042762756 -pKFcur->mnId493 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp3.8705333333333334 -vpKFs.front()->mTimeStamp-67.066975012506248 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -0.52546477317810059 - -1.3999514579772949 --0.17255035042762756 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.0206833333333334 -vpKFs.front()->mTimeStamp-70.954183350008336 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0.38573351502418518 - 2.369861364364624 --0.60576105117797852 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.1708333333333334 -vpKFs.front()->mTimeStamp-74.99154168751042 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 0.47396638989448547 - 2.5266947746276855 --0.61922484636306763 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.3043000000000005 -vpKFs.front()->mTimeStamp-79.179050025012501 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 0.2660791277885437 - 1.5612735748291016 --0.25184321403503418 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.4544500000000005 -vpKFs.front()->mTimeStamp-83.500025029181245 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0.50146025419235229 - 0.60748291015625 --0.54990392923355103 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.5545499999999999 -vpKFs.front()->mTimeStamp-87.97115003335 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -0.19351303577423096 --0.63013279438018799 --0.74780082702636719 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.6880166666666669 -vpKFs.front()->mTimeStamp-92.542375037518752 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1.05699622631073 - -1.313879132270813 --0.31718674302101135 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.8048000000000002 -vpKFs.front()->mTimeStamp-97.247066708354168 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1.6389358043670654 - -1.7513736486434937 --0.82323795557022095 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp4.9382666666666664 -vpKFs.front()->mTimeStamp-102.06854171252292 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2.0119256973266602 - -1.0475049018859863 --0.36919933557510376 -pKFcur->mnId502 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.029953699722931 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.0717333333333334 -vpKFs.front()->mTimeStamp-107.02348338335833 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2.1646935939788818 --0.55897432565689087 --0.27151614427566528 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.2218833333333334 -vpKFs.front()->mTimeStamp-112.11189172086041 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3.1872258186340332 - 0.87585896253585815 --0.69722020626068115 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.3553500000000005 -vpKFs.front()->mTimeStamp-117.3504500583625 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6.4451308250427246 - 1.2482146024703979 --0.78949695825576782 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.5055000000000005 -vpKFs.front()->mTimeStamp-122.72247506253125 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -10.449770927429199 - 1.9310814142227173 --1.3543044328689575 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.5388666666666664 -vpKFs.front()->mTimeStamp-128.24465006669999 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 14.896089553833008 --2.5166926383972168 - 6.7393651008605957 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.5722333333333331 -vpKFs.front()->mTimeStamp-133.80019173753541 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -8.0234384536743164 - -2.8319213390350342 --0.0044791046530008316 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.6556500000000005 -vpKFs.front()->mTimeStamp-139.3891000750375 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 6.910773754119873 -2.5133211612701416 -3.1878163814544678 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.8058000000000005 -vpKFs.front()->mTimeStamp-145.06142507920626 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5.0400099754333496 --0.45226934552192688 --0.74919986724853516 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp5.9058999999999999 -vpKFs.front()->mTimeStamp-150.88390008337501 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 6.1788878440856934 -0.6219443678855896 -4.1097793579101562 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.0560499999999999 -vpKFs.front()->mTimeStamp-156.80647508754376 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -8.2662372589111328 - -0.61477446556091309 --0.017191376537084579 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.0894166666666667 -vpKFs.front()->mTimeStamp-162.87920009171251 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 11.22202205657959 -2.1933166980743408 -10.037155151367188 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.1728333333333332 -vpKFs.front()->mTimeStamp-168.98529176254792 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6.9982771873474121 --0.31977084279060364 - -2.8809680938720703 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.2395666666666667 -vpKFs.front()->mTimeStamp-175.17480010004999 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 8.8831586837768555 -2.0196456909179688 -8.6398811340332031 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.2729333333333335 -vpKFs.front()->mTimeStamp-181.4310417708854 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6.4808802604675293 --0.23304665088653564 - -3.1780848503112793 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.3063000000000002 -vpKFs.front()->mTimeStamp-187.72065010838747 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 12.379159927368164 -2.1390480995178223 -13.409080505371094 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.339666666666667 -vpKFs.front()->mTimeStamp-194.04362511255621 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 3.0325927734375 --3.3319900035858154 - 8.0025768280029297 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.489816666666667 -vpKFs.front()->mTimeStamp-200.39996678339162 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1.7053040266036987 -0.08882797509431839 - 2.9821481704711914 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.6066000000000003 -vpKFs.front()->mTimeStamp-206.90645845422705 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1.2012709379196167 -1.8874485492706299 -2.9793295860290527 -pKFcur->mnId520 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.632076936262322 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.7400666666666664 -vpKFs.front()->mTimeStamp-213.52973345839581 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 2.9384009838104248 -4.2925567626953125 -4.1197872161865234 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.8568500000000006 -vpKFs.front()->mTimeStamp-220.28647512923123 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 8.1957101821899414 - 3.743971586227417 -2.8688216209411621 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp6.9903166666666667 -vpKFs.front()->mTimeStamp-227.16000013339999 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 11.265772819519043 -1.6781908273696899 -2.1394648551940918 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp7.1237833333333338 -vpKFs.front()->mTimeStamp-234.16699180423541 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 5.0977554321289062 --3.0994353294372559 - 2.1090900897979736 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp7.25725 -vpKFs.front()->mTimeStamp-241.30745014173749 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 3.7273869514465332 --3.8299710750579834 - 4.5886325836181641 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp7.390716666666667 -vpKFs.front()->mTimeStamp-248.58137514590624 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 6.5507593154907227 --5.2713665962219238 - 3.2784266471862793 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp7.5241833333333332 -vpKFs.front()->mTimeStamp-255.98876681674165 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 4.4052596092224121 --7.796999454498291 - 2.634408712387085 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp7.6242833333333335 -vpKFs.front()->mTimeStamp-263.52962515424372 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 3.6903512477874756 --7.4177703857421875 - 2.9183573722839355 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp7.7577499999999997 -vpKFs.front()->mTimeStamp-271.17058349174579 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.6127252578735352 --6.4916467666625977 - 2.897050142288208 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp7.8912166666666668 -vpKFs.front()->mTimeStamp-278.94500849591452 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1.672565221786499 --4.6358485221862793 - 3.6056907176971436 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.0246833333333338 -vpKFs.front()->mTimeStamp-286.85290016674992 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 3.1090123653411865 --1.6769896745681763 - 3.1949872970581055 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.1414666666666662 -vpKFs.front()->mTimeStamp-294.89425850425198 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 4.890925407409668 -1.3289428949356079 -3.1465854644775391 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.2582500000000003 -vpKFs.front()->mTimeStamp-303.05240017508737 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 7.7998809814453125 -1.2790184020996094 -3.0681123733520508 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.3083000000000009 -vpKFs.front()->mTimeStamp-311.32732517925615 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -9.0835065841674805 --9.8809375762939453 - 2.5639562606811523 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.3583499999999997 -vpKFs.front()->mTimeStamp-319.65230018342493 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.8190524578094482 --3.6851983070373535 - 1.2572258710861206 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.4751333333333339 -vpKFs.front()->mTimeStamp-328.0273251875937 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 4.3250322341918945 -1.4065636396408081 -2.8917527198791504 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.5919166666666662 -vpKFs.front()->mTimeStamp-336.51913352509581 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 2.1314258575439453 --0.057210303843021393 - 2.6749453544616699 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.7253833333333333 -vpKFs.front()->mTimeStamp-345.12772519593125 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1.3918256759643555 --5.8288216590881348 - 4.2074675559997559 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.8421666666666674 -vpKFs.front()->mTimeStamp-353.86978353343335 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1.1494876146316528 --5.6268205642700195 - 4.4368438720703125 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp8.9422666666666668 -vpKFs.front()->mTimeStamp-362.72862520426878 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3.0508317947387695 --8.5470180511474609 - 2.4914648532867432 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.0590500000000009 -vpKFs.front()->mTimeStamp-371.68756687510421 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -6.1578989028930664 --11.436772346496582 - 3.7674925327301025 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.1925166666666662 -vpKFs.front()->mTimeStamp-380.76329187927297 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4.4662389755249023 --14.118325233459473 - 3.648808479309082 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.3259833333333333 -vpKFs.front()->mTimeStamp-389.97248355010839 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1.3016921281814575 --15.227972030639648 - 2.9697916507720947 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.4427666666666674 -vpKFs.front()->mTimeStamp-399.31514188761048 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 7.5864253044128418 --11.921609878540039 - 2.8506245613098145 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.5762333333333327 -vpKFs.front()->mTimeStamp-408.7745835584459 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 8.2955093383789062 --5.1227459907531738 - 1.8683780431747437 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.6763333333333339 -vpKFs.front()->mTimeStamp-418.36749189594798 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 4.68572998046875 -1.6479096412658691 -1.6355572938919067 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.8264833333333339 -vpKFs.front()->mTimeStamp-428.06050023345006 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.3701088428497314 -4.7553668022155762 -2.1620962619781494 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp9.959950000000001 -vpKFs.front()->mTimeStamp-437.90365857095213 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -0.42472553253173828 - 10.748660087585449 - 1.5608698129653931 -pKFcur->mnId548 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.150509724818415 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.076733333333333 -vpKFs.front()->mTimeStamp-447.88028357512087 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3.359177827835083 -10.011736869812012 -2.2310707569122314 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.176833333333333 -vpKFs.front()->mTimeStamp-457.97369191262294 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 4.4474000930786133 --12.870745658874512 - 8.9106521606445312 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.3103 -vpKFs.front()->mTimeStamp-468.16720025012501 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7.315284252166748 -5.2582488059997559 -3.5308797359466553 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.393716666666666 -vpKFs.front()->mTimeStamp-478.49417525429374 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7.1216816902160645 --9.3190040588378906 - 11.312176704406738 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.543866666666666 -vpKFs.front()->mTimeStamp-488.90456692512913 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5.5563039779663086 - -1.339292049407959 - 6.0725698471069336 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.6106 -vpKFs.front()->mTimeStamp-499.46510859596452 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 6.2282490730285645 --5.4808969497680664 - 11.198415756225586 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.66065 -vpKFs.front()->mTimeStamp-510.0923836001333 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4.9076976776123047 --3.0650033950805664 - 10.361212730407715 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.76075 -vpKFs.front()->mTimeStamp-520.76970860430208 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1.9463635683059692 --5.7530717849731445 - 6.1254148483276367 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.844166666666666 -vpKFs.front()->mTimeStamp-531.54713360847086 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 3.0454552173614502 --4.775641918182373 -9.6270198822021484 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp10.96095 -vpKFs.front()->mTimeStamp-542.40797527930624 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 3.9744176864624023 --4.4352974891662598 - 7.2541418075561523 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.077733333333333 -vpKFs.front()->mTimeStamp-553.38560028347501 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 5.7321596145629883 --2.7878131866455078 - 8.345820426940918 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.161150000000001 -vpKFs.front()->mTimeStamp-564.48000862097706 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0.48560747504234314 --7.7278633117675781 - 6.8875203132629395 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.2112 -vpKFs.front()->mTimeStamp-575.65783362514583 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 16.539224624633789 --12.040020942687988 - 5.8901429176330566 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.311300000000001 -vpKFs.front()->mTimeStamp-586.88570862931454 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 10.425754547119141 --6.9352869987487793 - 5.6880803108215332 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.428083333333333 -vpKFs.front()->mTimeStamp-598.21368363348324 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 11.323904037475586 --7.5070128440856934 - 6.5462937355041504 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.578233333333333 -vpKFs.front()->mTimeStamp-609.65844197098534 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 6.2697958946228027 --6.1774382591247559 - 5.1530981063842773 -pKFcur->mnId564 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.147256870619069 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.7117 -vpKFs.front()->mTimeStamp-621.25335030848737 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 9.2553424835205078 --6.954127311706543 -3.4839093685150146 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.845166666666668 -vpKFs.front()->mTimeStamp-632.98172531265607 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 7.6953268051147461 - -7.072838306427002 --1.0189030170440674 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp11.978633333333333 -vpKFs.front()->mTimeStamp-644.84356698349154 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -0.073176339268684387 - -9.6958236694335938 - 6.051490306854248 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp12.128783333333333 -vpKFs.front()->mTimeStamp-656.83887532099368 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2.0965645313262939 --12.608441352844238 - 5.4208002090454102 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp12.278933333333333 -vpKFs.front()->mTimeStamp-668.98433365849576 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -0.37142637372016907 - -18.576784133911133 - 5.1725411415100098 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp12.429083333333333 -vpKFs.front()->mTimeStamp-681.27994199599789 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 5.5425677299499512 --18.679290771484375 - 4.2827835083007812 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp12.595916666666668 -vpKFs.front()->mTimeStamp-693.72570033349996 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 12.354511260986328 --14.921188354492188 - 3.6598522663116455 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp12.729383333333333 -vpKFs.front()->mTimeStamp-706.33829200433536 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 12.611504554748535 --0.0019378876313567162 - 2.8339691162109375 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp12.896216666666668 -vpKFs.front()->mTimeStamp-719.08435034183742 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 7.7752809524536133 -3.7956974506378174 -3.2595207691192627 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.029683333333333 -vpKFs.front()->mTimeStamp-731.99724201267281 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7.1824121475219727 -5.7923903465270996 -2.3364968299865723 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.146466666666667 -vpKFs.front()->mTimeStamp-745.04360035017487 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 5.2317681312561035 -4.7276358604431152 - 2.567650318145752 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.263250000000001 -vpKFs.front()->mTimeStamp-758.20674202101031 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 5.189173698425293 -2.3755805492401123 -2.6191637516021729 -pKFcur->mnId576 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.05946383953304 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.430083333333334 -vpKFs.front()->mTimeStamp-771.48666702517903 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.8946077823638916 --0.38462179899215698 - 1.7465544939041138 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.563550000000001 -vpKFs.front()->mTimeStamp-784.93342536268108 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 2.7275238037109375 --2.1921288967132568 - 2.4924111366271973 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.663650000000001 -vpKFs.front()->mTimeStamp-798.51365036684979 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5.7465872764587402 --4.8979425430297852 - 1.9514191150665283 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.780433333333333 -vpKFs.front()->mTimeStamp-812.1939753710185 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 6.1449956893920898 --3.3148725032806396 - 4.5449542999267578 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp13.947266666666668 -vpKFs.front()->mTimeStamp-825.99108370852059 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4.0979423522949219 --11.657538414001465 - 3.6444902420043945 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp14.130783333333333 -vpKFs.front()->mTimeStamp-839.95502537935602 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0.97882556915283203 --19.320493698120117 - 3.0455198287963867 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp14.280933333333333 -vpKFs.front()->mTimeStamp-854.10248371685805 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2.5834951400756836 - 7.3837699890136719 -0.68847560882568359 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp14.414400000000001 -vpKFs.front()->mTimeStamp-868.40009205436013 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 22.971349716186523 --16.418228149414062 - 1.132457971572876 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp14.5145 -vpKFs.front()->mTimeStamp-882.83116705852888 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -15.597740173339844 - 9.1390466690063477 --0.40220418572425842 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp14.647966666666667 -vpKFs.front()->mTimeStamp-897.36234206269762 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 19.206130981445312 - -2.593165397644043 --0.006385341752320528 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp14.798116666666667 -vpKFs.front()->mTimeStamp-912.02698373353303 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 11.035558700561523 - 4.1381902694702148 --0.038742192089557648 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp14.931583333333334 -vpKFs.front()->mTimeStamp-926.84177540436849 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1.5960954427719116 - 8.3148603439331055 --0.84201472997665405 -pKFcur->mnId588 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.964235979384043 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp15.098416666666667 -vpKFs.front()->mTimeStamp-941.79003374187062 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 11.534231185913086 - 11.17608642578125 --0.62112271785736084 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp15.231883333333334 -vpKFs.front()->mTimeStamp-956.90512541270607 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 16.600009918212891 - 9.0863142013549805 --1.7901014089584351 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp15.348666666666666 -vpKFs.front()->mTimeStamp-972.15368375020819 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -17.328639984130859 --10.140120506286621 - 4.3962507247924805 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp15.498816666666666 -vpKFs.front()->mTimeStamp-987.51902542104358 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 10.047901153564453 - 11.692885398864746 --2.3670547008514404 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp15.632283333333334 -vpKFs.front()->mTimeStamp-1003.034517091879 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0.53362149000167847 - 16.521554946899414 --1.9332029819488525 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp15.749066666666668 -vpKFs.front()->mTimeStamp-1018.6834754293811 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5.9635753631591797 --18.033693313598633 - 7.5977120399475098 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp15.882533333333333 -vpKFs.front()->mTimeStamp-1034.4492171002166 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 0.95551633834838867 - 8.2570524215698242 --2.0881822109222412 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp16.016000000000002 -vpKFs.front()->mTimeStamp-1050.3484254377188 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -7.3593254089355469 --12.919913291931152 - 5.3880090713500977 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp16.166150000000002 -vpKFs.front()->mTimeStamp-1066.3811004418876 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4.8558387756347656 --2.5941877365112305 - 1.317008376121521 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp16.366350000000001 -vpKFs.front()->mTimeStamp-1082.5639254460564 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0.89554071426391602 --5.4900779724121094 - 1.1630169153213501 -pKFcur->mnId598 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp16.549866666666667 -vpKFs.front()->mTimeStamp-1098.9469504502251 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5.4970002174377441 --4.3003339767456055 - 1.4422755241394043 -pKFcur->mnId599 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 10.08135583590081 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp16.733383333333332 -vpKFs.front()->mTimeStamp-1115.5134921210606 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6.4718198776245117 --4.7741618156433105 - 1.2223670482635498 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp16.900216666666665 -vpKFs.front()->mTimeStamp-1132.2635504585628 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -13.974669456481934 --14.124912261962891 - 1.7426749467849731 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.067050000000002 -vpKFs.front()->mTimeStamp-1149.1804421293982 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -15.714033126831055 - -21.273275375366211 --0.30913642048835754 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.150466666666667 -vpKFs.front()->mTimeStamp-1166.2641671335671 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 8.4557428359985352 - 15.220147132873535 --0.94484823942184448 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.200516666666665 -vpKFs.front()->mTimeStamp-1183.4313088044025 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -13.502132415771484 --15.066990852355957 --5.3440299034118652 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.300616666666667 -vpKFs.front()->mTimeStamp-1200.6485004752381 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 8.0633773803710938 -9.9148311614990234 -1.6513937711715698 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.367350000000002 -vpKFs.front()->mTimeStamp-1217.9657921460735 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -15.813761711120605 --18.885749816894531 --2.9761886596679688 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.467449999999999 -vpKFs.front()->mTimeStamp-1235.3498171502422 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 9.3125848770141602 - 12.644062995910645 -0.21627740561962128 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.517500000000002 -vpKFs.front()->mTimeStamp-1252.833942154411 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -12.20585823059082 --6.6327285766601562 --2.7223560810089111 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.701016666666668 -vpKFs.front()->mTimeStamp-1270.3681171585797 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -0.63704925775527954 - 3.7826404571533203 --0.081081949174404144 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp17.901216666666667 -vpKFs.front()->mTimeStamp-1288.0858088294151 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 14.578094482421875 - 4.2090921401977539 --1.1927652359008789 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp18.018000000000001 -vpKFs.front()->mTimeStamp-1306.0037005002505 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -18.618425369262695 --6.7839679718017578 - 5.4668917655944824 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp18.068049999999999 -vpKFs.front()->mTimeStamp-1324.0383755044193 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -0.61818265914916992 - 9.0738964080810547 - 3.1710448265075684 -pKFcur->mnId612 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp18.251566666666665 -vpKFs.front()->mTimeStamp-1342.1231005085881 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6.1158318519592285 - 1.5234001874923706 --1.4567285776138306 -pKFcur->mnId613 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.173004965272233 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp18.435083333333335 -vpKFs.front()->mTimeStamp-1360.3913421794234 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -11.268062591552734 - 2.5209815502166748 - 1.3131005764007568 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp18.585233333333335 -vpKFs.front()->mTimeStamp-1378.8431005169255 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -13.390823364257812 --0.32136073708534241 --0.14780044555664062 -pKFcur->mnId615 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp18.752066666666668 -vpKFs.front()->mTimeStamp-1397.4450088544274 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -13.577079772949219 --4.6992144584655762 -0.83493393659591675 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp18.952266666666667 -vpKFs.front()->mTimeStamp-1416.2137505252629 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -30.639425277709961 - -17.778886795043945 --0.86665761470794678 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.035683333333335 -vpKFs.front()->mTimeStamp-1435.1826921960983 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 24.416751861572266 -10.780214309692383 -3.6791825294494629 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.102416666666667 -vpKFs.front()->mTimeStamp-1454.2350505336003 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -36.207572937011719 --6.2633519172668457 --7.1977682113647461 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.185833333333335 -vpKFs.front()->mTimeStamp-1473.3541422044357 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 29.242948532104492 --1.141045093536377 - 11.67525577545166 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.285933333333332 -vpKFs.front()->mTimeStamp-1492.5566505419379 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -48.697761535644531 --6.0644917488098145 --5.3464674949645996 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.369350000000001 -vpKFs.front()->mTimeStamp-1511.8592588794399 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 36.651237487792969 --1.4163786172866821 - 15.37325382232666 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.436083333333332 -vpKFs.front()->mTimeStamp-1531.2452838836086 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -36.509956359863281 --8.3070249557495117 --4.8199076652526855 -pKFcur->mnId623 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.469450000000002 -vpKFs.front()->mTimeStamp-1550.6980422211107 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -36.509956359863281 --8.3070249557495117 --4.8199076652526855 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.536183333333334 -vpKFs.front()->mTimeStamp-1570.1841672252795 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 22.301677703857422 --0.77566725015640259 - 18.781772613525391 -pKFcur->mnId625 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.56955 -vpKFs.front()->mTimeStamp-1589.7370255627816 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 22.301677703857422 --0.77566725015640259 - 18.781772613525391 -pKFcur->mnId626 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.619600000000002 -vpKFs.front()->mTimeStamp-1609.3232505669503 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 22.301677703857422 --0.77566725015640259 - 18.781772613525391 -pKFcur->mnId627 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.7197 -vpKFs.front()->mTimeStamp-1628.959525571119 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -28.622905731201172 --8.6747627258300781 - -1.600677490234375 -pKFcur->mnId628 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.753066666666665 -vpKFs.front()->mTimeStamp-1648.6959005752879 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 43.308734893798828 -15.899749755859375 -29.874725341796875 -pKFcur->mnId629 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.819800000000001 -vpKFs.front()->mTimeStamp-1668.4656422461233 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -48.870052337646484 --22.604682922363281 --8.8756961822509766 -pKFcur->mnId630 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.853166666666667 -vpKFs.front()->mTimeStamp-1688.302117250292 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -163.55101013183594 - 10.864852905273438 --49.220306396484375 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.886533333333333 -vpKFs.front()->mTimeStamp-1708.1719589211275 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -280.60205078125 - 47.617576599121094 --92.429786682128906 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.919900000000002 -vpKFs.front()->mTimeStamp-1728.0751672586296 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1260 -1691 pKFcur->GetVelocity() -395.72171020507812 - 84.738639831542969 --133.76394653320312 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.953266666666668 -vpKFs.front()->mTimeStamp-1748.0117422627984 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -509.67349243164062 - 123.57199859619141 --174.77265930175781 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp19.986633333333334 -vpKFs.front()->mTimeStamp-1767.9816839336338 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -622.0909423828125 - 163.06489562988281 --214.64178466796875 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.02 -vpKFs.front()->mTimeStamp-1787.984992271136 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -734.2249755859375 - 202.22625732421875 --254.05375671386719 -pKFcur->mnId636 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 7.7533031067710398 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.053366666666665 -vpKFs.front()->mTimeStamp-1808.0216672753047 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -846.77850341796875 - 240.41970825195312 --293.38180541992188 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.086733333333335 -vpKFs.front()->mTimeStamp-1828.0917089461402 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -960.3846435546875 - 277.61602783203125 --333.09567260742188 -pKFcur->mnId638 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.120100000000001 -vpKFs.front()->mTimeStamp-1848.1951172836423 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1075.2965087890625 - 313.53936767578125 --373.35028076171875 -pKFcur->mnId639 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.153466666666667 -vpKFs.front()->mTimeStamp-1868.3318922878111 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1191.705810546875 - 347.5284423828125 --414.17489624023438 -pKFcur->mnId640 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.186833333333333 -vpKFs.front()->mTimeStamp-1888.5020339586465 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1309.60888671875 - 379.94476318359375 --455.71368408203125 -pKFcur->mnId641 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.220200000000002 -vpKFs.front()->mTimeStamp-1908.7055422961487 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1309.60888671875 - 379.94476318359375 --455.71368408203125 -pKFcur->mnId642 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.253566666666668 -vpKFs.front()->mTimeStamp-1928.9424173003174 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1432.0439453125 - 410.46395874023438 --500.24066162109375 -pKFcur->mnId643 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.286933333333334 -vpKFs.front()->mTimeStamp-1949.2126589711529 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1555.9295654296875 - 440.7265625 --545.78692626953125 -pKFcur->mnId644 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.3203 -vpKFs.front()->mTimeStamp-1969.516267308655 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1679.6085205078125 - 470.48388671875 - -590.967041015625 -pKFcur->mnId645 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.353666666666665 -vpKFs.front()->mTimeStamp-1989.8532423128238 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1801.89111328125 -499.73712158203125 --634.8726806640625 -pKFcur->mnId646 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.387033333333335 -vpKFs.front()->mTimeStamp-2010.2235839836592 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1923.1304931640625 - 528.86297607421875 --677.86395263671875 -pKFcur->mnId647 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.420400000000001 -vpKFs.front()->mTimeStamp-2030.6272923211613 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2043.8004150390625 - 558.340087890625 --720.40948486328125 -pKFcur->mnId648 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.453766666666667 -vpKFs.front()->mTimeStamp-2051.0643673253303 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2164.64599609375 - 588.480712890625 --763.11749267578125 -pKFcur->mnId649 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.487133333333333 -vpKFs.front()->mTimeStamp-2071.5348089961658 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2285.4091796875 -619.3780517578125 - -805.81396484375 -pKFcur->mnId650 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.520500000000002 -vpKFs.front()->mTimeStamp-2092.0386173336678 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2405.46728515625 - 650.3470458984375 --847.9010009765625 -pKFcur->mnId651 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.553866666666668 -vpKFs.front()->mTimeStamp-2112.5757923378364 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2525.04150390625 - 681.48626708984375 --889.57550048828125 -pKFcur->mnId652 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.587233333333334 -vpKFs.front()->mTimeStamp-2133.1463340086721 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2643.609375 - 713.10723876953125 --930.36077880859375 -pKFcur->mnId653 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.6206 -vpKFs.front()->mTimeStamp-2153.7502423461742 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2763.37451171875 - 745.59765625 --972.2423095703125 -pKFcur->mnId654 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.653966666666665 -vpKFs.front()->mTimeStamp-2174.3875173503429 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2882.13671875 - 777.1614990234375 --1012.8157958984375 -pKFcur->mnId655 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.687333333333335 -vpKFs.front()->mTimeStamp-2195.0581590211782 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3001.56103515625 - 809.998291015625 --1054.30517578125 -pKFcur->mnId656 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.720700000000001 -vpKFs.front()->mTimeStamp-2215.7621673586805 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3120.1845703125 -844.58746337890625 - -1095.46337890625 -pKFcur->mnId657 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.754066666666667 -vpKFs.front()->mTimeStamp-2236.4995423628493 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3237.745849609375 - 879.13824462890625 --1135.7520751953125 -pKFcur->mnId658 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.787433333333333 -vpKFs.front()->mTimeStamp-2257.2702840336847 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3354.322509765625 - 914.43524169921875 --1175.3978271484375 -pKFcur->mnId659 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.820800000000002 -vpKFs.front()->mTimeStamp-2278.0743923711866 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3470.566650390625 - 949.943359375 - -1214.484375 -pKFcur->mnId660 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.854166666666668 -vpKFs.front()->mTimeStamp-2298.9118673753555 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3588.29248046875 - 986.14117431640625 --1254.9425048828125 -pKFcur->mnId661 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.887533333333334 -vpKFs.front()->mTimeStamp-2319.782709046191 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3708.038330078125 - 1022.126953125 --1296.7242431640625 -pKFcur->mnId662 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.9209 -vpKFs.front()->mTimeStamp-2340.6869173836931 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3828.958984375 - 1058.1298828125 --1339.2828369140625 -pKFcur->mnId663 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.954266666666665 -vpKFs.front()->mTimeStamp-2361.6244923878617 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3948.93603515625 - 1095.0780029296875 --1381.2679443359375 -pKFcur->mnId664 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp20.987633333333335 -vpKFs.front()->mTimeStamp-2382.5954340586973 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4067.200439453125 -1133.4071044921875 --1422.233154296875 -pKFcur->mnId665 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.021000000000001 -vpKFs.front()->mTimeStamp-2403.5997423961994 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4183.00830078125 - 1172.4813232421875 --1461.2606201171875 -pKFcur->mnId666 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.054366666666667 -vpKFs.front()->mTimeStamp-2424.6374174003681 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -4298.1484375 - 1213.1104736328125 --1500.2987060546875 -pKFcur->mnId667 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.087733333333333 -vpKFs.front()->mTimeStamp-2445.7084590712034 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4411.189453125 -1253.5560302734375 - -1537.43505859375 -pKFcur->mnId668 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.121100000000002 -vpKFs.front()->mTimeStamp-2466.8128674087056 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4523.18798828125 - 1295.82763671875 --1574.58056640625 -pKFcur->mnId669 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.154466666666668 -vpKFs.front()->mTimeStamp-2487.9506424128745 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4633.63671875 -1338.7220458984375 --1610.772216796875 -pKFcur->mnId670 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.187833333333334 -vpKFs.front()->mTimeStamp-2509.1217840837098 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4743.50537109375 - 1382.2642822265625 --1646.6658935546875 -pKFcur->mnId671 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.2212 -vpKFs.front()->mTimeStamp-2530.3262924212117 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -4852.93994140625 - 1426.8577880859375 --1682.4578857421875 -pKFcur->mnId672 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.254566666666665 -vpKFs.front()->mTimeStamp-2551.5641674253807 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4962.63232421875 -1471.9439697265625 - -1718.447265625 -pKFcur->mnId673 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.287933333333335 -vpKFs.front()->mTimeStamp-2572.8354090962162 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -5072.51025390625 -1517.6898193359375 --1754.634521484375 -pKFcur->mnId674 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.337983333333334 -vpKFs.front()->mTimeStamp-2594.1400174337182 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5182.6591796875 -1564.2757568359375 - -1791.123046875 -pKFcur->mnId675 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.404716666666666 -vpKFs.front()->mTimeStamp-2615.49467577122 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5182.6591796875 -1564.2757568359375 - -1791.123046875 -pKFcur->mnId676 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.438083333333335 -vpKFs.front()->mTimeStamp-2636.9160674420555 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5182.6591796875 -1564.2757568359375 - -1791.123046875 -pKFcur->mnId677 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.471450000000001 -vpKFs.front()->mTimeStamp-2658.3708257795574 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5290.95068359375 - 1612.7882080078125 --1826.5904541015625 -pKFcur->mnId678 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.538183333333333 -vpKFs.front()->mTimeStamp-2679.858950783726 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5290.95068359375 - 1612.7882080078125 --1826.5904541015625 -pKFcur->mnId679 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.588233333333335 -vpKFs.front()->mTimeStamp-2701.413809121228 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5290.95068359375 - 1612.7882080078125 --1826.5904541015625 -pKFcur->mnId680 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.621600000000001 -vpKFs.front()->mTimeStamp-2723.01871745873 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5399.39111328125 - 1663.2757568359375 --1862.3204345703125 -pKFcur->mnId681 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.654966666666667 -vpKFs.front()->mTimeStamp-2744.6569924628989 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5508.00927734375 -1713.2415771484375 --1897.937744140625 -pKFcur->mnId682 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.688333333333333 -vpKFs.front()->mTimeStamp-2766.3286341337343 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -5617.12890625 -1763.9468994140625 --1934.004638671875 -pKFcur->mnId683 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 8.285482737246431 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.721700000000002 -vpKFs.front()->mTimeStamp-2788.0336424712364 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5726.35888671875 -1815.0489501953125 --1970.160888671875 -pKFcur->mnId684 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.755066666666668 -vpKFs.front()->mTimeStamp-2809.7720174754049 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5726.35888671875 -1815.0489501953125 --1970.160888671875 -pKFcur->mnId685 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.788433333333334 -vpKFs.front()->mTimeStamp-2831.5437591462405 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5835.4970703125 - 1866.681396484375 --2006.227783203125 -pKFcur->mnId686 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.8218 -vpKFs.front()->mTimeStamp-2853.3488674837427 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5835.4970703125 - 1866.681396484375 --2006.227783203125 -pKFcur->mnId687 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.855166666666666 -vpKFs.front()->mTimeStamp-2875.1873424879113 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5835.4970703125 - 1866.681396484375 --2006.227783203125 -pKFcur->mnId688 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.888533333333335 -vpKFs.front()->mTimeStamp-2897.0591841587466 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5943.63037109375 - 1918.307861328125 --2041.3973388671875 -pKFcur->mnId689 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.921900000000001 -vpKFs.front()->mTimeStamp-2918.9643924962488 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -6051.8662109375 - 1970.21044921875 --2076.604248046875 -pKFcur->mnId690 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.955266666666667 -vpKFs.front()->mTimeStamp-2940.9029675004176 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6158.71240234375 -2021.8114013671875 - -2110.79443359375 -pKFcur->mnId691 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp21.988633333333333 -vpKFs.front()->mTimeStamp-2962.874909171253 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -6263.57861328125 - 2072.934326171875 --2143.598388671875 -pKFcur->mnId692 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.038683333333335 -vpKFs.front()->mTimeStamp-2984.8802175087549 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6366.3544921875 -2123.850341796875 - -2175.0791015625 -pKFcur->mnId693 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.072050000000001 -vpKFs.front()->mTimeStamp-3006.9355758462571 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6467.62841796875 - 2174.658203125 --2205.60205078125 -pKFcur->mnId694 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.1221 -vpKFs.front()->mTimeStamp-3029.0243008504258 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -6467.62841796875 - 2174.658203125 --2205.60205078125 -pKFcur->mnId695 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.155466666666666 -vpKFs.front()->mTimeStamp-3051.1630758545944 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6467.62841796875 - 2174.658203125 --2205.60205078125 -pKFcur->mnId696 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.188833333333335 -vpKFs.front()->mTimeStamp-3073.3352175254299 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -6570.56982421875 - 2226.798583984375 --2237.097412109375 -pKFcur->mnId697 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.222200000000001 -vpKFs.front()->mTimeStamp-3095.540725862932 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6674.31201171875 - 2279.43603515625 - -2269.068359375 -pKFcur->mnId698 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.255566666666667 -vpKFs.front()->mTimeStamp-3117.7796008671007 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6778.19287109375 - 2332.80078125 --2301.209228515625 -pKFcur->mnId699 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.288933333333333 -vpKFs.front()->mTimeStamp-3140.051842537936 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6881.615234375 - 2385.820068359375 --2332.885009765625 -pKFcur->mnId700 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.322300000000002 -vpKFs.front()->mTimeStamp-3162.3574508754382 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6985.1220703125 - 2438.77294921875 --2364.45947265625 -pKFcur->mnId701 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.355666666666668 -vpKFs.front()->mTimeStamp-3184.696425879607 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -7088.52685546875 - 2490.43603515625 --2395.50048828125 -pKFcur->mnId702 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.389033333333334 -vpKFs.front()->mTimeStamp-3207.0687675504423 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7088.52685546875 - 2490.43603515625 --2395.50048828125 -pKFcur->mnId703 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.4224 -vpKFs.front()->mTimeStamp-3229.4744758879442 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -7195.3544921875 - 2538.8125 --2427.37060546875 -pKFcur->mnId704 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.455766666666666 -vpKFs.front()->mTimeStamp-3251.9135508921131 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -7195.3544921875 - 2538.8125 --2427.37060546875 -pKFcur->mnId705 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.489133333333335 -vpKFs.front()->mTimeStamp-3274.3859925629486 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1263 -1691 pKFcur->GetVelocity() -7301.91357421875 - 2580.636962890625 --2457.333251953125 -pKFcur->mnId706 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.522500000000001 -vpKFs.front()->mTimeStamp-3296.8918009004506 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -7301.91357421875 - 2580.636962890625 --2457.333251953125 -pKFcur->mnId707 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.555866666666667 -vpKFs.front()->mTimeStamp-3319.4309759046191 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -7402.9609375 - 2611.14111328125 --2482.17822265625 -pKFcur->mnId708 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.589233333333333 -vpKFs.front()->mTimeStamp-3342.0035175754547 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -7502.16796875 - 2635.501953125 --2505.267822265625 -pKFcur->mnId709 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.622600000000002 -vpKFs.front()->mTimeStamp-3364.6094259129568 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -7601.06494140625 -2653.077392578125 - -2527.54296875 -pKFcur->mnId710 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.655966666666668 -vpKFs.front()->mTimeStamp-3387.2487009171255 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -7699.83349609375 -2665.598388671875 - -2549.4267578125 -pKFcur->mnId711 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.689333333333334 -vpKFs.front()->mTimeStamp-3409.9213425879607 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -7798.49169921875 - 2673.03955078125 - -2571.0732421875 -pKFcur->mnId712 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.7227 -vpKFs.front()->mTimeStamp-3432.6273509254629 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7897.279296875 -2676.848876953125 - -2592.75390625 -pKFcur->mnId713 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.756066666666666 -vpKFs.front()->mTimeStamp-3455.3667259296317 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7996.15869140625 - 2679.115234375 - -2614.49609375 -pKFcur->mnId714 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.789433333333335 -vpKFs.front()->mTimeStamp-3478.139467600467 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -8095.26123046875 - 2681.175537109375 --2636.362060546875 -pKFcur->mnId715 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.822800000000001 -vpKFs.front()->mTimeStamp-3500.9455759379689 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -8194.3525390625 - 2682.53955078125 --2658.232666015625 -pKFcur->mnId716 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.856166666666667 -vpKFs.front()->mTimeStamp-3523.7850509421378 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -8294.0810546875 - 2685.159423828125 --2680.437255859375 -pKFcur->mnId717 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.889533333333333 -vpKFs.front()->mTimeStamp-3546.6578926129732 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -8394.7978515625 - 2689.6611328125 --2703.150146484375 -pKFcur->mnId718 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.922900000000002 -vpKFs.front()->mTimeStamp-3569.5641009504752 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -8496.9091796875 - 2695.38232421875 --2726.582763671875 -pKFcur->mnId719 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.956266666666668 -vpKFs.front()->mTimeStamp-3592.5036759546438 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -8600.466796875 - 2703.131591796875 --2750.789306640625 -pKFcur->mnId720 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp22.989633333333334 -vpKFs.front()->mTimeStamp-3615.4766176254793 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -8704.99609375 - 2714.13232421875 --2775.59521484375 -pKFcur->mnId721 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.023 -vpKFs.front()->mTimeStamp-3638.4829259629814 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -8811.701171875 -2728.172119140625 - -2801.6474609375 -pKFcur->mnId722 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.056366666666666 -vpKFs.front()->mTimeStamp-3661.5226009671501 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -8920.2919921875 - 2744.794921875 --2828.78955078125 -pKFcur->mnId723 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.089733333333335 -vpKFs.front()->mTimeStamp-3684.5956426379853 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -9030.333984375 - 2763.648193359375 --2856.747314453125 -pKFcur->mnId724 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.123100000000001 -vpKFs.front()->mTimeStamp-3707.7020509754875 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -9142.2509765625 - 2782.22998046875 --2885.545166015625 -pKFcur->mnId725 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.156466666666667 -vpKFs.front()->mTimeStamp-3730.8418259796563 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -9256.55078125 - 2799.47119140625 --2915.453857421875 -pKFcur->mnId726 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.189833333333333 -vpKFs.front()->mTimeStamp-3754.0149676504916 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -9373.2314453125 -2815.468505859375 --2946.53662109375 -pKFcur->mnId727 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.223200000000002 -vpKFs.front()->mTimeStamp-3777.2214759879935 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -9491.2900390625 - 2830.4560546875 --2978.2783203125 -pKFcur->mnId728 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.256566666666668 -vpKFs.front()->mTimeStamp-3800.4613509921624 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -9610.07421875 - 2844.653076171875 --3010.321044921875 -pKFcur->mnId729 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.289933333333334 -vpKFs.front()->mTimeStamp-3823.7345926629978 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -9729.17578125 -2858.931884765625 - -3042.4580078125 -pKFcur->mnId730 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.3233 -vpKFs.front()->mTimeStamp-3847.0412010004998 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -9848.6728515625 - 2872.40234375 --3074.69482421875 -pKFcur->mnId731 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.356666666666666 -vpKFs.front()->mTimeStamp-3870.3811760046683 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -9967.84375 -2885.160400390625 --3106.60791015625 -pKFcur->mnId732 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 6.6052355104647535 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.390033333333335 -vpKFs.front()->mTimeStamp-3893.7545176755038 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -10087.17578125 - 2898.13427734375 --3138.542724609375 -pKFcur->mnId733 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.423400000000001 -vpKFs.front()->mTimeStamp-3917.1612260130059 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -10206.0693359375 - 2911.4267578125 --3170.147216796875 -pKFcur->mnId734 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.456766666666667 -vpKFs.front()->mTimeStamp-3940.6013010171746 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -10325.0693359375 - 2924.1279296875 --3201.699951171875 -pKFcur->mnId735 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.490133333333333 -vpKFs.front()->mTimeStamp-3964.0747426880098 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -10444.2763671875 -2936.588623046875 - -3233.3076171875 -pKFcur->mnId736 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.523500000000002 -vpKFs.front()->mTimeStamp-3987.581551025512 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -10562.701171875 - 2949.76220703125 --3264.426025390625 -pKFcur->mnId737 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.556866666666668 -vpKFs.front()->mTimeStamp-4011.1217260296808 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -10680.3134765625 - 2963.8740234375 --3295.035888671875 -pKFcur->mnId738 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.590233333333334 -vpKFs.front()->mTimeStamp-4034.6952677005161 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -10797.1748046875 - 2977.633056640625 --3325.096923828125 -pKFcur->mnId739 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.6236 -vpKFs.front()->mTimeStamp-4058.3021760380179 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -10912.666015625 - 2990.685791015625 --3354.244873046875 -pKFcur->mnId740 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.656966666666666 -vpKFs.front()->mTimeStamp-4081.9424510421868 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -11024.119140625 - 3001.614013671875 --3380.854736328125 -pKFcur->mnId741 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.690333333333335 -vpKFs.front()->mTimeStamp-4105.6160927130222 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -11130.994140625 -3011.197509765625 --3404.87451171875 -pKFcur->mnId742 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.723700000000001 -vpKFs.front()->mTimeStamp-4129.3231010505242 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -11234.427734375 - 3018.2529296875 --3426.989990234375 -pKFcur->mnId743 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.757066666666667 -vpKFs.front()->mTimeStamp-4153.0634760546927 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -11335.2744140625 - 3022.837890625 - -3447.7265625 -pKFcur->mnId744 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.790433333333333 -vpKFs.front()->mTimeStamp-4176.8372177255278 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -11434.1162109375 -3023.916259765625 - -3467.4599609375 -pKFcur->mnId745 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.823800000000002 -vpKFs.front()->mTimeStamp-4200.6443260630294 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -11530.5771484375 - 3023.639404296875 --3486.093017578125 -pKFcur->mnId746 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.857166666666668 -vpKFs.front()->mTimeStamp-4224.4848010671985 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -11623.3125 - 3022.983154296875 --3503.073974609375 -pKFcur->mnId747 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.890533333333334 -vpKFs.front()->mTimeStamp-4248.3586427380342 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -11712.103515625 - 3021.555419921875 --3518.365966796875 -pKFcur->mnId748 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.9239 -vpKFs.front()->mTimeStamp-4272.2658510755364 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -11798.09375 -3017.882080078125 --3532.55322265625 -pKFcur->mnId749 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.957266666666666 -vpKFs.front()->mTimeStamp-4296.2064260797051 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -11881.8994140625 - 3011.24609375 --3546.012451171875 -pKFcur->mnId750 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp23.990633333333335 -vpKFs.front()->mTimeStamp-4320.1803677505404 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -11964.7900390625 - 3003.25927734375 --3559.24365234375 -pKFcur->mnId751 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.024000000000001 -vpKFs.front()->mTimeStamp-4344.1876760880423 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12048.060546875 - 2996.3330078125 --3572.64892578125 -pKFcur->mnId752 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.057366666666667 -vpKFs.front()->mTimeStamp-4368.2283510922107 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -12131.361328125 -2991.26904296875 --3586.0654296875 -pKFcur->mnId753 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.090733333333333 -vpKFs.front()->mTimeStamp-4392.3023927630466 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -12214.37109375 - 2988.451171875 --3599.369140625 -pKFcur->mnId754 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.124100000000002 -vpKFs.front()->mTimeStamp-4416.409801100549 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12296.0263671875 - 2988.719482421875 --3612.155029296875 -pKFcur->mnId755 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.157466666666668 -vpKFs.front()->mTimeStamp-4440.5505761047179 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12375.6640625 - 2993.154052734375 --3624.223388671875 -pKFcur->mnId756 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.190833333333334 -vpKFs.front()->mTimeStamp-4464.7247177755535 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -12451.2255859375 -3001.464599609375 - -3634.90234375 -pKFcur->mnId757 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.2242 -vpKFs.front()->mTimeStamp-4488.9322261130555 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -12520.787109375 - 3009.70166015625 --3643.566650390625 -pKFcur->mnId758 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.257566666666666 -vpKFs.front()->mTimeStamp-4513.1731011172242 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12582.115234375 - 3018.45068359375 --3649.825927734375 -pKFcur->mnId759 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.290933333333335 -vpKFs.front()->mTimeStamp-4537.4473427880594 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12634.767578125 -3024.005126953125 --3653.78564453125 -pKFcur->mnId760 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.324300000000001 -vpKFs.front()->mTimeStamp-4561.7549511255611 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -12682.814453125 -3028.873291015625 - -3656.6669921875 -pKFcur->mnId761 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.357666666666667 -vpKFs.front()->mTimeStamp-4586.0959261297303 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12730.76953125 -3033.987548828125 - -3659.4501953125 -pKFcur->mnId762 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.391033333333333 -vpKFs.front()->mTimeStamp-4610.470267800566 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12781.11328125 - 3039.108154296875 --3662.663330078125 -pKFcur->mnId763 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.424400000000002 -vpKFs.front()->mTimeStamp-4634.8779761380683 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -12833.2333984375 -3044.983642578125 - -3666.2021484375 -pKFcur->mnId764 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.457766666666668 -vpKFs.front()->mTimeStamp-4659.3190511422372 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12887.40625 - 3051.1298828125 --3670.1396484375 -pKFcur->mnId765 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.491133333333334 -vpKFs.front()->mTimeStamp-4683.7934928130726 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -12946.0341796875 - 3056.88671875 --3675.065185546875 -pKFcur->mnId766 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.5245 -vpKFs.front()->mTimeStamp-4708.3013011505745 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -13010.548828125 - 3062.45947265625 --3681.446044921875 -pKFcur->mnId767 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.557866666666666 -vpKFs.front()->mTimeStamp-4732.8424761547431 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -13081.0712890625 - 3068.8447265625 --3689.47314453125 -pKFcur->mnId768 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.591233333333335 -vpKFs.front()->mTimeStamp-4757.4170178255781 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -13154.8193359375 - 3072.4140625 - -3698.328125 -pKFcur->mnId769 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a71508b840 -pKFCur->mTimeStamp24.624600000000001 -vpKFs.front()->mTimeStamp-4782.0249261630806 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -13230.0869140625 -3072.466552734375 --3707.55615234375 -pKFcur->mnId770 -gopro_slam.cc Caught signal 2 -->mnId793 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5638592bf800 -pKFCur->mTimeStamp17.667650000000002 -vpKFs.front()->mTimeStamp-3533.9278762631343 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 4441.77978515625 --481.02401733398438 - -995.2926025390625 -pKFcur->mnId794 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5638592bf800 -pKFCur->mTimeStamp17.701016666666668 -vpKFs.front()->mTimeStamp-3551.6122012673031 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 4424.57177734375 --510.06121826171875 --999.73870849609375 -pKFcur->mnId795 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:e041586b4b784061f5cd988b9f566832ff4c5ccc0833dd06e2c94d5a79864e6c +size 164828 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/camera_trajectory.csv index 8e900ed31dd01698e963d76bd8471306b9429bde..fb1d780430b12e42ff7750ad4cfec8357fa28d29 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/camera_trajectory.csv @@ -1,1256 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,6,true,false,0,0,0,0,0,0,0 -1,0.016683,2,false,false,-0.069985256,0.225918993,0.182199225,-0.027095869,-0.066636138,-0.041560180,0.996543169 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-1243,6.289617,6,true,false,0,0,0,0,0,0,0 -1244,6.289617,6,true,false,0,0,0,0,0,0,0 -1245,6.289617,6,true,false,0,0,0,0,0,0,0 -1246,6.289617,6,true,false,0,0,0,0,0,0,0 -1247,6.289617,6,true,false,0,0,0,0,0,0,0 -1248,6.289617,6,true,false,0,0,0,0,0,0,0 -1249,6.289617,6,true,false,0,0,0,0,0,0,0 -1250,6.289617,6,true,false,0,0,0,0,0,0,0 -1251,6.289617,6,true,false,0,0,0,0,0,0,0 -1252,6.289617,6,true,false,0,0,0,0,0,0,0 -1253,6.289617,6,true,false,0,0,0,0,0,0,0 -1254,6.289617,6,true,false,0,0,0,0,0,0,0 +version https://git-lfs.github.com/spec/v1 +oid sha256:a99fcb7133ca9c2399bec5121e11275d7fd30d4c11d8ad039e9266d78d93da42 +size 51523 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/extract_gopro_imu_stdout.txt index 83b1b8e44be915e768f8c55061212e6d1dd72a0d..f2012b6c3c3efcacd4b7a36987e47f218605424f 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 157417680 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:3766c78fc457a1242d6b89bc88efab26913309af32d1f70fc37154dddb7f0206 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json index fe81e6dcff183465a4b13ff37e514341c59c1770..b1a4f8067f346d6eed5181d4b31d0bf830c5d69c 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[7.973621103117506,0.33093525179856115,5.551558752997602],"cts":82.659,"date":"2015-10-18T00:43:54.445Z","temperature [°C]":62.728515625},{"value":[7.954436450839329,0.38848920863309355,5.563549160671463],"cts":87.5950396039604,"date":"2015-10-18T00:43:54.451Z","temperature [°C]":62.728515625},{"value":[7.928057553956834,0.41007194244604317,5.570743405275779],"cts":92.5310792079208,"date":"2015-10-18T00:43:54.457Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.940059940059946} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:32be231ed7efbe92a93be883b9f5613d82b4accce43d2c30ef5aceb6433363a1 +size 1869189 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt index 848c9d82641aa6d4df25885c7c02b5195f6f07a0..6a92b5fba0dab872abaac2a43af4eb639714e22a 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt @@ -1,2668 +1,3 @@ -Mask img size mismatch! Converting [2704 x 2028] to [640 x 480] - -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_480.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): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ] - -Original image size: [ 640 , 480 ] - -Current image size: [ 640 , 480 ] - -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: 6 - -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 2 cameras in the atlas -Camera 0 is fisheye -Camera 0 is fisheye -Discard points further than 20 m from current camera -Video opened using backend FFMPEG -There are 1255 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 18.5205 FPS -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x56377b39bfb0 -pKFCur->mTimeStamp0.016683333333333335 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp5.9225833333333338 -vpKFs.front()->mTimeStamp-63.246500008337499 -vpKFs.back()->mTimeStamp-0.016675004168751041 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -0.06290753185749054 --0.53634130954742432 - 0.17405770719051361 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp5.9559500000000005 -vpKFs.front()->mTimeStamp-69.185758345839588 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 0.28283795714378357 -0.78056466579437256 - 8.2140407562255859 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp6.0727333333333338 -vpKFs.front()->mTimeStamp-75.158383350008336 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -41.723556518554688 --11.947544097900391 --11.051963806152344 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp6.1061000000000005 -vpKFs.front()->mTimeStamp-81.247791687510414 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -96.439216613769531 --14.849076271057129 --46.058074951171875 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp6.1394666666666664 -vpKFs.front()->mTimeStamp-87.370566691679159 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -151.81935119628906 --16.976779937744141 --81.981338500976562 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp6.189516666666667 -vpKFs.front()->mTimeStamp-93.526708362514569 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -207.72503662109375 - -18.38939094543457 --118.61349487304688 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp6.2562500000000005 -vpKFs.front()->mTimeStamp-99.732900033349992 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -258.6165771484375 --31.349315643310547 --148.04136657714844 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x56377be64860 -pKFCur->mTimeStamp6.2896166666666664 -vpKFs.front()->mTimeStamp-106.00582503751875 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -311.25115966796875 --41.456207275390625 --178.84568786621094 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d19889b80 -pKFCur->mTimeStamp7.6075999999999997 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp7.7243833333333338 -vpKFs.front()->mTimeStamp-70.837416675004164 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -30.721218109130859 --2.2630796432495117 --8.3245830535888672 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp7.7577499999999997 -vpKFs.front()->mTimeStamp-78.578475012506246 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -58.780319213867188 --9.5295839309692383 --18.782247543334961 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp7.7911166666666665 -vpKFs.front()->mTimeStamp-86.352900016674994 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -86.390899658203125 - -16.68238639831543 --29.038797378540039 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp7.8244833333333332 -vpKFs.front()->mTimeStamp-94.160691687510408 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -113.63835144042969 --24.106830596923828 --39.186168670654297 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp7.8912166666666668 -vpKFs.front()->mTimeStamp-102.00185002501249 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -140.54780578613281 --31.881145477294922 --49.248054504394531 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp7.9245833333333335 -vpKFs.front()->mTimeStamp-109.9097416958479 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -166.68075561523438 --39.370822906494141 --59.005546569824219 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp7.9746333333333332 -vpKFs.front()->mTimeStamp-117.85100003334998 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -192.53315734863281 --46.855083465576172 - -68.6673583984375 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.0080000000000009 -vpKFs.front()->mTimeStamp-125.84230837085207 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -217.67396545410156 --53.148017883300781 --77.960159301757812 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.0413666666666668 -vpKFs.front()->mTimeStamp-133.86698337502082 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -242.61204528808594 --59.375858306884766 --87.178146362304688 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.0747333333333327 -vpKFs.front()->mTimeStamp-141.92502504585624 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -267.29693603515625 --64.496803283691406 --96.222877502441406 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.1081000000000003 -vpKFs.front()->mTimeStamp-150.01643338335833 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -291.31222534179688 --69.933341979980469 --105.06569671630859 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.1414666666666662 -vpKFs.front()->mTimeStamp-158.14120838752709 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -315.17703247070312 --74.624458312988281 --113.80299377441406 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.1748333333333338 -vpKFs.front()->mTimeStamp-166.29935005836251 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -338.50958251953125 --77.950431823730469 --122.27455139160156 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.2081999999999997 -vpKFs.front()->mTimeStamp-174.49085839586459 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -362.00027465820312 --80.787124633789062 --130.75814819335938 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.2415666666666674 -vpKFs.front()->mTimeStamp-182.71573340003334 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -384.88272094726562 --82.526679992675781 --138.98794555664062 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.2749333333333333 -vpKFs.front()->mTimeStamp-190.97397507086876 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -408.41192626953125 --84.013404846191406 --147.40438842773438 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.3083000000000009 -vpKFs.front()->mTimeStamp-199.26558340837084 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -430.98260498046875 --84.696220397949219 --155.49903869628906 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.3416666666666668 -vpKFs.front()->mTimeStamp-207.59055841253959 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -453.05133056640625 --84.854782104492188 --163.43609619140625 -pKFcur->mnId510 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 9.9438996010596981 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.3750333333333327 -vpKFs.front()->mTimeStamp-215.94890008337501 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -475.04580688476562 --84.880836486816406 --171.34846496582031 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.4084000000000003 -vpKFs.front()->mTimeStamp-224.34060842087709 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -496.76187133789062 --83.810279846191406 --179.17568969726562 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.4417666666666662 -vpKFs.front()->mTimeStamp-232.76568342504584 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -518.27862548828125 - -81.738037109375 --186.94512939453125 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.4751333333333339 -vpKFs.front()->mTimeStamp-241.22412509588125 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -539.17034912109375 - -79.43438720703125 --194.54116821289062 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.5084999999999997 -vpKFs.front()->mTimeStamp-249.71593343338333 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -559.63079833984375 --76.606491088867188 --202.01800537109375 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.5418666666666674 -vpKFs.front()->mTimeStamp-258.2411084375521 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -580.188720703125 --73.193130493164062 --209.54017639160156 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.5752333333333333 -vpKFs.front()->mTimeStamp-266.79965010838754 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -601.2724609375 --70.136245727539062 --217.16645812988281 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.6086000000000009 -vpKFs.front()->mTimeStamp-275.39155844588964 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -622.7177734375 --66.937675476074219 --224.84516906738281 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.6419666666666668 -vpKFs.front()->mTimeStamp-284.01683345005841 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -644.0782470703125 --64.541618347167969 --232.45932006835938 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.6753333333333327 -vpKFs.front()->mTimeStamp-292.67547512089385 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -664.0372314453125 --62.793827056884766 - -239.7236328125 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.7087000000000003 -vpKFs.front()->mTimeStamp-301.36748345839595 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -682.29351806640625 --61.428974151611328 --246.51373291015625 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.7420666666666662 -vpKFs.front()->mTimeStamp-310.09285846256472 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -698.91949462890625 --60.620403289794922 --252.92878723144531 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.7754333333333339 -vpKFs.front()->mTimeStamp-318.85160013340015 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -714.794677734375 --60.557369232177734 --259.18130493164062 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.8087999999999997 -vpKFs.front()->mTimeStamp-327.64370847090225 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -730.4505615234375 --61.365459442138672 - -265.390625 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.8421666666666674 -vpKFs.front()->mTimeStamp-336.46918347507102 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -746.45843505859375 --62.742824554443359 --271.67169189453125 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.8755333333333333 -vpKFs.front()->mTimeStamp-345.32802514590645 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -763.1578369140625 --65.009475708007812 --278.11480712890625 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.9089000000000009 -vpKFs.front()->mTimeStamp-354.22023348340855 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -780.079345703125 --68.349044799804688 --284.64706420898438 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.9422666666666668 -vpKFs.front()->mTimeStamp-363.14580848757731 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -796.768798828125 --72.682746887207031 --291.18695068359375 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp8.9756333333333327 -vpKFs.front()->mTimeStamp-372.10475015841274 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -813.028564453125 --77.87188720703125 --297.7012939453125 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.0090000000000003 -vpKFs.front()->mTimeStamp-381.09705849591484 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -828.4239501953125 --83.86517333984375 - -304.1142578125 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.0423666666666662 -vpKFs.front()->mTimeStamp-390.1227335000836 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -843.1463623046875 - -90.75421142578125 --310.48782348632812 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.0757333333333339 -vpKFs.front()->mTimeStamp-399.18177517091902 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -857.259765625 --98.405921936035156 - -316.83935546875 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.1090999999999998 -vpKFs.front()->mTimeStamp-408.27418350842112 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -871.5360107421875 --107.19327545166016 - -323.34619140625 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.1424666666666674 -vpKFs.front()->mTimeStamp-417.39995851258988 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -885.86474609375 --116.21385955810547 --329.89639282226562 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.1758333333333333 -vpKFs.front()->mTimeStamp-426.5591001834253 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -900.10784912109375 --125.59455108642578 --336.48358154296875 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.2092000000000009 -vpKFs.front()->mTimeStamp-435.75160852092739 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -912.9425048828125 --135.22715759277344 - -342.900390625 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.2425666666666668 -vpKFs.front()->mTimeStamp-444.97748352509615 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -925.4600830078125 --145.98541259765625 - -349.4384765625 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.2759333333333327 -vpKFs.front()->mTimeStamp-454.23672519593157 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -937.01385498046875 - -156.8038330078125 --355.87948608398438 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.3093000000000004 -vpKFs.front()->mTimeStamp-463.52933353343366 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -947.943603515625 --168.37483215332031 - -362.37841796875 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.3426666666666662 -vpKFs.front()->mTimeStamp-472.85530853760241 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -957.4981689453125 --179.46817016601562 --368.68466186523438 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.3760333333333339 -vpKFs.front()->mTimeStamp-482.21465020843783 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -965.35693359375 --189.99008178710938 - -374.7823486328125 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.4093999999999998 -vpKFs.front()->mTimeStamp-491.60735854593992 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -970.974853515625 --200.83956909179688 --380.78216552734375 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.4427666666666674 -vpKFs.front()->mTimeStamp-501.03343355010867 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -974.1195068359375 --211.74851989746094 --386.69387817382812 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.4761333333333333 -vpKFs.front()->mTimeStamp-510.49287522094409 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -974.3841552734375 --222.50210571289062 --392.55722045898438 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.509500000000001 -vpKFs.front()->mTimeStamp-519.98568355844623 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -971.4991455078125 --232.76568603515625 - -398.435791015625 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.5428666666666668 -vpKFs.front()->mTimeStamp-529.51185856261498 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -967.3126220703125 --242.54647827148438 --404.31814575195312 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.5762333333333327 -vpKFs.front()->mTimeStamp-539.07140023345039 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -961.14520263671875 - -251.4783935546875 - -410.2373046875 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.6096000000000004 -vpKFs.front()->mTimeStamp-548.66430857095247 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -953.97576904296875 --259.66363525390625 --416.16094970703125 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.6429666666666662 -vpKFs.front()->mTimeStamp-558.29058357512122 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -946.18878173828125 --266.92535400390625 --422.06317138671875 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x555d1a544820 -pKFCur->mTimeStamp9.6763333333333339 -vpKFs.front()->mTimeStamp-567.95022524595663 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -937.91595458984375 - -273.3804931640625 --427.95315551757812 -pKFcur->mnId550 -gopro_slam.cc Caught signal 2 -cur->GetVelocity() -960.26898193359375 - -79.59814453125 --524.06414794921875 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a9c9705820 -pKFCur->mTimeStamp9.7430666666666674 -vpKFs.front()->mTimeStamp-587.55312525429406 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -951.50439453125 --79.833892822265625 --531.39031982421875 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a9c9705820 -pKFCur->mTimeStamp9.7764333333333333 -vpKFs.front()->mTimeStamp-597.31286692512947 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -941.57342529296875 --79.177986145019531 - -538.849609375 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a9c9705820 -pKFCur->mTimeStamp9.809800000000001 -vpKFs.front()->mTimeStamp-607.10597526263155 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -930.27850341796875 - -77.7462158203125 --546.48565673828125 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a9c9705820 -pKFCur->mTimeStamp9.8431666666666668 -vpKFs.front()->mTimeStamp-616.93245026680029 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -917.63348388671875 --75.434333801269531 --554.32818603515625 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a9c9705820 -pKFCur->mTimeStamp9.8765333333333327 -vpKFs.front()->mTimeStamp-626.7922919376357 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -903.86474609375 --71.927818298339844 - -562.3780517578125 -pKFcur->mnId556 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:48b923baa094f73380f0a4afef32c854b1870ceaa521651fcfbaec760483f9ba +size 55741 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/camera_trajectory.csv index c74f52cdb5821166c3d547878e58474bf47c08d1..b4279a031f9367501a56e5b990de125776c64f3c 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/camera_trajectory.csv @@ -1,986 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,6,true,false,0,0,0,0,0,0,0 -1,0.000000,6,true,false,0,0,0,0,0,0,0 -2,0.000000,6,true,false,0,0,0,0,0,0,0 -3,0.000000,6,true,false,0,0,0,0,0,0,0 -4,0.000000,6,true,false,0,0,0,0,0,0,0 -5,0.000000,6,true,false,0,0,0,0,0,0,0 -6,0.000000,6,true,false,0,0,0,0,0,0,0 -7,0.000000,6,true,false,0,0,0,0,0,0,0 -8,0.000000,6,true,false,0,0,0,0,0,0,0 -9,0.000000,6,true,false,0,0,0,0,0,0,0 -10,0.000000,6,true,false,0,0,0,0,0,0,0 -11,0.000000,6,true,false,0,0,0,0,0,0,0 -12,0.000000,6,true,false,0,0,0,0,0,0,0 -13,0.000000,6,true,false,0,0,0,0,0,0,0 -14,0.000000,6,true,false,0,0,0,0,0,0,0 -15,0.000000,6,true,false,0,0,0,0,0,0,0 -16,0.000000,6,true,false,0,0,0,0,0,0,0 -17,0.000000,6,true,false,0,0,0,0,0,0,0 -18,0.000000,6,true,false,0,0,0,0,0,0,0 -19,0.000000,6,true,false,0,0,0,0,0,0,0 -20,0.000000,6,true,false,0,0,0,0,0,0,0 -21,0.000000,6,true,false,0,0,0,0,0,0,0 -22,0.000000,6,true,false,0,0,0,0,0,0,0 -23,0.000000,6,true,false,0,0,0,0,0,0,0 -24,0.000000,6,true,false,0,0,0,0,0,0,0 -25,0.000000,6,true,false,0,0,0,0,0,0,0 -26,0.000000,6,true,false,0,0,0,0,0,0,0 -27,0.000000,6,true,false,0,0,0,0,0,0,0 -28,0.000000,6,true,false,0,0,0,0,0,0,0 -29,0.000000,6,true,false,0,0,0,0,0,0,0 -30,0.000000,6,true,false,0,0,0,0,0,0,0 -31,0.000000,6,true,false,0,0,0,0,0,0,0 -32,0.000000,6,true,false,0,0,0,0,0,0,0 -33,0.000000,6,true,false,0,0,0,0,0,0,0 -34,0.000000,6,true,false,0,0,0,0,0,0,0 -35,0.000000,6,true,false,0,0,0,0,0,0,0 -36,0.000000,6,true,false,0,0,0,0,0,0,0 -37,0.000000,6,true,false,0,0,0,0,0,0,0 -38,0.000000,6,true,false,0,0,0,0,0,0,0 -39,0.000000,6,true,false,0,0,0,0,0,0,0 -40,0.000000,6,true,false,0,0,0,0,0,0,0 -41,0.000000,6,true,false,0,0,0,0,0,0,0 -42,0.000000,6,true,false,0,0,0,0,0,0,0 -43,0.000000,6,true,false,0,0,0,0,0,0,0 -44,0.000000,6,true,false,0,0,0,0,0,0,0 -45,0.000000,6,true,false,0,0,0,0,0,0,0 -46,0.000000,6,true,false,0,0,0,0,0,0,0 -47,0.000000,6,true,false,0,0,0,0,0,0,0 -48,0.000000,6,true,false,0,0,0,0,0,0,0 -49,0.000000,6,true,false,0,0,0,0,0,0,0 -50,0.000000,6,true,false,0,0,0,0,0,0,0 -51,0.000000,6,true,false,0,0,0,0,0,0,0 -52,0.000000,6,true,false,0,0,0,0,0,0,0 -53,0.000000,6,true,false,0,0,0,0,0,0,0 -54,0.000000,6,true,false,0,0,0,0,0,0,0 -55,0.000000,6,true,false,0,0,0,0,0,0,0 -56,0.000000,6,true,false,0,0,0,0,0,0,0 -57,0.000000,6,true,false,0,0,0,0,0,0,0 -58,0.000000,6,true,false,0,0,0,0,0,0,0 -59,0.000000,6,true,false,0,0,0,0,0,0,0 -60,0.000000,6,true,false,0,0,0,0,0,0,0 -61,0.000000,6,true,false,0,0,0,0,0,0,0 -62,0.000000,6,true,false,0,0,0,0,0,0,0 -63,0.000000,6,true,false,0,0,0,0,0,0,0 -64,0.000000,6,true,false,0,0,0,0,0,0,0 -65,0.000000,6,true,false,0,0,0,0,0,0,0 -66,0.000000,6,true,false,0,0,0,0,0,0,0 -67,0.000000,6,true,false,0,0,0,0,0,0,0 -68,0.000000,6,true,false,0,0,0,0,0,0,0 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b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/extract_gopro_imu_stdout.txt index ce19e27780bbff30e830d06f19239eb370a6a4d8..54bc097c89e5e6796f6d042cf0a2a43fd10d062a 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 123560362 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:ddee9a272c2ae27b09ad0e880cde3ebcd79991811d77a69d78efd30b387c1300 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/imu_data.json index 47f24b09fa3e3aa41e84a9b36c626e1d903021e4..332b6390d0525a3ae5161360b806dcdb1ca25da7 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[5.968824940047962,-4.678657074340528,6.338129496402877],"cts":78.34,"date":"2015-10-18T00:45:01.985Z","temperature [°C]":62.37890625},{"value":[5.932853717026379,-4.630695443645084,6.347721822541966],"cts":83.27598029556651,"date":"2015-10-18T00:45:01.991Z","temperature [°C]":62.37890625},{"value":[5.892086330935252,-4.551558752997602,6.429256594724221],"cts":88.21196059113302,"date":"2015-10-18T00:45:01.997Z","temperature [°C]":62.37890625},{"value":[5.817745803357314,-4.486810551558753,6.505995203836931],"cts":93.14794088669953,"date":"2015-10-18T00:45:02.003Z","temperature [°C]":62.37890625},{"value":[5.772182254196642,-4.47242206235012,6.5443645083932855],"cts":98.08392118226604,"date":"2015-10-18T00:45:02.009Z","temperature [°C]":62.37890625},{"value":[5.762589928057554,-4.479616306954436,6.60431654676259],"cts":103.01990147783255,"date":"2015-10-18T00:45:02.016Z","temperature [°C]":62.37890625},{"value":[5.726618705035971,-4.513189448441247,6.565947242206235],"cts":107.95588177339906,"date":"2015-10-18T00:45:02.022Z","temperature [°C]":62.37890625},{"value":[5.764988009592326,-4.561151079136691,6.462829736211031],"cts":112.89186206896557,"date":"2015-10-18T00:45:02.028Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.940059940059946} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:85b2c36c4e0328f41fd3b2f41d496e672bffac9e313ec997d812134fec7fd886 +size 1468636 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stdout.txt index d4257ce5c0a44912cbe63bf05600cb51071eb035..629c351f47979b5681f0103f41e1cbc41f9312fd 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stdout.txt @@ -1,2049 +1,3 @@ -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 985 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 8.76434 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x5645eddf7ad0 -pKFCur->mTimeStamp1.3179833333333333 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x564275ad1ad0 -pKFCur->mTimeStamp4.2709333333333337 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp4.4377666666666666 -vpKFs.front()->mTimeStamp-67.500750008337491 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -4.2920928001403809 -0.75290906429290771 --2.8588018417358398 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp4.5378666666666669 -vpKFs.front()->mTimeStamp-71.955191679172913 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0.63667035102844238 -0.17697139084339142 --5.9102520942687988 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp4.6546500000000002 -vpKFs.front()->mTimeStamp-76.509733350008332 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2.0969159603118896 -0.25264623761177063 --1.5074503421783447 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp4.8214833333333331 -vpKFs.front()->mTimeStamp-81.181058354177082 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 3.4280118942260742 - 2.1295030117034912 --1.4417777061462402 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp4.9049000000000005 -vpKFs.front()->mTimeStamp-86.019216691679162 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4.8649497032165527 --2.9400014877319336 - 1.119341254234314 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp4.9716333333333331 -vpKFs.front()->mTimeStamp-90.940791695847906 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -0.20671723783016205 - 0.39648306369781494 --0.078290976583957672 -pKFcur->mnId498 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.767275280276255 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.0884166666666664 -vpKFs.front()->mTimeStamp-95.929100033349997 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 2.9054439067840576 - 1.0160390138626099 --1.3020254373550415 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.2052000000000005 -vpKFs.front()->mTimeStamp-101.03419170418542 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 1.8773181438446045 --1.0677353143692017 --1.1262553930282593 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.3386666666666667 -vpKFs.front()->mTimeStamp-106.25606670835417 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1.3378000259399414 - -4.6531352996826172 --0.63632643222808838 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.4721333333333337 -vpKFs.front()->mTimeStamp-111.61140837918958 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1.1365036964416504 --5.3740096092224121 --1.7901122570037842 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.6055999999999999 -vpKFs.front()->mTimeStamp-117.10021671669166 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.4681034088134766 - -3.4170734882354736 --0.51603442430496216 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.7223833333333332 -vpKFs.front()->mTimeStamp-122.72249172086042 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0.37781906127929688 - -3.4410791397094727 --0.46769517660140991 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.8224833333333335 -vpKFs.front()->mTimeStamp-128.46155005836249 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 3.6506869792938232 - -3.560746431350708 --0.49587896466255188 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp5.9392666666666667 -vpKFs.front()->mTimeStamp-134.30070839586458 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.2807357311248779 - -4.330775260925293 --0.29285383224487305 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.0560499999999999 -vpKFs.front()->mTimeStamp-140.25665006669999 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1.2634462118148804 - -5.1162290573120117 --0.31469652056694031 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.1561500000000002 -vpKFs.front()->mTimeStamp-146.32937507086874 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 3.8111884593963623 - -2.6235005855560303 --0.65025979280471802 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.2896166666666664 -vpKFs.front()->mTimeStamp-152.50220007503748 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4.2881627082824707 - 3.5892219543457031 - 3.6490070819854736 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.4064000000000005 -vpKFs.front()->mTimeStamp-158.80849174587289 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 4.5630159378051758 --0.24023896455764771 - 0.19803862273693085 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.5231833333333338 -vpKFs.front()->mTimeStamp-165.23156675004162 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 5.9092278480529785 -0.40838626027107239 -0.78182965517044067 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.6232833333333332 -vpKFs.front()->mTimeStamp-171.77142508754372 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 7.8241457939147949 -0.077260814607143402 - 0.88835901021957397 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.6900166666666667 -vpKFs.front()->mTimeStamp-178.41138342504581 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 9.9324703216552734 - 1.3801718950271606 -0.80011248588562012 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.7567500000000003 -vpKFs.front()->mTimeStamp-185.11807509588124 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -7.7357220649719238 -0.19408728182315826 - 7.838869571685791 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.8568500000000006 -vpKFs.front()->mTimeStamp-191.89150010005 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 5.3236041069030762 -3.7130069732666016 -2.0498454570770264 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp6.940266666666667 -vpKFs.front()->mTimeStamp-198.76502510421875 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 2.7657482624053955 -5.2354574203491211 -3.1045947074890137 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.0403666666666664 -vpKFs.front()->mTimeStamp-205.72196677505417 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4.0686831474304199 --0.94563496112823486 - 5.4482002258300781 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.1571500000000006 -vpKFs.front()->mTimeStamp-212.77900844588959 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -0.24500593543052673 - 4.5859923362731934 - 2.5339055061340332 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.240566666666667 -vpKFs.front()->mTimeStamp-219.95283345005834 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.6067409515380859 -6.6995115280151367 -3.3818328380584717 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.3239833333333335 -vpKFs.front()->mTimeStamp-227.21007512089375 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -4.0413646697998047 --2.6956853866577148 - 6.4809427261352539 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.4240833333333338 -vpKFs.front()->mTimeStamp-234.55073345839583 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1.1125643253326416 - 5.0634851455688477 - 4.5470376014709473 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.5241833333333332 -vpKFs.front()->mTimeStamp-241.9914917958979 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2.7993621826171875 - 4.6976213455200195 - 3.6150960922241211 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.6075999999999997 -vpKFs.front()->mTimeStamp-249.53235013339997 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4.2127914428710938 - 3.0622432231903076 - 4.1008157730102539 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.6910166666666671 -vpKFs.front()->mTimeStamp-257.15662513756871 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3.2094199657440186 - 3.2206950187683105 - 3.8573174476623535 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.8078000000000003 -vpKFs.front()->mTimeStamp-264.86431680840411 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1.2846589088439941 - 1.4080708026885986 - 5.1031537055969238 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp7.9078999999999997 -vpKFs.front()->mTimeStamp-272.68879181257284 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1.2346082925796509 --2.1028742790222168 - 4.7246556282043457 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.0246833333333338 -vpKFs.front()->mTimeStamp-280.61336681674157 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2.9157314300537109 - 2.7228708267211914 - 5.7805185317993164 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.1581500000000009 -vpKFs.front()->mTimeStamp-288.65472515424364 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3.2991499900817871 --1.5945374965667725 - 5.4368996620178223 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.2916166666666662 -vpKFs.front()->mTimeStamp-296.82955015841242 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5.9985151290893555 --3.6264357566833496 - 5.569678783416748 -pKFcur->mnId529 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 21.138255308439486 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.4250833333333333 -vpKFs.front()->mTimeStamp-305.13784182924786 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0.1587706059217453 -4.6253862380981445 -4.5360078811645508 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.5418666666666674 -vpKFs.front()->mTimeStamp-313.57960016674997 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2.9065141677856445 --0.0063475468195974827 - 6.2340703010559082 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.6586499999999997 -vpKFs.front()->mTimeStamp-322.13814183758541 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -6.5506796836853027 --0.99651497602462769 - 6.1265077590942383 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.7420666666666662 -vpKFs.front()->mTimeStamp-330.81346684175418 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3.5989961624145508 -0.019659832119941711 - 4.8609209060668945 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.8588500000000003 -vpKFs.front()->mTimeStamp-339.57220851258961 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3.6064586639404297 -0.18518096208572388 - 6.2120118141174316 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp8.9756333333333327 -vpKFs.front()->mTimeStamp-348.44773351675838 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7.9929013252258301 - 0.6427876353263855 - 5.6290688514709473 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.1257833333333327 -vpKFs.front()->mTimeStamp-357.44004185426047 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -9.6514701843261719 --5.6089625358581543 - 3.8270621299743652 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.2258833333333339 -vpKFs.front()->mTimeStamp-366.58250019176256 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 3.0878739356994629 - 7.582061767578125 -4.1729950904846191 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.3760333333333339 -vpKFs.front()->mTimeStamp-375.82505852926465 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -11.542410850524902 -0.072504065930843353 - 4.253272533416748 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.5261833333333339 -vpKFs.front()->mTimeStamp-385.21776686676674 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -25.064205169677734 - 3.3300514221191406 - 1.5663411617279053 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.5595499999999998 -vpKFs.front()->mTimeStamp-394.76062520426882 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -43.625621795654297 - 17.556001663208008 --8.7707424163818359 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.5929166666666674 -vpKFs.front()->mTimeStamp-404.33685020843757 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -80.712669372558594 - 25.543787002563477 --17.548456192016602 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.6262833333333333 -vpKFs.front()->mTimeStamp-413.94644187927298 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -119.15343475341797 - 34.746212005615234 --27.087923049926758 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.659650000000001 -vpKFs.front()->mTimeStamp-423.58940021677506 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -159.15509033203125 - 45.37042236328125 - -37.55828857421875 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.6930166666666668 -vpKFs.front()->mTimeStamp-433.26572522094381 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -200.36958312988281 - 58.054039001464844 --48.924709320068359 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.7263833333333327 -vpKFs.front()->mTimeStamp-442.97541689177922 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -242.87294006347656 - 72.504676818847656 --61.250755310058594 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.7597500000000004 -vpKFs.front()->mTimeStamp-452.7184752292813 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -286.309326171875 - 88.329788208007812 --74.339431762695312 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.7931166666666662 -vpKFs.front()->mTimeStamp-462.49490023345004 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -329.86404418945312 - 106.33167266845703 --87.941871643066406 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.8264833333333339 -vpKFs.front()->mTimeStamp-472.30469190428545 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -374.34805297851562 - 126.42166900634766 --102.51667022705078 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.8598499999999998 -vpKFs.front()->mTimeStamp-482.14785024178752 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -418.97415161132812 - 147.70587158203125 - -117.457275390625 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.8932166666666674 -vpKFs.front()->mTimeStamp-492.02437524595626 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -463.57635498046875 - 169.91474914550781 --132.61846923828125 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.9265833333333333 -vpKFs.front()->mTimeStamp-501.93426691679167 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -508.82470703125 - 194.16386413574219 --148.71383666992188 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.959950000000001 -vpKFs.front()->mTimeStamp-511.87752525429374 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1261 -1691 pKFcur->GetVelocity() -555.54388427734375 - 219.641357421875 --166.04585266113281 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp9.9933166666666668 -vpKFs.front()->mTimeStamp-521.85415025846248 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -604.0267333984375 - 245.80638122558594 --184.66387939453125 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.026683333333333 -vpKFs.front()->mTimeStamp-531.86414192929794 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -654.9549560546875 - 273.03173828125 --205.18685913085938 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.06005 -vpKFs.front()->mTimeStamp-541.90750026680007 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -707.242919921875 - 301.04849243164062 --226.90548706054688 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.093416666666666 -vpKFs.front()->mTimeStamp-551.98422527096886 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -761.47723388671875 - 329.24880981445312 --250.05329895019531 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.126783333333334 -vpKFs.front()->mTimeStamp-562.09431694180432 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -817.8475341796875 - 357.29092407226562 --274.71792602539062 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.16015 -vpKFs.front()->mTimeStamp-572.23777527930645 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -875.00860595703125 - 385.6470947265625 --300.10855102539062 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.193516666666667 -vpKFs.front()->mTimeStamp-582.41460028347524 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -933.74212646484375 - 414.7969970703125 --327.04400634765625 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.226883333333333 -vpKFs.front()->mTimeStamp-592.62479195431069 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -992.97149658203125 - 444.28335571289062 --354.53646850585938 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.260250000000001 -vpKFs.front()->mTimeStamp-602.86835029181282 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1054.0023193359375 - 473.56927490234375 - -383.4794921875 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.293616666666667 -vpKFs.front()->mTimeStamp-613.14527529598161 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1115.6837158203125 - 503.58331298828125 --413.29611206054688 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.326983333333333 -vpKFs.front()->mTimeStamp-623.45556696681706 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -1178.0784912109375 - 534.07989501953125 - -443.958984375 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.36035 -vpKFs.front()->mTimeStamp-633.79922530431918 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1240.06298828125 -564.6737060546875 - -474.3095703125 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.393716666666666 -vpKFs.front()->mTimeStamp-644.17625030848797 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1302.216064453125 - 596.3031005859375 --505.26187133789062 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.427083333333334 -vpKFs.front()->mTimeStamp-654.58664197932342 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1364.9423828125 - 628.41015625 --536.93804931640625 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.46045 -vpKFs.front()->mTimeStamp-665.03040031682553 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1427.33203125 -661.09906005859375 - -568.589599609375 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.493816666666667 -vpKFs.front()->mTimeStamp-675.50752532099432 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1489.611328125 - 694.65234375 --600.54205322265625 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.527183333333333 -vpKFs.front()->mTimeStamp-686.01801699182977 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1551.960693359375 - 729.53912353515625 --633.17828369140625 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.560550000000001 -vpKFs.front()->mTimeStamp-696.56187532933188 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1614.561767578125 - 764.01171875 --665.76898193359375 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.593916666666667 -vpKFs.front()->mTimeStamp-707.13910033350066 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1677.6832275390625 - 798.92596435546875 - -699.0582275390625 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.627283333333333 -vpKFs.front()->mTimeStamp-717.74969200433611 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1741.6827392578125 - 832.91107177734375 --732.65985107421875 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.66065 -vpKFs.front()->mTimeStamp-728.39365034183822 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1806.0474853515625 - 866.5523681640625 --766.44439697265625 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.694016666666666 -vpKFs.front()->mTimeStamp-739.070975346007 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1871.2406005859375 - 901.41619873046875 - -801.593017578125 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.727383333333334 -vpKFs.front()->mTimeStamp-749.78166701684245 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1936.5947265625 - 935.9063720703125 --836.70086669921875 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.76075 -vpKFs.front()->mTimeStamp-760.52572535434456 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2001.8988037109375 - 970.83074951171875 --871.95831298828125 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.794116666666667 -vpKFs.front()->mTimeStamp-771.30315035851334 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2067.361328125 - 1005.004150390625 --906.9857177734375 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.827483333333333 -vpKFs.front()->mTimeStamp-782.11394202934878 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2131.63427734375 - 1040.14306640625 --941.38482666015625 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.860850000000001 -vpKFs.front()->mTimeStamp-792.95810036685089 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2196.209228515625 -1075.1815185546875 --975.9989013671875 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.894216666666667 -vpKFs.front()->mTimeStamp-803.83562537101966 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2260.681884765625 - 1111.7119140625 --1011.2505493164062 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.927583333333333 -vpKFs.front()->mTimeStamp-814.7465170418551 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2324.775146484375 - 1148.838134765625 --1046.4278564453125 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.96095 -vpKFs.front()->mTimeStamp-825.69077537935721 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2388.694091796875 - 1186.1173095703125 --1081.4783935546875 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp10.994316666666666 -vpKFs.front()->mTimeStamp-836.66840038352598 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2451.960693359375 -1223.2532958984375 --1115.868896484375 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.027683333333334 -vpKFs.front()->mTimeStamp-847.67939205436141 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2515.172119140625 - 1260.63916015625 - -1150.330078125 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.06105 -vpKFs.front()->mTimeStamp-858.72375039186352 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2577.52978515625 - 1298.5181884765625 --1184.3021240234375 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.094416666666667 -vpKFs.front()->mTimeStamp-869.80147539603229 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2638.517333984375 - 1336.8067626953125 --1217.3424072265625 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.127783333333333 -vpKFs.front()->mTimeStamp-880.91256706686772 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2698.617919921875 - 1375.570068359375 --1249.913330078125 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.161150000000001 -vpKFs.front()->mTimeStamp-892.05702540436982 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2756.65380859375 -1415.466552734375 --1281.44677734375 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.194516666666667 -vpKFs.front()->mTimeStamp-903.23485040853859 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2813.616943359375 -1455.2349853515625 --1312.099365234375 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.227883333333333 -vpKFs.front()->mTimeStamp-914.44604207937402 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2868.612548828125 - 1497.0179443359375 --1342.3726806640625 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.26125 -vpKFs.front()->mTimeStamp-925.69060041687612 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2923.43603515625 -1538.4698486328125 - -1372.30078125 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.294616666666666 -vpKFs.front()->mTimeStamp-936.96852542104489 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2976.713623046875 - 1580.93115234375 --1401.6534423828125 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.327983333333334 -vpKFs.front()->mTimeStamp-948.27981709188032 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3029.155517578125 - 1623.529296875 --1430.480224609375 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.36135 -vpKFs.front()->mTimeStamp-959.62447542938241 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3081.093017578125 -1666.0318603515625 - -1458.89111328125 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.394716666666667 -vpKFs.front()->mTimeStamp-971.00250043355118 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3133.112548828125 - 1708.2724609375 --1487.1805419921875 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.428083333333333 -vpKFs.front()->mTimeStamp-982.4138921043866 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3184.859375 -1750.0958251953125 - -1515.072265625 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.461450000000001 -vpKFs.front()->mTimeStamp-993.8586504418887 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3238.3466796875 - 1789.88232421875 --1543.05810546875 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.5115 -vpKFs.front()->mTimeStamp-1005.3367754460575 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3290.70361328125 - 1830.5142822265625 --1570.7513427734375 -pKFcur->mnId598 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.544866666666667 -vpKFs.front()->mTimeStamp-1016.8649504502262 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3343.64453125 - 1869.73681640625 --1598.1873779296875 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.578233333333333 -vpKFs.front()->mTimeStamp-1028.4264921210615 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3397.688232421875 -1907.7755126953125 - -1625.8076171875 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.611600000000001 -vpKFs.front()->mTimeStamp-1040.0214004585637 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3452.862548828125 - 1945.0323486328125 --1653.8360595703125 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.644966666666667 -vpKFs.front()->mTimeStamp-1051.6496754627324 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3508.432373046875 - 1980.481201171875 - -1681.3818359375 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.695016666666668 -vpKFs.front()->mTimeStamp-1063.3113171335679 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3564.0791015625 - 2014.1943359375 --1708.320556640625 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.761750000000001 -vpKFs.front()->mTimeStamp-1075.0230088044032 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -3619.29248046875 -2045.0977783203125 - -1734.0380859375 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.795116666666667 -vpKFs.front()->mTimeStamp-1086.8014338085718 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3674.009521484375 - 2073.825927734375 - -1758.8759765625 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.828483333333333 -vpKFs.front()->mTimeStamp-1098.6132254794072 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3729.52880859375 - 2102.08154296875 --1784.10986328125 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.86185 -vpKFs.front()->mTimeStamp-1110.4583838169092 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3785.20751953125 - 2130.83837890625 --1809.6212158203125 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.895216666666666 -vpKFs.front()->mTimeStamp-1122.3369088210779 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -3841.244873046875 - 2159.471923828125 --1835.344482421875 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.928583333333334 -vpKFs.front()->mTimeStamp-1134.2488004919135 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3896.4013671875 - 2188.745849609375 --1860.7752685546875 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.96195 -vpKFs.front()->mTimeStamp-1146.1940588294156 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3949.30517578125 - 2218.1396484375 - -1884.9677734375 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp11.995316666666668 -vpKFs.front()->mTimeStamp-1158.1726838335844 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3999.572265625 -2248.163330078125 --1907.92822265625 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.028683333333333 -vpKFs.front()->mTimeStamp-1170.1846755044198 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4047.72021484375 - 2278.732421875 - -1929.982421875 -pKFcur->mnId612 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.062050000000001 -vpKFs.front()->mTimeStamp-1182.230033841922 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4094.6279296875 - 2309.783203125 --1951.5850830078125 -pKFcur->mnId613 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.095416666666667 -vpKFs.front()->mTimeStamp-1194.3087588460908 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4141.201171875 -2341.870849609375 --1973.34814453125 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.128783333333333 -vpKFs.front()->mTimeStamp-1206.4208505169263 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4188.326171875 - 2374.719482421875 --1995.6165771484375 -pKFcur->mnId615 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.16215 -vpKFs.front()->mTimeStamp-1218.5663088544284 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4235.47607421875 - 2408.387939453125 --2018.144287109375 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.195516666666666 -vpKFs.front()->mTimeStamp-1230.7451338585972 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4282.89453125 - 2442.603759765625 --2040.9493408203125 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.228883333333334 -vpKFs.front()->mTimeStamp-1242.9573255294326 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4329.9326171875 - 2476.16943359375 --2063.292724609375 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.26225 -vpKFs.front()->mTimeStamp-1255.2028838669348 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -4376.47900390625 - 2510.2236328125 --2085.531005859375 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.295616666666668 -vpKFs.front()->mTimeStamp-1267.4818088711036 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4423.01611328125 -2544.257080078125 - -2107.74609375 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.328983333333333 -vpKFs.front()->mTimeStamp-1279.7941005419391 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4469.7939453125 -2578.072021484375 - -2130.001953125 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.362350000000001 -vpKFs.front()->mTimeStamp-1292.1397588794412 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4516.708984375 - 2612.273681640625 --2152.446044921875 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.395716666666667 -vpKFs.front()->mTimeStamp-1304.51878388361 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4563.9541015625 - 2646.603271484375 --2175.055908203125 -pKFcur->mnId623 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.429083333333333 -vpKFs.front()->mTimeStamp-1316.9311755544454 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4611.17529296875 - 2681.021484375 --2197.650634765625 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.46245 -vpKFs.front()->mTimeStamp-1329.3769338919476 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4658.87548828125 - 2715.271240234375 --2220.401611328125 -pKFcur->mnId625 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.495816666666666 -vpKFs.front()->mTimeStamp-1341.8560588961163 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4706.31201171875 - 2749.037841796875 --2242.844970703125 -pKFcur->mnId626 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.529183333333334 -vpKFs.front()->mTimeStamp-1354.3685505669519 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4753.0234375 -2783.427490234375 --2265.13037109375 -pKFcur->mnId627 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.56255 -vpKFs.front()->mTimeStamp-1366.9144089044539 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4799.79736328125 - 2817.751953125 --2287.401123046875 -pKFcur->mnId628 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.595916666666668 -vpKFs.front()->mTimeStamp-1379.4936339086228 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4847.08447265625 - 2852.5517578125 - -2310.0400390625 -pKFcur->mnId629 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.629283333333333 -vpKFs.front()->mTimeStamp-1392.1062255794582 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4894.02294921875 - 2887.353271484375 --2332.481201171875 -pKFcur->mnId630 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.662650000000001 -vpKFs.front()->mTimeStamp-1404.7521839169603 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -4941.486328125 - 2922.4375 --2355.214111328125 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.696016666666667 -vpKFs.front()->mTimeStamp-1417.4315089211291 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -4989.87890625 - 2958.21875 --2378.605224609375 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.729383333333333 -vpKFs.front()->mTimeStamp-1430.1442005919646 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5038.88232421875 -2992.043212890625 - -2401.5966796875 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.76275 -vpKFs.front()->mTimeStamp-1442.8902589294667 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5088.7958984375 - 3025.83740234375 --2425.00341796875 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.796116666666666 -vpKFs.front()->mTimeStamp-1455.6696839336355 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5140.32568359375 - 3058.588623046875 --2448.859619140625 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.829483333333334 -vpKFs.front()->mTimeStamp-1468.4824756044709 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5193.10546875 - 3090.769775390625 --2473.185302734375 -pKFcur->mnId636 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.86285 -vpKFs.front()->mTimeStamp-1481.3286339419731 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5245.78125 - 3121.5654296875 --2496.996337890625 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.896216666666668 -vpKFs.front()->mTimeStamp-1494.2081589461418 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5297.9716796875 -3149.840576171875 --2519.86083984375 -pKFcur->mnId638 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.929583333333333 -vpKFs.front()->mTimeStamp-1507.1210506169773 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5349.52734375 - 3176.249267578125 --2541.941162109375 -pKFcur->mnId639 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.962950000000001 -vpKFs.front()->mTimeStamp-1520.0673089544794 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5399.57177734375 - 3201.50537109375 --2563.065673828125 -pKFcur->mnId640 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp12.996316666666667 -vpKFs.front()->mTimeStamp-1533.0469339586482 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5449.47265625 -3226.89208984375 - -2584.22265625 -pKFcur->mnId641 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.029683333333333 -vpKFs.front()->mTimeStamp-1546.0599256294836 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5498.8720703125 - 3252.28515625 --2605.216552734375 -pKFcur->mnId642 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.06305 -vpKFs.front()->mTimeStamp-1559.1062839669858 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -5547.04931640625 - 3277.230224609375 --2625.593505859375 -pKFcur->mnId643 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.096416666666666 -vpKFs.front()->mTimeStamp-1572.1860089711545 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5592.818359375 - 3302.916748046875 --2645.139892578125 -pKFcur->mnId644 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.129783333333334 -vpKFs.front()->mTimeStamp-1585.29910064199 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5636.0908203125 -3329.248291015625 - -2663.8486328125 -pKFcur->mnId645 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.16315 -vpKFs.front()->mTimeStamp-1598.445558979492 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5676.42626953125 - 3356.576416015625 --2681.682861328125 -pKFcur->mnId646 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.196516666666668 -vpKFs.front()->mTimeStamp-1611.6253839836609 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5714.6025390625 -3384.88916015625 - -2698.9765625 -pKFcur->mnId647 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.229883333333333 -vpKFs.front()->mTimeStamp-1624.8385756544963 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5751.47412109375 - 3414.6611328125 --2716.163818359375 -pKFcur->mnId648 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.263250000000001 -vpKFs.front()->mTimeStamp-1638.0851339919984 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5788.35791015625 - 3445.54345703125 --2733.610107421875 -pKFcur->mnId649 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.296616666666667 -vpKFs.front()->mTimeStamp-1651.3650589961671 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5825.7587890625 - 3478.17724609375 --2751.670166015625 -pKFcur->mnId650 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.329983333333333 -vpKFs.front()->mTimeStamp-1664.6783506670026 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5863.72900390625 - 3511.689453125 --2770.104248046875 -pKFcur->mnId651 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.363350000000001 -vpKFs.front()->mTimeStamp-1678.0250090045047 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5903.05078125 -3547.025146484375 --2789.48193359375 -pKFcur->mnId652 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.396716666666666 -vpKFs.front()->mTimeStamp-1691.4050340086735 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5944.2568359375 - 3582.438720703125 --2809.457275390625 -pKFcur->mnId653 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.430083333333334 -vpKFs.front()->mTimeStamp-1704.8184256795089 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5986.20166015625 - 3617.149658203125 --2829.374267578125 -pKFcur->mnId654 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.46345 -vpKFs.front()->mTimeStamp-1718.2651840170111 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6028.20703125 - 3650.901611328125 --2848.925048828125 -pKFcur->mnId655 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.496816666666668 -vpKFs.front()->mTimeStamp-1731.7453090211798 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6070.373046875 - 3682.70703125 --2867.90185546875 -pKFcur->mnId656 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.530183333333333 -vpKFs.front()->mTimeStamp-1745.2588006920153 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6112.12451171875 - 3711.780517578125 --2885.947021484375 -pKFcur->mnId657 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.563550000000001 -vpKFs.front()->mTimeStamp-1758.8056590295173 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6152.47607421875 -3739.535888671875 - -2903.1259765625 -pKFcur->mnId658 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.596916666666667 -vpKFs.front()->mTimeStamp-1772.3858840336861 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6191.16650390625 - 3766.048583984375 --2919.417236328125 -pKFcur->mnId659 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.630283333333333 -vpKFs.front()->mTimeStamp-1785.9994757045215 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6227.4814453125 - 3790.869140625 --2934.553466796875 -pKFcur->mnId660 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.663650000000001 -vpKFs.front()->mTimeStamp-1799.6464340420237 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6261.27880859375 -3813.791748046875 --2948.54248046875 -pKFcur->mnId661 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.697016666666666 -vpKFs.front()->mTimeStamp-1813.3267590461924 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6292.955078125 - 3834.607666015625 --2961.556396484375 -pKFcur->mnId662 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.730383333333334 -vpKFs.front()->mTimeStamp-1827.0404507170279 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6322.416015625 -3855.302490234375 --2973.97802734375 -pKFcur->mnId663 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.76375 -vpKFs.front()->mTimeStamp-1840.7875090545299 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6349.71240234375 - 3873.71630859375 - -2985.533203125 -pKFcur->mnId664 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.797116666666668 -vpKFs.front()->mTimeStamp-1854.5679340586987 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6374.9228515625 - 3890.1708984375 --2996.37451171875 -pKFcur->mnId665 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.830483333333333 -vpKFs.front()->mTimeStamp-1868.3817257295341 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6397.59716796875 - 3906.03173828125 --3006.656494140625 -pKFcur->mnId666 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.863850000000001 -vpKFs.front()->mTimeStamp-1882.2288840670362 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6417.78466796875 -3920.472900390625 --3016.35595703125 -pKFcur->mnId667 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.897216666666667 -vpKFs.front()->mTimeStamp-1896.1094090712049 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6435.21337890625 - 3935.08203125 - -3025.673828125 -pKFcur->mnId668 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.930583333333333 -vpKFs.front()->mTimeStamp-1910.0233007420404 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6449.61181640625 - 3949.37060546875 --3034.574462890625 -pKFcur->mnId669 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.963950000000001 -vpKFs.front()->mTimeStamp-1923.9705590795425 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6461.37060546875 - 3962.724853515625 --3043.107666015625 -pKFcur->mnId670 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp13.997316666666666 -vpKFs.front()->mTimeStamp-1937.9511840837113 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6470.068359375 - 3974.936279296875 --3051.279052734375 -pKFcur->mnId671 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.030683333333334 -vpKFs.front()->mTimeStamp-1951.9651757545466 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6475.28369140625 - 3985.505859375 --3059.093994140625 -pKFcur->mnId672 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.06405 -vpKFs.front()->mTimeStamp-1966.0125340920488 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6477.05810546875 -3995.948974609375 --3066.78662109375 -pKFcur->mnId673 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.097416666666668 -vpKFs.front()->mTimeStamp-1980.0932590962175 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -6475.02392578125 - 4005.56396484375 - -3074.390625 -pKFcur->mnId674 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.130783333333333 -vpKFs.front()->mTimeStamp-1994.207350767053 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6469.40087890625 - 4015.369873046875 --3082.068603515625 -pKFcur->mnId675 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.164150000000001 -vpKFs.front()->mTimeStamp-2008.354809104555 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6460.6181640625 - 4026.011962890625 --3089.930419921875 -pKFcur->mnId676 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.197516666666667 -vpKFs.front()->mTimeStamp-2022.5356341087238 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6449.64794921875 - 4037.385009765625 --3097.952392578125 -pKFcur->mnId677 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.230883333333333 -vpKFs.front()->mTimeStamp-2036.7498257795592 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6437.265625 -4050.725341796875 - -3106.220703125 -pKFcur->mnId678 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.264250000000001 -vpKFs.front()->mTimeStamp-2050.9973841170613 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6423.83447265625 - 4064.162109375 --3114.531494140625 -pKFcur->mnId679 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.297616666666666 -vpKFs.front()->mTimeStamp-2065.27830912123 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6410.3125 -4079.353271484375 - -3122.9599609375 -pKFcur->mnId680 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.330983333333334 -vpKFs.front()->mTimeStamp-2079.5926007920652 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -6397.1201171875 - 4095.935546875 --3131.42919921875 -pKFcur->mnId681 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.36435 -vpKFs.front()->mTimeStamp-2093.9402591295675 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6384.4560546875 - 4113.13330078125 --3139.82177734375 -pKFcur->mnId682 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.397716666666668 -vpKFs.front()->mTimeStamp-2108.3212841337363 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -6372.93701171875 - 4130.27734375 --3148.001708984375 -pKFcur->mnId683 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.431083333333333 -vpKFs.front()->mTimeStamp-2122.7356758045717 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6362.93115234375 - 4148.24560546875 --3156.073486328125 -pKFcur->mnId684 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.464450000000001 -vpKFs.front()->mTimeStamp-2137.1834341420736 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6354.24755859375 - 4165.98388671875 --3163.941650390625 -pKFcur->mnId685 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.497816666666667 -vpKFs.front()->mTimeStamp-2151.6645591462425 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6346.74560546875 - 4182.19287109375 --3171.47802734375 -pKFcur->mnId686 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.531183333333333 -vpKFs.front()->mTimeStamp-2166.179050817078 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6339.1650390625 - 4199.3857421875 --3179.075927734375 -pKFcur->mnId687 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.564550000000001 -vpKFs.front()->mTimeStamp-2180.72690915458 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6331.2314453125 - 4215.775390625 - -3186.529296875 -pKFcur->mnId688 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.597916666666666 -vpKFs.front()->mTimeStamp-2195.3081341587485 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -6322.6865234375 - 4232.42919921875 --3193.98291015625 -pKFcur->mnId689 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.631283333333334 -vpKFs.front()->mTimeStamp-2209.9227258295841 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6313.63720703125 - 4248.2578125 - -3201.296875 -pKFcur->mnId690 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.66465 -vpKFs.front()->mTimeStamp-2224.5706841670863 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6304.560546875 - 4263.49658203125 --3208.47900390625 -pKFcur->mnId691 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.698016666666668 -vpKFs.front()->mTimeStamp-2239.2520091712549 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -6295.66064453125 - 4278.3642578125 - -3215.5498046875 -pKFcur->mnId692 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.731383333333333 -vpKFs.front()->mTimeStamp-2253.9667008420902 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -6287.3671875 -4293.86083984375 --3222.5966796875 -pKFcur->mnId693 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.764750000000001 -vpKFs.front()->mTimeStamp-2268.7147591795924 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6279.8583984375 - 4309.4677734375 --3229.552978515625 -pKFcur->mnId694 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.798116666666667 -vpKFs.front()->mTimeStamp-2283.4961841837612 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6272.72509765625 - 4325.33349609375 --3236.46240234375 -pKFcur->mnId695 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.831483333333333 -vpKFs.front()->mTimeStamp-2298.3109758545966 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6265.76416015625 - 4341.267578125 --3243.310791015625 -pKFcur->mnId696 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.864850000000001 -vpKFs.front()->mTimeStamp-2313.1591341920985 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6258.62890625 - 4356.8916015625 --3250.06591796875 -pKFcur->mnId697 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.898216666666666 -vpKFs.front()->mTimeStamp-2328.0406591962674 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6251.49609375 - 4372.53662109375 --3256.756591796875 -pKFcur->mnId698 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.931583333333334 -vpKFs.front()->mTimeStamp-2342.9555508671028 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6243.97998046875 - 4389.169921875 --3263.51416015625 -pKFcur->mnId699 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.96495 -vpKFs.front()->mTimeStamp-2357.9038092046048 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6236.1083984375 -4405.35400390625 - -3270.166015625 -pKFcur->mnId700 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp14.998316666666668 -vpKFs.front()->mTimeStamp-2372.8854342087734 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6227.9365234375 - 4421.724609375 --3276.785400390625 -pKFcur->mnId701 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.031683333333334 -vpKFs.front()->mTimeStamp-2387.900425879609 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6219.99755859375 - 4437.72021484375 --3283.282470703125 -pKFcur->mnId702 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.065049999999999 -vpKFs.front()->mTimeStamp-2402.9487842171111 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6212.12841796875 - 4453.6123046875 --3289.701416015625 -pKFcur->mnId703 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.098416666666667 -vpKFs.front()->mTimeStamp-2418.0305092212798 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6204.2314453125 - 4469.69970703125 --3296.09033203125 -pKFcur->mnId704 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.131783333333333 -vpKFs.front()->mTimeStamp-2433.145600892115 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6196.35986328125 - 4485.34912109375 --3302.37451171875 -pKFcur->mnId705 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.165150000000001 -vpKFs.front()->mTimeStamp-2448.2940592296172 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6187.59619140625 - 4501.70556640625 - -3308.71484375 -pKFcur->mnId706 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.198516666666666 -vpKFs.front()->mTimeStamp-2463.475884233786 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6179.33740234375 - 4519.0322265625 --3315.06103515625 -pKFcur->mnId707 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.231883333333334 -vpKFs.front()->mTimeStamp-2478.6910759046214 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -6171.3876953125 - 4536.47509765625 --3321.322509765625 -pKFcur->mnId708 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.26525 -vpKFs.front()->mTimeStamp-2493.9396342421232 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6163.8974609375 - 4555.35009765625 --3327.654541015625 -pKFcur->mnId709 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.298616666666668 -vpKFs.front()->mTimeStamp-2509.2215592462921 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6158.04345703125 - 4573.3349609375 --3333.721435546875 -pKFcur->mnId710 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.331983333333334 -vpKFs.front()->mTimeStamp-2524.5368509171276 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -6153.4267578125 - 4591.08447265625 --3339.64697265625 -pKFcur->mnId711 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.365349999999999 -vpKFs.front()->mTimeStamp-2539.8855092546296 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6149.86328125 -4608.4189453125 - -3345.4296875 -pKFcur->mnId712 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.398716666666667 -vpKFs.front()->mTimeStamp-2555.2675342587982 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -6146.96337890625 - 4625.14794921875 --3351.068603515625 -pKFcur->mnId713 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.432083333333333 -vpKFs.front()->mTimeStamp-2570.6829259296337 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6144.19482421875 - 4641.44287109375 --3356.595458984375 -pKFcur->mnId714 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.465450000000001 -vpKFs.front()->mTimeStamp-2586.1316842671358 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6140.970703125 - 4657.45703125 --3362.031005859375 -pKFcur->mnId715 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.498816666666666 -vpKFs.front()->mTimeStamp-2601.6138092713045 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6138.00537109375 - 4673.78466796875 - -3367.4267578125 -pKFcur->mnId716 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5642769bc840 -pKFCur->mTimeStamp15.532183333333334 -vpKFs.front()->mTimeStamp-2617.1293009421397 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6135.06591796875 - 4688.6689453125 - -3372.6015625 -pKFcur->mnId717 -gopro_slam.cc Caught signal 2 -.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5167.44921875 - 4573.7001953125 --2843.286376953125 -pKFcur->mnId717 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dbc60447e0 -pKFCur->mTimeStamp15.498816666666666 -vpKFs.front()->mTimeStamp-2620.1823426129749 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5157.3212890625 - 4589.84521484375 --2847.91748046875 -pKFcur->mnId718 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dbc60447e0 -pKFCur->mTimeStamp15.532183333333334 -vpKFs.front()->mTimeStamp-2635.6978342838102 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5146.83837890625 - 4605.90234375 - -2852.4951171875 -pKFcur->mnId719 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:13f696994c6ea22f961737cb022c02bbe924e062068edf749b712d3d89859754 +size 122857 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/extract_gopro_imu_stdout.txt index 107a7ccb95dd0b942a08c48de2b049fd2a24f279..957e580f578c254b4d4c6ef613021e4bc6630bc2 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 169897359 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:d934b0a3c1fbfcdf9ce1185ad98f5786f37bf35049039b65669b59c584ecc383 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/imu_data.json index 4319400243e2a0287a5cdb6460ef9b0e3f552015..75fb2debacdf120e8c12f2b10f65980f1d8e504a 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[7.798561151079137,0.7985611510791367,5.657074340527578],"cts":81.98,"date":"2015-10-18T00:45:55.059Z","temperature [°C]":62.537109375},{"value":[7.990407673860911,0.8225419664268585,5.635491606714628],"cts":86.9160099009901,"date":"2015-10-18T00:45:55.065Z","temperature [°C]":62.537109375},{"value":[8.031175059952039,0.762589928057554,5.872901678657074],"cts":91.8520198019802,"date":"2015-10-18T00:45:55.071Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:41ee1ada4786e97381ea427a0b1f44b7cf8504fb8e6698b2f8bb29d1adbb5dad +size 2014266 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stderr.txt index 1bb545676354dd9b99cf3c42256acf396330e316..94de73c12bba11566eb6a75c6a555e0d6d1984ac 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stderr.txt @@ -1,8 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... -virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() -virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() -virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() +version https://git-lfs.github.com/spec/v1 +oid sha256:c8cc8c3695ed60f3ecf0d0c3c04cad5d0eda60a0bc640eda968bd9054c2277c1 +size 663 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stdout.txt index a8051ca017189ded6aec5a35da1bcd537481e184..c366c7c6af020ef575f24c49ea4fa96b53a51b4d 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stdout.txt @@ -1,2328 +1,3 @@ -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 1353 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 3.4118 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55dfea20abc0 -pKFCur->mTimeStamp0.46713333333333334 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp7.1571500000000006 -vpKFs.front()->mTimeStamp-63.696950008337495 -vpKFs.back()->mTimeStamp-0.016675004168751062 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1.7182657718658447 --2.4675343036651611 - -1.564764142036438 -pKFcur->mnId493 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 14.356150894286273 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.5585500000000003 -vpKFs.front()->mTimeStamp-70.870775012506243 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1.7182657718658447 --2.4675343036651611 - -1.564764142036438 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.5919166666666662 -vpKFs.front()->mTimeStamp-79.446000016675001 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -44.537082672119141 - 13.513466835021973 --15.659668922424316 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.6252833333333339 -vpKFs.front()->mTimeStamp-88.054591687510424 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -88.003005981445312 - 28.591512680053711 --29.930404663085938 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.6586499999999997 -vpKFs.front()->mTimeStamp-96.696550025012513 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -131.19734191894531 - 42.696731567382812 --43.776779174804688 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.6920166666666674 -vpKFs.front()->mTimeStamp-105.37187502918127 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -173.41801452636719 - 55.216777801513672 --56.768108367919922 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.7587500000000009 -vpKFs.front()->mTimeStamp-114.08056670001669 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -217.74942016601562 - 67.450965881347656 --70.959358215332031 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.8254833333333327 -vpKFs.front()->mTimeStamp-122.85599170418544 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -260.37908935546875 - 79.927261352539062 --84.098419189453125 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.8588500000000003 -vpKFs.front()->mTimeStamp-131.69815004168754 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -70.249259948730469 - 20.936334609985352 --21.696086883544922 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.8922166666666662 -vpKFs.front()->mTimeStamp-140.57367504585631 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -111.74881744384766 - 34.616897583007812 --34.334480285644531 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.9255833333333339 -vpKFs.front()->mTimeStamp-149.48256671669174 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -54.134193420410156 - 17.330631256103516 --16.810646057128906 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.9589499999999997 -vpKFs.front()->mTimeStamp-158.42482505419383 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -95.640922546386719 - 32.103519439697266 --29.633964538574219 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp8.9923166666666674 -vpKFs.front()->mTimeStamp-167.40045005836259 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -138.52053833007812 - 47.437248229980469 --43.312023162841797 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.0256833333333333 -vpKFs.front()->mTimeStamp-176.40944172919802 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -183.96913146972656 - 63.941856384277344 --58.712242126464844 -pKFcur->mnId506 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.2092000000000009 -vpKFs.front()->mTimeStamp-185.45180006670012 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -230.95796203613281 - 81.108970642089844 --75.166145324707031 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.2425666666666668 -vpKFs.front()->mTimeStamp-194.67767507086887 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -280.11709594726562 - 105.35243988037109 --94.629928588867188 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.2759333333333327 -vpKFs.front()->mTimeStamp-203.93691674170429 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -329.42864990234375 - 130.53169250488281 --114.42582702636719 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.3093000000000004 -vpKFs.front()->mTimeStamp-213.22952507920638 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -378.536376953125 - 159.08845520019531 --135.27459716796875 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.3426666666666662 -vpKFs.front()->mTimeStamp-222.55550008337514 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -427.88485717773438 - 188.57656860351562 --156.58456420898438 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.3760333333333339 -vpKFs.front()->mTimeStamp-231.91484175421056 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -477.34848022460938 - 218.87745666503906 --178.22531127929688 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.4093999999999998 -vpKFs.front()->mTimeStamp-241.30755009171264 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -527.81304931640625 - 250.22061157226562 --200.94996643066406 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.4427666666666674 -vpKFs.front()->mTimeStamp-250.73362509588139 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -578.835205078125 - 281.57852172851562 --223.98231506347656 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.4761333333333333 -vpKFs.front()->mTimeStamp-260.19306676671681 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -631.65191650390625 - 313.0286865234375 - -248.2926025390625 -pKFcur->mnId515 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.509500000000001 -vpKFs.front()->mTimeStamp-269.68587510421889 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -686.15435791015625 - 344.63729858398438 --273.87921142578125 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.5428666666666668 -vpKFs.front()->mTimeStamp-279.21205010838764 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -740.2255859375 - 381.66937255859375 --301.75372314453125 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.5762333333333327 -vpKFs.front()->mTimeStamp-288.77159177922306 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -795.39141845703125 - 419.24801635742188 --330.69363403320312 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.6096000000000004 -vpKFs.front()->mTimeStamp-298.36450011672514 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -851.69244384765625 - 456.73391723632812 --360.39508056640625 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.6429666666666662 -vpKFs.front()->mTimeStamp-307.99077512089389 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -908.5284423828125 - 494.8729248046875 --390.79104614257812 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.6763333333333339 -vpKFs.front()->mTimeStamp-317.6504167917293 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -965.7579345703125 - 533.04486083984375 --421.38323974609375 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.7096999999999998 -vpKFs.front()->mTimeStamp-327.34342512923138 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1022.8618774414062 - 571.5162353515625 - -451.8787841796875 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.7430666666666674 -vpKFs.front()->mTimeStamp-337.06980013340012 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1080.2916259765625 - 610.39306640625 --482.74090576171875 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.7764333333333333 -vpKFs.front()->mTimeStamp-346.82954180423553 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1137.373046875 - 649.86688232421875 --513.50469970703125 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.809800000000001 -vpKFs.front()->mTimeStamp-356.62265014173761 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1194.2081298828125 - 689.3551025390625 --543.93316650390625 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.8431666666666668 -vpKFs.front()->mTimeStamp-366.44912514590635 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1251.0445556640625 - 728.719970703125 --574.13275146484375 -pKFcur->mnId526 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.8765333333333327 -vpKFs.front()->mTimeStamp-376.30896681674176 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -1308.8143310546875 - 767.89056396484375 --604.86907958984375 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.9099000000000004 -vpKFs.front()->mTimeStamp-386.20217515424383 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1368.1575927734375 - 806.24053955078125 --636.40167236328125 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.9432666666666663 -vpKFs.front()->mTimeStamp-396.12875015841257 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1429.0213623046875 - 844.34063720703125 --669.00238037109375 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp9.9766333333333339 -vpKFs.front()->mTimeStamp-406.08869182924798 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1490.994873046875 - 881.7197265625 --702.07208251953125 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.01 -vpKFs.front()->mTimeStamp-416.08200016675005 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1554.282958984375 -918.78692626953125 --736.0582275390625 -pKFcur->mnId531 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 12.60199201704132 FPS -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.043366666666667 -vpKFs.front()->mTimeStamp-426.10867517091879 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1618.573974609375 -954.93511962890625 --770.3446044921875 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.076733333333333 -vpKFs.front()->mTimeStamp-436.16871684175419 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1683.7259521484375 - 991.15594482421875 --805.34649658203125 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.110100000000001 -vpKFs.front()->mTimeStamp-446.26212517925626 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1749.2945556640625 - 1027.60107421875 - -840.716552734375 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.143466666666667 -vpKFs.front()->mTimeStamp-456.38890018342499 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1815.2042236328125 - 1064.012939453125 - -876.2249755859375 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.176833333333333 -vpKFs.front()->mTimeStamp-466.54904185426039 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1880.817138671875 - 1100.203369140625 --911.13824462890625 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.2102 -vpKFs.front()->mTimeStamp-476.74255019176246 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1946.5335693359375 - 1136.8343505859375 --946.25079345703125 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.243566666666666 -vpKFs.front()->mTimeStamp-486.96942519593119 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2012.4444580078125 - 1173.444580078125 --981.40460205078125 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.276933333333334 -vpKFs.front()->mTimeStamp-497.22966686676659 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2078.766845703125 - 1210.5245361328125 --1017.1136474609375 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.3103 -vpKFs.front()->mTimeStamp-507.52327520426866 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2145.393310546875 -1247.9554443359375 --1053.183837890625 -pKFcur->mnId540 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.343666666666667 -vpKFs.front()->mTimeStamp-517.85025020843739 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2212.20947265625 -1286.3983154296875 - -1089.875 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.377033333333333 -vpKFs.front()->mTimeStamp-528.21059187927278 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2278.7177734375 - 1325.782958984375 --1126.5684814453125 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.410400000000001 -vpKFs.front()->mTimeStamp-538.60430021677485 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2344.978759765625 -1365.4979248046875 - -1163.01123046875 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.443766666666667 -vpKFs.front()->mTimeStamp-549.03137522094357 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -2410.464599609375 - 1406.575439453125 --1199.2857666015625 -pKFcur->mnId544 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.477133333333333 -vpKFs.front()->mTimeStamp-559.49181689177897 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2474.727783203125 - 1448.7958984375 --1234.905029296875 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.5105 -vpKFs.front()->mTimeStamp-569.98562522928103 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2537.673095703125 - 1491.9598388671875 --1269.6500244140625 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.543866666666666 -vpKFs.front()->mTimeStamp-580.51280023344975 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2600.085205078125 -1535.3770751953125 - -1303.96240234375 -pKFcur->mnId547 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.577233333333334 -vpKFs.front()->mTimeStamp-591.07334190428514 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2662.10107421875 - 1579.0478515625 --1337.89990234375 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.6106 -vpKFs.front()->mTimeStamp-601.6672502417872 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2723.797607421875 -1623.0220947265625 --1371.594970703125 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.643966666666667 -vpKFs.front()->mTimeStamp-612.29452524595592 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2785.97802734375 - 1667.68359375 --1406.0137939453125 -pKFcur->mnId550 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.677333333333333 -vpKFs.front()->mTimeStamp-622.95516691679131 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2848.126953125 -1712.1458740234375 - -1440.11474609375 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.710700000000001 -vpKFs.front()->mTimeStamp-633.64917525429337 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2910.1689453125 - 1756.7249755859375 --1474.0194091796875 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.744066666666667 -vpKFs.front()->mTimeStamp-644.37655025846209 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2972.369384765625 - 1801.586181640625 --1508.0697021484375 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.777433333333333 -vpKFs.front()->mTimeStamp-655.13729192929748 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3034.73291015625 - 1847.29736328125 --1542.6273193359375 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.8108 -vpKFs.front()->mTimeStamp-665.93140026679953 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3096.20849609375 - 1891.9193115234375 --1575.5589599609375 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.844166666666666 -vpKFs.front()->mTimeStamp-676.75887527096825 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3156.985107421875 - 1937.390380859375 - -1608.2666015625 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.877533333333334 -vpKFs.front()->mTimeStamp-687.61971694180363 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3217.32275390625 - 1982.9066162109375 --1640.4893798828125 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.9109 -vpKFs.front()->mTimeStamp-698.51392527930568 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3277.45458984375 - 2027.893310546875 --1672.082763671875 -pKFcur->mnId558 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.944266666666667 -vpKFs.front()->mTimeStamp-709.4415002834744 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3337.306396484375 - 2073.39697265625 - -1703.62353515625 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp10.977633333333333 -vpKFs.front()->mTimeStamp-720.40244195430978 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -3396.896240234375 - 2118.873779296875 --1734.8089599609375 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.011000000000001 -vpKFs.front()->mTimeStamp-731.39675029181183 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3456.510498046875 - 2163.989501953125 - -1765.66259765625 -pKFcur->mnId561 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.094416666666667 -vpKFs.front()->mTimeStamp-742.42442529598054 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3515.972412109375 - 2209.25341796875 --1796.346923828125 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.127783333333333 -vpKFs.front()->mTimeStamp-753.53551696681598 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3574.966064453125 - 2254.92724609375 --1826.605712890625 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.161150000000001 -vpKFs.front()->mTimeStamp-764.67997530431808 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3634.043701171875 - 2300.6123046875 --1856.798095703125 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.194516666666667 -vpKFs.front()->mTimeStamp-775.85780030848684 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3693.177490234375 - 2346.96337890625 - -1887.275390625 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.227883333333333 -vpKFs.front()->mTimeStamp-787.06899197932228 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3752.748046875 - 2393.2724609375 --1917.90576171875 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.26125 -vpKFs.front()->mTimeStamp-798.31355031682438 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3812.1796875 - 2440.19775390625 --1948.6353759765625 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.294616666666666 -vpKFs.front()->mTimeStamp-809.59147532099314 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3871.4150390625 - 2487.79345703125 --1979.445068359375 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.327983333333334 -vpKFs.front()->mTimeStamp-820.90276699182857 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3930.0400390625 - 2535.62646484375 --2009.7774658203125 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.36135 -vpKFs.front()->mTimeStamp-832.24742532933067 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3988.327392578125 - 2582.475341796875 --2039.140869140625 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.394716666666667 -vpKFs.front()->mTimeStamp-843.62545033349943 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4046.25341796875 - 2628.631591796875 --2067.738525390625 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.428083333333333 -vpKFs.front()->mTimeStamp-855.03684200433486 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4103.64111328125 - 2673.86474609375 --2095.367431640625 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.461450000000001 -vpKFs.front()->mTimeStamp-866.48160034183695 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -4161.1650390625 - 2717.696533203125 --2122.289794921875 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.494816666666667 -vpKFs.front()->mTimeStamp-877.95972534600571 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4218.87451171875 - 2760.8564453125 - -2148.94921875 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.528183333333333 -vpKFs.front()->mTimeStamp-889.47121701684114 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -4278.28173828125 - 2802.7685546875 --2176.086669921875 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.56155 -vpKFs.front()->mTimeStamp-901.01607535434323 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4339.37939453125 - 2843.0380859375 - -2203.5400390625 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.594916666666666 -vpKFs.front()->mTimeStamp-912.59430035851199 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4401.712890625 - 2881.95458984375 --2231.17041015625 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.628283333333334 -vpKFs.front()->mTimeStamp-924.20589202934741 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4464.89599609375 - 2919.204345703125 --2258.624267578125 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.66165 -vpKFs.front()->mTimeStamp-935.8508503668495 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4528.673828125 -2954.907470703125 - -2285.806640625 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.695016666666668 -vpKFs.front()->mTimeStamp-947.52917537101825 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4593.341796875 - 2989.286376953125 --2313.071044921875 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.728383333333333 -vpKFs.front()->mTimeStamp-959.24086704185368 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4659.2373046875 - 3022.064697265625 --2340.590576171875 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.761750000000001 -vpKFs.front()->mTimeStamp-970.98592537935576 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4725.80859375 - 3053.844482421875 --2368.209228515625 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.795116666666667 -vpKFs.front()->mTimeStamp-982.76435038352452 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4792.53515625 - 3085.272216796875 --2395.763916015625 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55dfeaec5860 -pKFCur->mTimeStamp11.845166666666668 -vpKFs.front()->mTimeStamp-994.57614205435993 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4859.10205078125 - 3115.778076171875 --2422.804443359375 -pKFcur->mnId584 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:328a92e1ea8337c9e5f01052dc0a1bd1f0a2bd7e86b547bde582c489da689687 +size 72206 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/extract_gopro_imu_stdout.txt index b7e73746a3d47c8826f1584be54820823096d4fb..eaa56ebaf430be465718b8c011b340b34eb202e1 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 179852939 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:51248a3af27fb080cbfcdc57dbbf6e592eb06e9842305c87c9908b73f4e37afa +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/imu_data.json index ac12633695996999ddc79f2421f51bf5c5deade9..f31e6aeb681e0680db813159990176e5a582b4cd 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[8.191846522781775,0.8776978417266187,5.431654676258993],"cts":82.586,"date":"2015-10-18T00:46:28.280Z","temperature [°C]":62.744140625},{"value":[8.172661870503598,0.8800959232613909,5.390887290167866],"cts":87.52204455445545,"date":"2015-10-18T00:46:28.286Z","temperature [°C]":62.744140625},{"value":[8.18705035971223,0.8441247002398081,5.345323741007194],"cts":92.4580891089109,"date":"2015-10-18T00:46:28.292Z","temperature [°C]":62.744140625},{"value":[8.220623501199041,0.7937649880095923,5.376498800959233],"cts":97.39413366336635,"date":"2015-10-18T00:46:28.298Z","temperature [°C]":62.744140625},{"value":[8.19904076738609,0.7601918465227818,5.390887290167866],"cts":102.3301782178218,"date":"2015-10-18T00:46:28.305Z","temperature [°C]":62.744140625},{"value":[8.170263788968825,0.7793764988009593,5.333333333333333],"cts":107.26622277227725,"date":"2015-10-18T00:46:28.311Z","temperature [°C]":62.744140625},{"value":[8.143884892086332,0.7673860911270983,5.227817745803358],"cts":112.2022673267327,"date":"2015-10-18T00:46:28.317Z","temperature [°C]":62.744140625},{"value":[8.134292565947241,0.750599520383693,5.175059952038369],"cts":117.13831188118814,"date":"2015-10-18T00:46:28.323Z","temperature [°C]":62.744140625},{"value":[8.179856115107913,0.7889688249400479,5.182254196642686],"cts":122.0743564356436,"date":"2015-10-18T00:46:28.330Z","temperature [°C]":62.744140625},{"value":[8.191846522781775,0.8177458033573142,5.155875299760192],"cts":127.01040099009904,"date":"2015-10-18T00:46:28.336Z","temperature [°C]":62.744140625},{"value":[8.15347721822542,0.8345323741007195,5.05515587529976],"cts":131.94644554455448,"date":"2015-10-18T00:46:28.342Z","temperature [°C]":62.744140625},{"value":[8.179856115107913,0.8441247002398081,5.047961630695443],"cts":136.8824900990099,"date":"2015-10-18T00:46:28.348Z","temperature [°C]":62.744140625},{"value":[8.167865707434053,0.8752997601918465,5.110311750599521],"cts":141.81853465346535,"date":"2015-10-18T00:46:28.355Z","temperature [°C]":62.744140625},{"value":[8.122302158273381,0.920863309352518,5.13189448441247],"cts":146.75457920792078,"date":"2015-10-18T00:46:28.361Z","temperature [°C]":62.744140625},{"value":[8.143884892086332,0.9112709832134293,5.091127098321343],"cts":151.69062376237622,"date":"2015-10-18T00:46:28.367Z","temperature [°C]":62.744140625},{"value":[8.167865707434053,0.8776978417266187,5.062350119904076],"cts":156.62666831683165,"date":"2015-10-18T00:46:28.373Z","temperature [°C]":62.744140625},{"value":[8.151079136690647,0.935251798561151,5.141486810551559],"cts":161.5627128712871,"date":"2015-10-18T00:46:28.380Z","temperature [°C]":62.744140625},{"value":[8.19664268585132,0.9616306954436451,5.16546762589928],"cts":166.49875742574253,"date":"2015-10-18T00:46:28.386Z","temperature [°C]":62.744140625},{"value":[8.201438848920864,0.9280575539568345,5.141486810551559],"cts":171.43480198019796,"date":"2015-10-18T00:46:28.392Z","temperature [°C]":62.744140625},{"value":[8.201438848920864,0.9328537170263789,5.110311750599521],"cts":176.3708465346534,"date":"2015-10-18T00:46:28.398Z","temperature [°C]":62.744140625},{"value":[8.249400479616307,0.9040767386091128,5.244604316546763],"cts":181.30689108910883,"date":"2015-10-18T00:46:28.405Z","temperature [°C]":62.744140625},{"value":[8.251798561151078,0.8992805755395683,5.462829736211031],"cts":186.24293564356427,"date":"2015-10-18T00:46:28.411Z","temperature [°C]":62.744140625},{"value":[8.172661870503598,0.9280575539568345,5.606714628297362],"cts":191.1789801980197,"date":"2015-10-18T00:46:28.417Z","temperature [°C]":62.744140625},{"value":[8.093525179856115,0.9400479616306955,5.7026378896882495],"cts":196.11502475247514,"date":"2015-10-18T00:46:28.424Z","temperature 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[°C]":62.744140625},{"value":[8.194244604316546,0.9280575539568345,6.093525179856115],"cts":230.66733663366318,"date":"2015-10-18T00:46:28.467Z","temperature [°C]":62.744140625},{"value":[8.215827338129497,0.8920863309352518,6.081534772182255],"cts":235.60338118811862,"date":"2015-10-18T00:46:28.474Z","temperature [°C]":62.744140625},{"value":[8.206235011990408,0.8752997601918465,6.07673860911271],"cts":240.53942574257405,"date":"2015-10-18T00:46:28.480Z","temperature [°C]":62.744140625},{"value":[8.160671462829736,0.8800959232613909,6.081534772182255],"cts":245.4754702970295,"date":"2015-10-18T00:46:28.486Z","temperature [°C]":62.744140625},{"value":[8.129496402877697,0.8585131894484412,6.062350119904076],"cts":250.41151485148492,"date":"2015-10-18T00:46:28.492Z","temperature [°C]":62.744140625},{"value":[8.139088729016786,0.8513189448441247,5.983213429256595],"cts":255.34755940594036,"date":"2015-10-18T00:46:28.499Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:898f9d3d42b2ba6f0e9d130143d76901124f631378334902020526b8882efa13 +size 2134783 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stdout.txt index 860d909a82b25b5f0ea159432f4f5de308ff0dca..7736107f02b876e55fd71ed9b2321a1caa5fe0b6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stdout.txt @@ -1,3415 +1,3 @@ -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 1434 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 7.34305 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55de2ad6bb80 -pKFCur->mTimeStamp0.75075000000000003 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp7.0570500000000003 -vpKFs.front()->mTimeStamp-63.980566675004162 -vpKFs.back()->mTimeStamp-0.016675004168751006 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1.4554533958435059 - -2.258244514465332 --1.6811444759368896 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.067050000000002 -vpKFs.front()->mTimeStamp-71.05429167917292 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -47.100189208984375 - 24.568029403686523 --30.887899398803711 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.217200000000002 -vpKFs.front()->mTimeStamp-88.138016683341675 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -42.472209930419922 - 27.639583587646484 --27.368291854858398 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.250566666666668 -vpKFs.front()->mTimeStamp-105.37189168751043 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -84.126701354980469 - 25.747100830078125 --36.245368957519531 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.283933333333334 -vpKFs.front()->mTimeStamp-122.63913335834584 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -132.16941833496094 - 25.196409225463867 --46.948726654052734 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.317299999999999 -vpKFs.front()->mTimeStamp-139.93974169584794 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -185.17135620117188 - 25.438304901123047 --59.256790161132812 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.350666666666665 -vpKFs.front()->mTimeStamp-157.27371670001668 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -241.00581359863281 - 26.444656372070312 --72.537345886230469 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.384033333333335 -vpKFs.front()->mTimeStamp-174.64105837085208 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -297.24362182617188 - 29.171201705932617 --85.948226928710938 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.417400000000001 -vpKFs.front()->mTimeStamp-192.04176670835417 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -354.368896484375 - 33.703086853027344 --99.680023193359375 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.450766666666667 -vpKFs.front()->mTimeStamp-209.47584171252294 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -412.14120483398438 - 41.670192718505859 --113.73369598388672 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.484133333333332 -vpKFs.front()->mTimeStamp-226.94328338335836 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -470.739501953125 - 51.748130798339844 --128.15243530273438 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.517500000000002 -vpKFs.front()->mTimeStamp-244.44409172086046 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -529.61968994140625 - 63.947319030761719 --142.76768493652344 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.550866666666668 -vpKFs.front()->mTimeStamp-261.97826672502919 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -588.698486328125 - 77.7054443359375 --157.53511047363281 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.584233333333334 -vpKFs.front()->mTimeStamp-279.54580839586458 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -646.0811767578125 - 92.3623046875 --171.70953369140625 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.617599999999999 -vpKFs.front()->mTimeStamp-297.14671673336665 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -703.40142822265625 - 108.64017486572266 --185.98226928710938 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.650966666666665 -vpKFs.front()->mTimeStamp-314.78099173753537 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -760.00274658203125 - 126.11454010009766 --200.10115051269531 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.684333333333335 -vpKFs.front()->mTimeStamp-332.44863340837077 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -816.5987548828125 -144.35493469238281 - -214.2919921875 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.717700000000001 -vpKFs.front()->mTimeStamp-350.14964174587283 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -874.378662109375 - 162.53369140625 --228.90592956542969 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.751066666666667 -vpKFs.front()->mTimeStamp-367.88401675004155 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -935.09783935546875 - 183.48408508300781 --244.97430419921875 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.784433333333332 -vpKFs.front()->mTimeStamp-385.65175842087694 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -999.7847900390625 - 207.49026489257812 --263.06961059570312 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.817800000000002 -vpKFs.front()->mTimeStamp-403.452866758379 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1068.9566650390625 - 235.15498352050781 --283.70379638671875 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.851166666666668 -vpKFs.front()->mTimeStamp-421.28734176254773 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1142.25 - 267.25 --307.0819091796875 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.884533333333334 -vpKFs.front()->mTimeStamp-439.15518343338317 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1218.2215576171875 - 302.47906494140625 - -332.4267578125 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.917899999999999 -vpKFs.front()->mTimeStamp-457.05639177088528 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1296.381591796875 - 339.51739501953125 --359.41961669921875 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp17.951266666666665 -vpKFs.front()->mTimeStamp-474.99096677505406 -vpKFs.bacpKFCur->mTimeStamp9.2092000000000009 -vpKFs.front()->mTimeStamp-876.04075887110309 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2375.558837890625 - 1544.676025390625 - -859.80810546875 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x563d4b8897f0 -pKFCur->mTimeStamp9.2425666666666668 -vpKFs.front()->mTimeStamp-885.26663387527185 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2400.8330078125 - 1569.2552490234375 --867.65362548828125 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x563d4b8897f0 -pKFCur->mTimeStamp9.2759333333333327 -vpKFs.front()->mTimeStamp-894.52587554610727 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2426.5712890625 - 1594.555908203125 --875.84014892578125 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x563d4b8897f0 -pKFCur->mTimeStamp9.3259833333333333 -vpKFs.front()->mTimeStamp-903.81848388360936 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2452.91796875 - 1619.8939208984375 --884.18280029296875 -pKFcur->mnId623 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x563d4b8897f0 -pKFCur->mTimeStamp9.3593500000000009 -vpKFs.front()->mTimeStamp-913.16114222111139 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2478.95068359375 - 1646.2159423828125 --892.66058349609375 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x563d4b8897f0 -pKFCur->mTimeStamp9.3927166666666668 -vpKFs.front()->mTimeStamp-922.5371672252802 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2504.698974609375 - 1672.6341552734375 --901.04461669921875 -pKFcur->mnId625 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x563d4b8897f0 -pKFCur->mTimeStamp9.4260833333333327 -vpKFs.front()->mTimeStamp-931.94655889611568 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2530.014892578125 - 1699.5546875 --909.35552978515625 -pKFcur->mnId626 -gopro_slam.cc Caught signal 2 -success! -vpKFs.back()->mpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.251566666666665 -vpKFs.front()->mTimeStamp-637.90364181257303 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2191.616943359375 - 818.267333984375 --725.9493408203125 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.284933333333335 -vpKFs.front()->mTimeStamp-656.17188348340846 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2293.846923828125 - 873.465576171875 - -773.366455078125 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.318300000000001 -vpKFs.front()->mTimeStamp-674.47349182091057 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -2398.40869140625 - 929.413818359375 --822.80523681640625 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.351666666666667 -vpKFs.front()->mTimeStamp-692.80846682507934 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2504.36962890625 - 985.5467529296875 --873.32281494140625 -pKFcur->mnId529 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 9.6867355258594046 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.385033333333332 -vpKFs.front()->mTimeStamp-711.17680849591477 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2612.06005859375 -1042.3800048828125 - -925.451904296875 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.418400000000002 -vpKFs.front()->mTimeStamp-729.57851683341687 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2720.024658203125 -1099.4757080078125 --977.8072509765625 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.451766666666668 -vpKFs.front()->mTimeStamp-748.01359183758564 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2829.53759765625 - 1157.5316162109375 --1031.7908935546875 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.485133333333334 -vpKFs.front()->mTimeStamp-766.48203350842107 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2939.4296875 -1215.6954345703125 --1086.037841796875 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.5185 -vpKFs.front()->mTimeStamp-784.98384184592317 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3050.547119140625 - 1274.813232421875 --1141.642333984375 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.551866666666665 -vpKFs.front()->mTimeStamp-803.51901685009193 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3163.658935546875 -1334.0469970703125 - -1198.89453125 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.585233333333335 -vpKFs.front()->mTimeStamp-822.08755852092736 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3278.268798828125 - 1392.8814697265625 --1257.1773681640625 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.618600000000001 -vpKFs.front()->mTimeStamp-840.68946685842945 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3392.668701171875 - 1451.401611328125 --1314.9737548828125 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.651966666666667 -vpKFs.front()->mTimeStamp-859.32474186259822 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3508.4541015625 - 1510.1556396484375 --1374.0274658203125 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.685333333333332 -vpKFs.front()->mTimeStamp-877.99338353343364 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3624.5107421875 -1568.296142578125 - -1432.9248046875 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.718700000000002 -vpKFs.front()->mTimeStamp-896.69539187093574 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3741.8388671875 - 1627.26318359375 --1493.297607421875 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.752066666666668 -vpKFs.front()->mTimeStamp-915.4307668751045 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3859.028076171875 -1687.9813232421875 --1554.213134765625 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.785433333333334 -vpKFs.front()->mTimeStamp-934.19950854593992 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3975.7001953125 -1750.2220458984375 - -1615.27392578125 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.8188 -vpKFs.front()->mTimeStamp-953.00161688344201 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4090.44287109375 - 1814.43603515625 --1675.3704833984375 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.852166666666665 -vpKFs.front()->mTimeStamp-971.83709188761077 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -4205.4462890625 - 1880.2740478515625 --1736.3656005859375 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.885533333333335 -vpKFs.front()->mTimeStamp-990.70593355844619 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4323.87451171875 - 1946.30078125 --1800.602294921875 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.918900000000001 -vpKFs.front()->mTimeStamp-1009.6081418959483 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4444.275390625 - 2015.233154296875 --1868.147216796875 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.952266666666667 -vpKFs.front()->mTimeStamp-1028.543716900117 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -4564.01806640625 - 2084.36279296875 --1934.8695068359375 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp18.985633333333332 -vpKFs.front()->mTimeStamp-1047.5126585709525 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4680.5732421875 - 2153.250732421875 --1998.159912109375 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.019000000000002 -vpKFs.front()->mTimeStamp-1066.5149669084544 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4794.111328125 - 2222.521484375 --2058.714599609375 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.052366666666668 -vpKFs.front()->mTimeStamp-1085.5506419126232 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4905.74560546875 - 2291.40673828125 - -2117.248046875 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.085733333333334 -vpKFs.front()->mTimeStamp-1104.6196835834585 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5015.04052734375 - 2360.93359375 --2173.99560546875 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.1191 -vpKFs.front()->mTimeStamp-1123.7220919209606 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5123.0869140625 -2430.11376953125 --2229.4052734375 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.152466666666665 -vpKFs.front()->mTimeStamp-1142.8578669251292 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5230.365234375 - 2499.263671875 --2284.05029296875 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.185833333333335 -vpKFs.front()->mTimeStamp-1162.0270085959646 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5336.7548828125 -2568.755126953125 --2338.00732421875 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.219200000000001 -vpKFs.front()->mTimeStamp-1181.2295169334668 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5442.98095703125 - 2637.95263671875 --2391.546142578125 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.252566666666667 -vpKFs.front()->mTimeStamp-1200.4653919376356 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5548.18994140625 - 2707.90673828125 --2444.525634765625 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.285933333333332 -vpKFs.front()->mTimeStamp-1219.7346336084711 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5651.8515625 -2778.827392578125 --2496.64794921875 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.319300000000002 -vpKFs.front()->mTimeStamp-1239.0372419459732 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5753.294921875 -2851.170166015625 - -2547.6943359375 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.352666666666668 -vpKFs.front()->mTimeStamp-1258.373216950142 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5850.41162109375 - 2923.3134765625 --2595.42626953125 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.386033333333334 -vpKFs.front()->mTimeStamp-1277.7425586209774 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5943.63232421875 - 2996.321533203125 --2640.948974609375 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.4194 -vpKFs.front()->mTimeStamp-1297.1452669584796 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -6031.560546875 -3070.082763671875 - -2683.384765625 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.452766666666665 -vpKFs.front()->mTimeStamp-1316.5813419626484 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6114.75439453125 - 3143.20166015625 --2722.69091796875 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.486133333333335 -vpKFs.front()->mTimeStamp-1336.0507836334839 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6192.22412109375 - 3215.58740234375 --2758.38720703125 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.519500000000001 -vpKFs.front()->mTimeStamp-1355.553591970986 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6267.7646484375 -3287.540283203125 --2793.04443359375 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.552866666666667 -vpKFs.front()->mTimeStamp-1375.0897669751548 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6340.27783203125 - 3357.05029296875 - -2825.068359375 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.586233333333332 -vpKFs.front()->mTimeStamp-1394.6593086459902 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6411.345703125 -3423.878173828125 - -2855.2314453125 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.619600000000002 -vpKFs.front()->mTimeStamp-1414.2622169834924 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6480.513671875 - 3487.997314453125 --2883.439208984375 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.652966666666668 -vpKFs.front()->mTimeStamp-1433.8984919876611 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6549.22314453125 - 3548.34423828125 --2909.995849609375 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.686333333333334 -vpKFs.front()->mTimeStamp-1453.5681336584967 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6617.69384765625 - 3607.76123046875 --2936.08447265625 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.7197 -vpKFs.front()->mTimeStamp-1473.2711419959987 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6686.69189453125 - 3664.6533203125 --2961.490478515625 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.753066666666665 -vpKFs.front()->mTimeStamp-1493.0075170001676 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -6756.37353515625 - 3719.154296875 --2986.36083984375 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.786433333333335 -vpKFs.front()->mTimeStamp-1512.777258671003 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -6827.49267578125 - 3770.845703125 --3010.930419921875 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.819800000000001 -vpKFs.front()->mTimeStamp-1532.5803670085052 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -6899.88134765625 -3819.806396484375 - -3035.2197265625 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.853166666666667 -vpKFs.front()->mTimeStamp-1552.4168420126739 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -6974.11572265625 - 3865.667724609375 --3059.448974609375 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.886533333333333 -vpKFs.front()->mTimeStamp-1572.2866836835094 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -7049.884765625 - 3910.49658203125 --3084.079833984375 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.919900000000002 -vpKFs.front()->mTimeStamp-1592.1898920210115 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -7127.4970703125 - 3953.732421875 --3109.1220703125 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.953266666666668 -vpKFs.front()->mTimeStamp-1612.1264670251803 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -7206.97265625 - 3994.673583984375 --3134.480224609375 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp19.986633333333334 -vpKFs.front()->mTimeStamp-1632.0964086960157 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -7287.654296875 - 4034.00244140625 --3159.957763671875 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.02 -vpKFs.front()->mTimeStamp-1652.0997170335179 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -7369.337890625 -4073.086669921875 --3185.94677734375 -pKFcur->mnId579 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 8.3417822379581974 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.053366666666665 -vpKFs.front()->mTimeStamp-1672.1363920376866 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -7449.8984375 - 4111.09912109375 --3211.170166015625 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.103416666666668 -vpKFs.front()->mTimeStamp-1692.2064337085221 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -7528.68359375 - 4149.50830078125 --3235.665283203125 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.136783333333334 -vpKFs.front()->mTimeStamp-1712.3265253793575 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -7606.2431640625 - 4188.37109375 --3259.723876953125 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.17015 -vpKFs.front()->mTimeStamp-1732.4799837168596 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -7682.66748046875 - 4229.76025390625 --3283.846435546875 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.220200000000002 -vpKFs.front()->mTimeStamp-1752.6668087210282 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -7757.10888671875 - 4273.19873046875 --3307.58935546875 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.253566666666668 -vpKFs.front()->mTimeStamp-1772.903683725197 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -7828.44189453125 - 4321.005859375 - -3331.1171875 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.286933333333334 -vpKFs.front()->mTimeStamp-1793.1739253960325 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -7897.3056640625 - 4371.7060546875 --3354.402587890625 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.3203 -vpKFs.front()->mTimeStamp-1813.4775337335345 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -7964.2451171875 - 4424.189453125 --3377.406494140625 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.353666666666665 -vpKFs.front()->mTimeStamp-1833.8145087377034 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -8027.9873046875 - 4476.623046875 --3399.1689453125 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.387033333333335 -vpKFs.front()->mTimeStamp-1854.1848504085388 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -8088.599609375 - 4530.0927734375 --3420.09423828125 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.453766666666667 -vpKFs.front()->mTimeStamp-1874.5885587460409 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -8146.82763671875 - 4584.2998046875 --3440.403076171875 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.487133333333333 -vpKFs.front()->mTimeStamp-1895.0590004168764 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -8199.1630859375 - 4638.97607421875 --3458.93896484375 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55de2ba26820 -pKFCur->mTimeStamp20.537183333333335 -vpKFs.front()->mTimeStamp-1915.5628087543785 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -8249.1982421875 - 4693.0400390625 --3476.57373046875 -pKFcur->mnId592 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:5324f104888c6001dfebd5d1506b33eb54d5d11f4568aa4cdb072e8c8d50dfa4 +size 101319 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/camera_trajectory.csv index 47f71bbaa654abc530e44d3cfa542dd49bd1c95f..3708d5e30704dddd28c8f9641169f30acd32dd0a 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/camera_trajectory.csv @@ -1,1480 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,6,true,false,0,0,0,0,0,0,0 -1,0.000000,6,true,false,0,0,0,0,0,0,0 -2,0.000000,6,true,false,0,0,0,0,0,0,0 -3,0.050050,2,false,false,-0.100562528,0.225149646,0.173346981,-0.021186775,-0.041244876,-0.074015617,0.996178567 -4,0.066733,2,false,false,-0.104837723,0.223672539,0.175650656,0.020503934,0.037912220,0.079349712,-0.995914638 -5,0.083417,2,false,false,0.148812473,0.016033467,0.165797427,-0.110460617,-0.015349384,-0.017793138,-0.993602693 -6,0.100100,2,false,false,-0.105149932,0.223529696,0.176740229,0.022580775,0.040015340,0.079047948,-0.995811462 -7,0.116783,2,false,false,-0.105442606,0.223504499,0.177414149,0.023433970,0.041497134,0.078778476,-0.995752394 -8,0.133467,2,false,false,0.148705095,0.015344040,0.167692974,-0.108092666,-0.010762636,-0.018206535,-0.993915856 -9,0.150150,2,false,false,0.148542777,0.015078936,0.168196380,-0.107754193,-0.008919678,-0.018785708,-0.993960083 -10,0.150150,6,true,false,0,0,0,0,0,0,0 -11,0.150150,6,true,false,0,0,0,0,0,0,0 -12,0.150150,6,true,false,0,0,0,0,0,0,0 -13,0.150150,6,true,false,0,0,0,0,0,0,0 -14,0.150150,6,true,false,0,0,0,0,0,0,0 -15,0.150150,6,true,false,0,0,0,0,0,0,0 -16,0.150150,6,true,false,0,0,0,0,0,0,0 -17,0.150150,6,true,false,0,0,0,0,0,0,0 -18,0.150150,6,true,false,0,0,0,0,0,0,0 -19,0.150150,6,true,false,0,0,0,0,0,0,0 -20,0.150150,6,true,false,0,0,0,0,0,0,0 -21,0.150150,6,true,false,0,0,0,0,0,0,0 -22,0.150150,6,true,false,0,0,0,0,0,0,0 -23,0.150150,6,true,false,0,0,0,0,0,0,0 -24,0.150150,6,true,false,0,0,0,0,0,0,0 -25,0.150150,6,true,false,0,0,0,0,0,0,0 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-1473,0.150150,6,true,false,0,0,0,0,0,0,0 -1474,0.150150,6,true,false,0,0,0,0,0,0,0 -1475,0.150150,6,true,false,0,0,0,0,0,0,0 -1476,0.150150,6,true,false,0,0,0,0,0,0,0 -1477,0.150150,6,true,false,0,0,0,0,0,0,0 -1478,0.150150,6,true,false,0,0,0,0,0,0,0 +version https://git-lfs.github.com/spec/v1 +oid sha256:71fda505f4216df45e218268045d01b81dc20330bde72cc4472f82d3d9c1a8f3 +size 60116 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/extract_gopro_imu_stdout.txt index cde062a3f396deeadc4810bd6aca78c20677cc2a..5ef19bfe7e08dc7d2c49bbce73136cc1cbd8990e 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 185850714 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:b3da660367bbce7ec777b8cafe2829c0e3fadf6819df1a1ba5dcc7aae472f8c8 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/imu_data.json index f085fff6ee926bf8491243a345e9397165deec93..07d4c4fa658ae131bb151e858452e1c30196ee49 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[8.218225419664268,-0.17026378896882494,5.424460431654676],"cts":78.289,"date":"2015-10-18T00:47:03.809Z","temperature [°C]":62.8046875},{"value":[8.282973621103118,-0.23501199040767387,5.3189448441247],"cts":83.22505911330049,"date":"2015-10-18T00:47:03.815Z","temperature [°C]":62.8046875},{"value":[8.29496402877698,-0.34772182254196643,5.242206235011991],"cts":88.16111822660098,"date":"2015-10-18T00:47:03.821Z","temperature [°C]":62.8046875},{"value":[8.314148681055157,-0.42206235011990406,5.182254196642686],"cts":93.09717733990146,"date":"2015-10-18T00:47:03.827Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:706cfe1747a9557330c69ed42791b196da703cf04c2610077933a1e025be4b6c +size 2196953 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stdout.txt index 4b43dcbca390707ec550dcb3701d407682c2e975..257666b4695405b1ae13c7585f38901bd00a7e25 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stdout.txt @@ -1,3047 +1,3 @@ -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 1479 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 4.37649 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x56010f804b80 -pKFCur->mTimeStamp0.050050000000000004 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953cdceb90 -pKFCur->mTimeStamp0.10010000000000001 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.0894166666666667 -vpKFs.front()->mTimeStamp-63.329916675004164 -vpKFs.back()->mTimeStamp-0.016675004168751048 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -0.52892053127288818 - -1.2248921394348145 --0.75237089395523071 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.189516666666667 -vpKFs.front()->mTimeStamp-69.436008345839582 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 4.716975212097168 - 19.384927749633789 --3.0744965076446533 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.2228833333333338 -vpKFs.front()->mTimeStamp-75.642200016675005 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6.925745964050293 --27.244909286499023 - 5.8225536346435547 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.2562500000000005 -vpKFs.front()->mTimeStamp-81.881758354177094 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2.98616623878479 --10.923894882202148 - 2.650407075881958 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.3897166666666667 -vpKFs.front()->mTimeStamp-88.154683358345849 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1.7684845924377441 - 7.6373071670532227 --1.6702831983566284 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.4731333333333332 -vpKFs.front()->mTimeStamp-94.561075029181268 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2.1298294067382812 --8.8535232543945312 - 1.8277666568756104 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.5065 -vpKFs.front()->mTimeStamp-101.05088336668335 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1.7414393424987793 - 8.7776632308959961 --2.0261225700378418 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.5398666666666667 -vpKFs.front()->mTimeStamp-107.5740583708521 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2.3233599662780762 --13.956388473510742 - 3.6013619899749756 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.5732333333333335 -vpKFs.front()->mTimeStamp-114.13060004168752 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2.4130265712738037 - 15.676558494567871 --4.1050710678100586 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.6066000000000003 -vpKFs.front()->mTimeStamp-120.7205083791896 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 4.464381217956543 - 27.160549163818359 --6.8555598258972168 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.639966666666667 -vpKFs.front()->mTimeStamp-127.34378338335834 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 6.1180124282836914 - 39.898349761962891 --9.8472728729248047 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.6733333333333338 -vpKFs.front()->mTimeStamp-134.00042505419376 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 7.3894062042236328 - 52.761775970458984 --12.772116661071777 -pKFcur->mnId504 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.220047572869994 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.7067000000000005 -vpKFs.front()->mTimeStamp-140.69043339169585 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 7.9656825065612793 - 63.832015991210938 --15.367178916931152 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.7400666666666664 -vpKFs.front()->mTimeStamp-147.41380839586461 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7.5062446594238281 - 75.685028076171875 --18.118097305297852 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.7734333333333332 -vpKFs.front()->mTimeStamp-154.17055006670003 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 6.531895637512207 - 86.657997131347656 --20.700859069824219 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.8068 -vpKFs.front()->mTimeStamp-160.96065840420212 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 5.017021656036377 - 97.587867736816406 --23.299283981323242 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.8401666666666667 -vpKFs.front()->mTimeStamp-167.78413340837088 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 2.5399935245513916 -108.84774780273438 --25.97718620300293 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.8735333333333335 -vpKFs.front()->mTimeStamp-174.6409750792063 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -0.54295867681503296 - 119.88640594482422 - -28.640768051147461 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.9069000000000003 -vpKFs.front()->mTimeStamp-181.53118341670839 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3.547924280166626 - 28.081928253173828 --6.6471109390258789 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.940266666666667 -vpKFs.front()->mTimeStamp-188.45475842087714 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1.3540785312652588 - 42.59918212890625 --9.9601593017578125 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp6.9736333333333338 -vpKFs.front()->mTimeStamp-195.41170009171256 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -3.7632954120635986 - 52.788589477539062 --12.477579116821289 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.0070000000000006 -vpKFs.front()->mTimeStamp-202.40200842921465 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5.7126126289367676 - 63.123805999755859 --14.998022079467773 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.0403666666666664 -vpKFs.front()->mTimeStamp-209.4256834333834 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -7.5452327728271484 - 73.649299621582031 --17.536197662353516 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.0737333333333332 -vpKFs.front()->mTimeStamp-216.48272510421882 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -9.1173801422119141 - 83.9019775390625 --20.009744644165039 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.1071 -vpKFs.front()->mTimeStamp-223.5731334417209 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -10.864385604858398 - 94.065406799316406 --22.464845657348633 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.1404666666666667 -vpKFs.front()->mTimeStamp-230.69690844588965 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -12.908768653869629 - 103.80330657958984 --24.846624374389648 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.1738333333333335 -vpKFs.front()->mTimeStamp-237.85405011672506 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -15.182998657226562 - 113.17182159423828 --27.185676574707031 -pKFcur->mnId519 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.2072000000000003 -vpKFs.front()->mTimeStamp-245.04455845422714 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -18.140647888183594 - 122.005126953125 --29.498390197753906 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.240566666666667 -vpKFs.front()->mTimeStamp-252.26843345839589 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -21.866083145141602 - 130.67124938964844 --31.819816589355469 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.2739333333333338 -vpKFs.front()->mTimeStamp-259.52567512923133 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -7.3919920921325684 - 22.523178100585938 --5.7402458190917969 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.3073000000000006 -vpKFs.front()->mTimeStamp-266.81628346673341 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -18.980562210083008 - 37.211299896240234 --9.3876428604125977 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.3406666666666665 -vpKFs.front()->mTimeStamp-274.14025847090215 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -27.322799682617188 - 44.046051025390625 --11.889835357666016 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.3740333333333332 -vpKFs.front()->mTimeStamp-281.49760014173756 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -37.582595825195312 - 50.597404479980469 --14.614399909973145 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.4074 -vpKFs.front()->mTimeStamp-288.88830847923964 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -49.316394805908203 - 56.677066802978516 --17.531610488891602 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.4407666666666668 -vpKFs.front()->mTimeStamp-296.31238348340838 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -62.591510772705078 - 62.433708190917969 --20.690740585327148 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.4741333333333335 -vpKFs.front()->mTimeStamp-303.76982515424379 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -77.064010620117188 - 67.880905151367188 --24.046665191650391 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.5075000000000003 -vpKFs.front()->mTimeStamp-311.26063349174586 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -92.36236572265625 - 72.591705322265625 --27.494670867919922 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.5408666666666671 -vpKFs.front()->mTimeStamp-318.7848084959146 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -108.38533020019531 - 76.95233154296875 --31.047685623168945 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.5742333333333338 -vpKFs.front()->mTimeStamp-326.34235016675001 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -124.85330963134766 - 80.263778686523438 --34.621028900146484 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.6075999999999997 -vpKFs.front()->mTimeStamp-333.93325850425208 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -141.58160400390625 - 82.600418090820312 --38.194023132324219 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.6409666666666665 -vpKFs.front()->mTimeStamp-341.55753350842082 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -158.95724487304688 - 83.936073303222656 --41.877918243408203 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.6743333333333332 -vpKFs.front()->mTimeStamp-349.21517517925622 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -177.20712280273438 - 83.95599365234375 - -45.75335693359375 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.7077 -vpKFs.front()->mTimeStamp-356.90618351675829 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -196.06503295898438 - 82.936798095703125 --49.795074462890625 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.7410666666666668 -vpKFs.front()->mTimeStamp-364.63055852092702 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -215.97122192382812 - 80.473136901855469 --54.158134460449219 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.7744333333333335 -vpKFs.front()->mTimeStamp-372.38830019176243 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -236.97332763671875 - 76.998672485351562 --58.895908355712891 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.8078000000000003 -vpKFs.front()->mTimeStamp-380.17940852926449 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -259.43124389648438 - 72.07574462890625 --64.185401916503906 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.8411666666666671 -vpKFs.front()->mTimeStamp-388.00388353343322 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -284.036865234375 -65.538246154785156 --70.34844970703125 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.8745333333333338 -vpKFs.front()->mTimeStamp-395.86172520426862 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -311.21844482421875 - 57.456069946289062 --77.655921936035156 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.9078999999999997 -vpKFs.front()->mTimeStamp-403.75293354177069 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -341.25445556640625 - 47.629364013671875 --86.391448974609375 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.9412666666666665 -vpKFs.front()->mTimeStamp-411.67750854593942 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -373.56661987304688 - 36.034900665283203 --96.461677551269531 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp7.9746333333333332 -vpKFs.front()->mTimeStamp-419.63545021677481 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -407.35275268554688 - 22.952642440795898 --107.52931976318359 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.0080000000000009 -vpKFs.front()->mTimeStamp-427.62675855427688 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -442.409423828125 - 8.7495012283325195 --119.47196960449219 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.0413666666666668 -vpKFs.front()->mTimeStamp-435.6514335584456 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -477.84756469726562 --6.6938872337341309 --131.88676452636719 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.0747333333333327 -vpKFs.front()->mTimeStamp-443.709475229281 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -513.55242919921875 --22.892543792724609 --144.60269165039062 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.1081000000000003 -vpKFs.front()->mTimeStamp-451.80088356678306 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -549.62078857421875 --39.484344482421875 --157.58059692382812 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.1414666666666662 -vpKFs.front()->mTimeStamp-459.92565857095178 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -586.0845947265625 --55.940093994140625 --170.70002746582031 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.1748333333333338 -vpKFs.front()->mTimeStamp-468.08380024178717 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -622.84375 --72.796554565429688 - -184.0233154296875 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.2081999999999997 -vpKFs.front()->mTimeStamp-476.27530857928923 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -660.1396484375 --90.456413269042969 --197.78897094726562 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.2415666666666674 -vpKFs.front()->mTimeStamp-484.50018358345801 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -697.533447265625 --108.65361785888672 --211.68360900878906 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.2749333333333333 -vpKFs.front()->mTimeStamp-492.75842525429346 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -735.07586669921875 --127.02577209472656 --225.63262939453125 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.3083000000000009 -vpKFs.front()->mTimeStamp-501.05003359179557 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -773.22308349609375 - -145.7618408203125 --239.95077514648438 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.3416666666666668 -vpKFs.front()->mTimeStamp-509.37500859596435 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -811.96746826171875 --164.95118713378906 --254.66160583496094 -pKFcur->mnId554 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 16.738699708011797 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.3750333333333327 -vpKFs.front()->mTimeStamp-517.73335026679979 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -851.3201904296875 --184.43244934082031 --269.73175048828125 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.4084000000000003 -vpKFs.front()->mTimeStamp-526.1250586043019 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -890.892333984375 --204.42710876464844 --285.01788330078125 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.4417666666666662 -vpKFs.front()->mTimeStamp-534.55013360847067 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -930.98486328125 --224.71238708496094 --300.64913940429688 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.4751333333333339 -vpKFs.front()->mTimeStamp-543.00857527930611 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -971.682861328125 --245.06588745117188 --316.62603759765625 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.5084999999999997 -vpKFs.front()->mTimeStamp-551.50038361680822 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1013.1958618164062 --265.26849365234375 --333.02462768554688 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.5418666666666674 -vpKFs.front()->mTimeStamp-560.02555862097699 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1055.84619140625 - -285.0489501953125 --349.98739624023438 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.5752333333333333 -vpKFs.front()->mTimeStamp-568.58410029181243 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1100.03515625 - -304.15673828125 --367.7376708984375 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.6086000000000009 -vpKFs.front()->mTimeStamp-577.17600862931454 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1145.4599609375 --322.44869995117188 --386.06344604492188 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.6419666666666668 -vpKFs.front()->mTimeStamp-585.80128363348331 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1191.946533203125 --339.79287719726562 --404.85174560546875 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.6753333333333327 -vpKFs.front()->mTimeStamp-594.45992530431874 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1239.4827880859375 - -355.736328125 --424.01242065429688 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.7087000000000003 -vpKFs.front()->mTimeStamp-603.15193364182085 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1287.7904052734375 --370.47079467773438 --443.42922973632812 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp8.7420666666666662 -vpKFs.front()->mTimeStamp-611.87730864598961 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1336.840087890625 - -383.8765869140625 --463.08547973632812 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1551.9451904296875 - 432.15072631835938 - -545.636962890625 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55808f8527f0 -pKFCur->mTimeStamp10.694016666666666 -vpKFs.front()->mTimeStamp-669.51830860430209 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1582.159423828125 -441.02151489257812 --554.8985595703125 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55808f8527f0 -pKFCur->mTimeStamp10.744066666666667 -vpKFs.front()->mTimeStamp-680.22900027513754 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1612.8447265625 - 450.80844116210938 --564.36224365234375 -pKFcur->mnId557 -gopro_slam.cc Caught signal 2 -68164062 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.243566666666666 -vpKFs.front()->mTimeStamp-661.29330033350016 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -1405.9063720703125 --407.24761962890625 --486.44927978515625 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.276933333333334 -vpKFs.front()->mTimeStamp-671.55354200433555 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1408.561279296875 --410.29733276367188 --487.07485961914062 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.3103 -vpKFs.front()->mTimeStamp-681.84715034183762 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1410.52001953125 --413.2049560546875 - -487.61767578125 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.36035 -vpKFs.front()->mTimeStamp-692.17412534600635 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1411.72314453125 --415.99331665039062 --488.09039306640625 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.393716666666666 -vpKFs.front()->mTimeStamp-702.55115035017513 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1411.7177734375 --417.36697387695312 --488.44039916992188 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.427083333333334 -vpKFs.front()->mTimeStamp-712.96154202101059 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1411.012451171875 --417.10989379882812 --488.72055053710938 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.46045 -vpKFs.front()->mTimeStamp-723.4053003585127 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1409.5064697265625 --415.40994262695312 --488.95501708984375 -pKFcur->mnId577 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.493816666666667 -vpKFs.front()->mTimeStamp-733.88242536268149 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1407.635986328125 --412.36624145507812 --489.14605712890625 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.527183333333333 -vpKFs.front()->mTimeStamp-744.39291703351694 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1405.5391845703125 --408.22409057617188 --489.29739379882812 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.560550000000001 -vpKFs.front()->mTimeStamp-754.93677537101905 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1403.2344970703125 --402.87698364257812 --489.37664794921875 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.593916666666667 -vpKFs.front()->mTimeStamp-765.51400037518783 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1401.3763427734375 --395.79891967773438 - -489.88134765625 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.627283333333333 -vpKFs.front()->mTimeStamp-776.12459204602328 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1399.193603515625 - -387.5380859375 --490.1959228515625 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.66065 -vpKFs.front()->mTimeStamp-786.76855038352539 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1396.8443603515625 --377.55294799804688 --490.38983154296875 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.694016666666666 -vpKFs.front()->mTimeStamp-797.44587538769417 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1394.5718994140625 --366.11880493164062 --490.63119506835938 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.727383333333334 -vpKFs.front()->mTimeStamp-808.15656705852962 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1392.7335205078125 --353.35260009765625 --490.92050170898438 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.76075 -vpKFs.front()->mTimeStamp-818.90062539603173 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1391.3421630859375 - -339.5540771484375 --491.24111938476562 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.794116666666667 -vpKFs.front()->mTimeStamp-829.6780504002005 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1390.4296875 --324.60684204101562 --491.61581420898438 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.827483333333333 -vpKFs.front()->mTimeStamp-840.48884207103595 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1390.3260498046875 --308.20101928710938 - -492.169677734375 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.860850000000001 -vpKFs.front()->mTimeStamp-851.33300040853806 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1390.4608154296875 - -290.707275390625 --492.73135375976562 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.894216666666667 -vpKFs.front()->mTimeStamp-862.21052541270683 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1391.335205078125 --272.08697509765625 --493.39117431640625 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.927583333333333 -vpKFs.front()->mTimeStamp-873.12141708354227 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1392.744140625 - -252.1937255859375 --494.29473876953125 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.96095 -vpKFs.front()->mTimeStamp-884.06567542104438 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1261 -1691 pKFcur->GetVelocity() -1394.6781005859375 --231.74530029296875 --495.08248901367188 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp10.994316666666666 -vpKFs.front()->mTimeStamp-895.04330042521315 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1396.860107421875 --209.36013793945312 - -496.245849609375 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.027683333333334 -vpKFs.front()->mTimeStamp-906.05429209604858 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -1401.2210693359375 - -185.6793212890625 - -497.6751708984375 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.06105 -vpKFs.front()->mTimeStamp-917.09865043355069 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1407.1319580078125 --160.48222351074219 --499.43405151367188 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.094416666666667 -vpKFs.front()->mTimeStamp-928.17637543771946 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1414.2813720703125 --133.26637268066406 --501.67755126953125 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.127783333333333 -vpKFs.front()->mTimeStamp-939.28746710855489 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1423.0108642578125 --104.01001739501953 --504.47515869140625 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.161150000000001 -vpKFs.front()->mTimeStamp-950.43192544605699 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1433.3389892578125 --72.868034362792969 --507.83023071289062 -pKFcur->mnId598 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.194516666666667 -vpKFs.front()->mTimeStamp-961.60975045022576 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1446.148681640625 --39.597267150878906 --511.98028564453125 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.227883333333333 -vpKFs.front()->mTimeStamp-972.82094212106119 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1461.6505126953125 --4.8251619338989258 --516.83843994140625 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.26125 -vpKFs.front()->mTimeStamp-984.06550045856329 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1480.123779296875 - 30.885185241699219 --522.35992431640625 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.294616666666666 -vpKFs.front()->mTimeStamp-995.34342546273206 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1501.491943359375 -67.314193725585938 - -528.53076171875 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.327983333333334 -vpKFs.front()->mTimeStamp-1006.6547171335675 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1524.80419921875 -104.90802001953125 - -535.37109375 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.36135 -vpKFs.front()->mTimeStamp-1017.9993754710696 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1548.581298828125 - 142.67366027832031 --542.23321533203125 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.394716666666667 -vpKFs.front()->mTimeStamp-1029.3774004752383 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1571.9053955078125 - 181.3773193359375 --549.20623779296875 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.428083333333333 -vpKFs.front()->mTimeStamp-1040.7887921460738 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1595.11328125 - 220.80378723144531 --556.29583740234375 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.461450000000001 -vpKFs.front()->mTimeStamp-1052.2335504835758 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1618.5552978515625 - 262.377197265625 - -564.126953125 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.494816666666667 -vpKFs.front()->mTimeStamp-1063.7116754877445 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1642.9952392578125 - 304.85916137695312 - -572.394775390625 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.528183333333333 -vpKFs.front()->mTimeStamp-1075.2231671585798 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -1669.4564208984375 - 348.30056762695312 --581.61407470703125 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.56155 -vpKFs.front()->mTimeStamp-1086.7680254960819 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1696.597412109375 -392.40277099609375 --590.6856689453125 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.594916666666666 -vpKFs.front()->mTimeStamp-1098.3462505002506 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1725.0045166015625 - 436.02633666992188 --599.96527099609375 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.628283333333334 -vpKFs.front()->mTimeStamp-1109.957842171086 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1753.6607666015625 - 480.85012817382812 - -609.625 -pKFcur->mnId612 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.66165 -vpKFs.front()->mTimeStamp-1121.602800508588 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1782.267333984375 - 525.5142822265625 - -619.0458984375 -pKFcur->mnId613 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.695016666666668 -vpKFs.front()->mTimeStamp-1133.2811255127567 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1809.7857666015625 - 570.70758056640625 --628.26727294921875 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.845166666666668 -vpKFs.front()->mTimeStamp-1144.992817183592 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1837.2860107421875 - 618.3177490234375 --638.41180419921875 -pKFcur->mnId615 -scale too small -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.878533333333333 -vpKFs.front()->mTimeStamp-1156.8546588544275 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1846.501220703125 -627.17559814453125 --640.8270263671875 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.911900000000001 -vpKFs.front()->mTimeStamp-1168.7498671919295 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1857.4051513671875 - 636.344482421875 --643.18902587890625 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.945266666666667 -vpKFs.front()->mTimeStamp-1180.6784421960983 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1869.87646484375 -645.48956298828125 - -645.85205078125 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp11.978633333333333 -vpKFs.front()->mTimeStamp-1192.6403838669337 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1882.662841796875 - 654.47454833984375 --648.02337646484375 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.012 -vpKFs.front()->mTimeStamp-1204.6356922044358 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1896.30517578125 - 663.43658447265625 --649.89837646484375 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.045366666666666 -vpKFs.front()->mTimeStamp-1216.6643672086045 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1910.133056640625 - 672.5643310546875 --651.25689697265625 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.078733333333334 -vpKFs.front()->mTimeStamp-1228.72640887944 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1924.5863037109375 - 681.31207275390625 - -652.3211669921875 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.1121 -vpKFs.front()->mTimeStamp-1240.821817216942 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1938.1954345703125 - 690.50054931640625 - -653.1326904296875 -pKFcur->mnId623 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.145466666666668 -vpKFs.front()->mTimeStamp-1252.9505922211108 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1951.2972412109375 - 700.33782958984375 - -654.4510498046875 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.178833333333333 -vpKFs.front()->mTimeStamp-1265.1127338919462 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1963.5797119140625 - 710.71240234375 --655.96038818359375 -pKFcur->mnId625 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.212200000000001 -vpKFs.front()->mTimeStamp-1277.3082422294483 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1975.0958251953125 - 721.101318359375 - -656.34326171875 -pKFcur->mnId626 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.26225 -vpKFs.front()->mTimeStamp-1289.537117233617 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1985.6722412109375 - 731.822998046875 - -656.44189453125 -pKFcur->mnId627 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.295616666666668 -vpKFs.front()->mTimeStamp-1301.8160422377857 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1995.9649658203125 - 744.0035400390625 - -656.3345947265625 -pKFcur->mnId628 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.328983333333333 -vpKFs.front()->mTimeStamp-1314.1283339086212 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2005.0384521484375 - 757.62908935546875 - -656.06787109375 -pKFcur->mnId629 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.362350000000001 -vpKFs.front()->mTimeStamp-1326.4739922461233 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2012.2344970703125 - 772.4893798828125 --655.51593017578125 -pKFcur->mnId630 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.4124 -vpKFs.front()->mTimeStamp-1338.8530172502922 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2017.228271484375 - 787.4979248046875 --654.59710693359375 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.445766666666668 -vpKFs.front()->mTimeStamp-1351.2820922544608 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2022.4091796875 -801.33489990234375 - -653.234130859375 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.479133333333333 -vpKFs.front()->mTimeStamp-1363.7445339252963 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2026.7926025390625 - 815.9326171875 - -651.637451171875 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.512500000000001 -vpKFs.front()->mTimeStamp-1376.2403422627983 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2030.50732421875 -828.48736572265625 --649.5792236328125 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.545866666666667 -vpKFs.front()->mTimeStamp-1388.7695172669671 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2033.126953125 - 840.6312255859375 --647.25738525390625 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.579233333333333 -vpKFs.front()->mTimeStamp-1401.3320589378025 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2035.6846923828125 - 853.40008544921875 - -644.8060302734375 -pKFcur->mnId636 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.6126 -vpKFs.front()->mTimeStamp-1413.9279672753046 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2039.39697265625 - 866.30902099609375 --642.18719482421875 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.645966666666666 -vpKFs.front()->mTimeStamp-1426.5572422794733 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2043.736572265625 - 879.98870849609375 --639.45648193359375 -pKFcur->mnId638 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.679333333333334 -vpKFs.front()->mTimeStamp-1439.2198839503087 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2049.221923828125 - 894.68780517578125 --636.63397216796875 -pKFcur->mnId639 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.7127 -vpKFs.front()->mTimeStamp-1451.9158922878107 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2056.347412109375 - 909.7884521484375 - -633.679443359375 -pKFcur->mnId640 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.746066666666668 -vpKFs.front()->mTimeStamp-1464.6452672919795 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -2064.43017578125 - 924.9739990234375 --630.53753662109375 -pKFcur->mnId641 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.779433333333333 -vpKFs.front()->mTimeStamp-1477.4080089628148 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2073.567138671875 - 941.11572265625 --627.31024169921875 -pKFcur->mnId642 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.812800000000001 -vpKFs.front()->mTimeStamp-1490.204117300317 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2083.2197265625 - 957.227294921875 --623.843505859375 -pKFcur->mnId643 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.846166666666667 -vpKFs.front()->mTimeStamp-1503.0335923044856 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2092.246826171875 - 973.79827880859375 --620.12445068359375 -pKFcur->mnId644 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.879533333333333 -vpKFs.front()->mTimeStamp-1515.8964339753211 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2100.966552734375 - 989.9691162109375 --616.08721923828125 -pKFcur->mnId645 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.9129 -vpKFs.front()->mTimeStamp-1528.7926423128231 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2109.62158203125 -1006.7540283203125 - -611.861083984375 -pKFcur->mnId646 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.946266666666666 -vpKFs.front()->mTimeStamp-1541.7222173169919 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -2117.89111328125 - 1023.5419311523438 --607.34405517578125 -pKFcur->mnId647 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp12.979633333333334 -vpKFs.front()->mTimeStamp-1554.6851589878272 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2125.0654296875 - 1040.0562744140625 --602.48687744140625 -pKFcur->mnId648 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp13.013 -vpKFs.front()->mTimeStamp-1567.6814673253293 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2130.8349609375 -1057.0264892578125 --597.3641357421875 -pKFcur->mnId649 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp13.046366666666668 -vpKFs.front()->mTimeStamp-1580.711142329498 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2136.305908203125 -1073.1214599609375 - -591.851806640625 -pKFcur->mnId650 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp13.079733333333333 -vpKFs.front()->mTimeStamp-1593.7741840003334 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -2141.18212890625 -1088.4095458984375 --585.9735107421875 -pKFcur->mnId651 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp13.129783333333334 -vpKFs.front()->mTimeStamp-1606.8705923378354 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2144.656005859375 - 1104.08203125 --579.8809814453125 -pKFcur->mnId652 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp13.16315 -vpKFs.front()->mTimeStamp-1620.0170506753375 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2147.910888671875 - 1120.239013671875 --573.50897216796875 -pKFcur->mnId653 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp13.196516666666668 -vpKFs.front()->mTimeStamp-1633.1968756795063 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2151.722900390625 - 1136.8236083984375 --566.99884033203125 -pKFcur->mnId654 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55953da89830 -pKFCur->mTimeStamp13.229883333333333 -vpKFs.front()->mTimeStamp-1646.4100673503417 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2157.768798828125 - 1154.27685546875 --560.42071533203125 -pKFcur->mnId655 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:920507276681296dea1aa4972ae893ae1835690a01e2cabf42ba655b2bef8e54 +size 102168 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/camera_trajectory.csv index 8b2efcca9a5914f6c9580ba414dd8aa69734ac52..7f857e50c6f6a864e21a1001cfbc8625469aea69 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/camera_trajectory.csv @@ -1,860 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,6,true,false,0,0,0,0,0,0,0 -1,0.000000,6,true,false,0,0,0,0,0,0,0 -2,0.000000,6,true,false,0,0,0,0,0,0,0 -3,0.000000,6,true,false,0,0,0,0,0,0,0 -4,0.000000,6,true,false,0,0,0,0,0,0,0 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sha256:6959ca3f7b2c62dea0392aa6ea3d8b9446897930015975d5e6ae3d8a4b3f01f0 +size 34761 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/extract_gopro_imu_stdout.txt index 483c35543ffb7b44cce1a8cedcafb003169d814e..faada8f438fef1a27962e89246a2a126ede0bf38 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 107910205 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:3d033d542aa048a8bc380423adddedd066a20933e94f898ad9f4c65a1ab6f165 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/imu_data.json index d4b46f2ff66641b6dc5e71cd54c448b485ada885..46efcb473e9456dc0273316ea66c4076c70f4958 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[6.6450839328537175,-2.6882494004796165,6.570743405275779],"cts":78.376,"date":"2015-10-18T00:50:34.405Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:1468f01da41e03321b7bc9c870101224cb124c3a4aef6b6f2a12a53dfc88ea6e +size 1278982 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stderr.txt index defde1db6522cdc4939e99d31811c18a3207c419..b9bd5df9b49355f1cdf3abdfdef96d6740d65cd2 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stderr.txt @@ -1,6 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... -virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() +version https://git-lfs.github.com/spec/v1 +oid sha256:12e90eeaebe0994afd87c80ca09021f2e49551f7f93ab6088d77b03d1c262973 +size 413 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stdout.txt index 2ccbdbd6e1c82fec75c2839c529327ab2eb8249e..e85edba7453bb475336300eb18a6a876851a1854 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stdout.txt @@ -1,1797 +1,3 @@ -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 859 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 1.96713 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x5618c9348ac0 -pKFCur->mTimeStamp1.5015000000000001 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a47855cad0 -pKFCur->mTimeStamp4.1040999999999999 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.2208833333333331 -vpKFs.front()->mTimeStamp-67.333916675004161 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.3710333333333331 -vpKFs.front()->mTimeStamp-71.571475012506241 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0.47794148325920105 - 5.7100210189819336 --4.4710626602172852 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.4043999999999999 -vpKFs.front()->mTimeStamp-75.959183350008331 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1.3646453619003296 --7.9309792518615723 - 2.0838708877563477 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.4377666666666666 -vpKFs.front()->mTimeStamp-80.380258354177087 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1.2786984443664551 - 8.6653852462768555 --2.0761761665344238 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.4711333333333334 -vpKFs.front()->mTimeStamp-84.834700025012509 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2.083653450012207 --11.265423774719238 - 1.037933349609375 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.5045000000000002 -vpKFs.front()->mTimeStamp-89.322508362514597 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1.856853723526001 - 12.474893569946289 --1.6139007806777954 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.5378666666666669 -vpKFs.front()->mTimeStamp-93.843683366683351 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 4.0801544189453125 - 18.940496444702148 --4.9175853729248047 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.5712333333333337 -vpKFs.front()->mTimeStamp-98.39822503751877 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 6.2712697982788086 - 24.772615432739258 --8.1471681594848633 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.6046000000000005 -vpKFs.front()->mTimeStamp-102.98613337502086 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 8.3625173568725586 - 30.739927291870117 --11.409006118774414 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.6379666666666663 -vpKFs.front()->mTimeStamp-107.60740837918961 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 10.246659278869629 - 36.668449401855469 --14.649434089660645 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.6713333333333331 -vpKFs.front()->mTimeStamp-112.26205005002502 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 12.685220718383789 - 41.947216033935547 --17.840171813964844 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.7046999999999999 -vpKFs.front()->mTimeStamp-116.95005838752711 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 15.252701759338379 - 47.017120361328125 --21.027215957641602 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.7380666666666666 -vpKFs.front()->mTimeStamp-121.67143339169586 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 17.828361511230469 - 52.497241973876953 --24.247873306274414 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.7714333333333334 -vpKFs.front()->mTimeStamp-126.42617506253127 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 19.910648345947266 -57.514968872070312 --27.37940788269043 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.8048000000000002 -vpKFs.front()->mTimeStamp-131.21428340003337 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 21.251991271972656 -62.705387115478516 --30.46919059753418 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.8882166666666667 -vpKFs.front()->mTimeStamp-136.03575840420211 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() 21.66309928894043 -67.919593811035156 --33.51763916015625 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp4.9215833333333334 -vpKFs.front()->mTimeStamp-140.94065007503752 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 18.63667106628418 - 66.827735900878906 --33.524250030517578 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.0216833333333337 -vpKFs.front()->mTimeStamp-145.8789084125396 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 16.420417785644531 - 64.480094909667969 --33.493442535400391 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.0550500000000005 -vpKFs.front()->mTimeStamp-150.91726675004168 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 17.070310592651367 - 56.907428741455078 --33.952545166015625 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.0884166666666664 -vpKFs.front()->mTimeStamp-155.98899175421042 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 18.597904205322266 - 48.047935485839844 --34.675106048583984 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.1718333333333337 -vpKFs.front()->mTimeStamp-161.09408342504582 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 21.054727554321289 - 37.848892211914062 --35.740291595458984 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.2052000000000005 -vpKFs.front()->mTimeStamp-166.2825917625479 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 27.865303039550781 - 30.679141998291016 --37.372940063476562 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.2385666666666664 -vpKFs.front()->mTimeStamp-171.50446676671663 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 36.016242980957031 - 22.872503280639648 --39.366123199462891 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.3553500000000005 -vpKFs.front()->mTimeStamp-176.75970843755204 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 45.042713165283203 - 15.256685256958008 --41.540225982666016 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.3887166666666664 -vpKFs.front()->mTimeStamp-182.1317334417208 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 55.047088623046875 - 12.766567230224609 --43.907638549804688 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.4220833333333331 -vpKFs.front()->mTimeStamp-187.53712511255623 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 67.396377563476562 - 10.291769027709961 --46.827098846435547 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.5221833333333334 -vpKFs.front()->mTimeStamp-192.97588345005832 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 82.868484497070312 - 7.9645533561706543 --50.619014739990234 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.5555500000000002 -vpKFs.front()->mTimeStamp-198.51474178756041 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 100.27445983886719 - 9.2688417434692383 --55.156696319580078 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.588916666666667 -vpKFs.front()->mTimeStamp-204.08696679172917 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 117.96043395996094 - 11.905069351196289 --59.720066070556641 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.6222833333333337 -vpKFs.front()->mTimeStamp-209.69255846256459 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 134.87571716308594 - 15.125967025756836 --63.952911376953125 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.6556500000000005 -vpKFs.front()->mTimeStamp-215.33151680006668 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 150.73159790039062 - 18.981563568115234 --67.843193054199219 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.6890166666666664 -vpKFs.front()->mTimeStamp-221.00384180423544 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 166.10391235351562 - 23.87114143371582 --71.645111083984375 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.7223833333333332 -vpKFs.front()->mTimeStamp-226.70953347507086 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 181.64472961425781 - 29.972139358520508 --75.600028991699219 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.7724333333333337 -vpKFs.front()->mTimeStamp-232.44859181257294 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 197.42921447753906 - 37.437210083007812 --79.787849426269531 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.8058000000000005 -vpKFs.front()->mTimeStamp-238.23770015007503 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 213.24214172363281 - 46.704975128173828 --84.206085205078125 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.8391666666666664 -vpKFs.front()->mTimeStamp-244.06017515424378 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 228.46743774414062 - 57.679698944091797 --88.672203063964844 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.8725333333333332 -vpKFs.front()->mTimeStamp-249.9160168250792 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 242.36032104492188 - 69.503608703613281 --92.751861572265625 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.9225833333333338 -vpKFs.front()->mTimeStamp-255.80522516258128 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 254.58238220214844 - 81.37030029296875 --96.34625244140625 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.9559500000000005 -vpKFs.front()->mTimeStamp-261.74448350008339 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 265.7197265625 - 94.076705932617188 --99.823905944824219 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp5.9893166666666664 -vpKFs.front()->mTimeStamp-267.71710850425217 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 276.81808471679688 - 106.11371612548828 --103.11453247070312 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.0226833333333332 -vpKFs.front()->mTimeStamp-273.72310017508761 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 287.79885864257812 - 118.17976379394531 --106.35183715820312 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.0560499999999999 -vpKFs.front()->mTimeStamp-279.76245851258972 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() 298.83148193359375 - 130.37715148925781 --109.59352111816406 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.0894166666666667 -vpKFs.front()->mTimeStamp-285.83518351675849 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 309.15127563476562 - 142.33688354492188 --112.59420776367188 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.1227833333333335 -vpKFs.front()->mTimeStamp-291.94127518759393 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 319.141357421875 - 153.62287902832031 --115.36199951171875 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.1561500000000002 -vpKFs.front()->mTimeStamp-298.08073352509604 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 328.95257568359375 - 164.52462768554688 --117.98322296142578 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.189516666666667 -vpKFs.front()->mTimeStamp-304.25355852926481 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 338.54815673828125 -175.28379821777344 - -120.50244140625 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.2228833333333338 -vpKFs.front()->mTimeStamp-310.45975020010025 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 347.697998046875 - 185.3465576171875 --122.79393005371094 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.2562500000000005 -vpKFs.front()->mTimeStamp-316.69930853760235 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 356.40753173828125 - 195.23556518554688 --124.94824981689453 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.2896166666666664 -vpKFs.front()->mTimeStamp-322.97223354177112 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 364.4111328125 -204.95159912109375 - -126.941650390625 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.3229833333333332 -vpKFs.front()->mTimeStamp-329.27852521260655 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 372.0421142578125 - 214.43557739257812 --128.81063842773438 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.3563499999999999 -vpKFs.front()->mTimeStamp-335.61818355010865 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 379.06387329101562 - 224.30824279785156 --130.61741638183594 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.3897166666666667 -vpKFs.front()->mTimeStamp-341.99120855427742 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 385.93576049804688 - 234.06700134277344 --132.35586547851562 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.4230833333333335 -vpKFs.front()->mTimeStamp-348.39760022511285 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 392.70501708984375 - 244.06626892089844 --134.09977722167969 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.4564500000000002 -vpKFs.front()->mTimeStamp-354.83735856261495 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 399.74270629882812 - 253.60781860351562 --135.76982116699219 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.489816666666667 -vpKFs.front()->mTimeStamp-361.31048356678372 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 407.01312255859375 - 263.71084594726562 --137.51814270019531 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.5231833333333338 -vpKFs.front()->mTimeStamp-367.81697523761915 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 414.785888671875 - 272.91363525390625 --139.15434265136719 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.5565500000000005 -vpKFs.front()->mTimeStamp-374.35683357512124 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 422.98699951171875 - 282.11972045898438 --140.81710815429688 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.5899166666666664 -vpKFs.front()->mTimeStamp-380.93005857929001 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 431.64324951171875 - 290.62554931640625 --142.40431213378906 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.6232833333333332 -vpKFs.front()->mTimeStamp-387.53665025012543 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 440.84735107421875 -298.99771118164062 - -144.014892578125 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.65665 -vpKFs.front()->mTimeStamp-394.17660858762753 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 450.30764770507812 - 306.62838745117188 --145.52590942382812 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.6900166666666667 -vpKFs.front()->mTimeStamp-400.84993359179629 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 459.75155639648438 - 314.14328002929688 --146.98170471191406 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.7233833333333335 -vpKFs.front()->mTimeStamp-407.55662526263171 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 468.63174438476562 - 322.04205322265625 --148.36787414550781 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.7567500000000003 -vpKFs.front()->mTimeStamp-414.2966836001338 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 476.19619750976562 - 330.1134033203125 --149.52142333984375 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.790116666666667 -vpKFs.front()->mTimeStamp-421.07010860430256 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 481.9193115234375 - 338.84158325195312 --150.46200561523438 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.8234833333333338 -vpKFs.front()->mTimeStamp-427.87690027513798 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 485.12042236328125 - 348.5361328125 --151.26190185546875 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.8568500000000006 -vpKFs.front()->mTimeStamp-434.71705861264007 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 485.38552856445312 - 358.83883666992188 --151.97073364257812 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.8902166666666664 -vpKFs.front()->mTimeStamp-441.59058361680883 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 482.55133056640625 - 367.9825439453125 --152.48051452636719 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.9235833333333332 -vpKFs.front()->mTimeStamp-448.49747528764425 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 476.986083984375 - 376.805419921875 --153.06207275390625 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.95695 -vpKFs.front()->mTimeStamp-455.43773362514634 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 468.90615844726562 - 384.76925659179688 --153.76861572265625 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp6.9903166666666667 -vpKFs.front()->mTimeStamp-462.41135862931509 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 458.76657104492188 - 391.78662109375 --154.64799499511719 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.0236833333333335 -vpKFs.front()->mTimeStamp-469.41835030015051 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 446.58892822265625 - 398.3494873046875 --155.83036804199219 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.0570500000000003 -vpKFs.front()->mTimeStamp-476.45870863765259 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 432.15280151367188 - 404.7451171875 --157.46505737304688 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.090416666666667 -vpKFs.front()->mTimeStamp-483.53243364182134 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 415.610595703125 -411.07235717773438 --159.6107177734375 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.1237833333333338 -vpKFs.front()->mTimeStamp-490.63952531265676 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 397.08197021484375 - 417.13958740234375 --162.28402709960938 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.1571500000000006 -vpKFs.front()->mTimeStamp-497.77998365015884 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 376.68487548828125 - 423.1571044921875 --165.52763366699219 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.1905166666666664 -vpKFs.front()->mTimeStamp-504.95380865432759 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 354.16397094726562 - 429.53213500976562 --169.51388549804688 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.2238833333333332 -vpKFs.front()->mTimeStamp-512.16100032516306 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 329.75900268554688 -436.01162719726562 - -174.198486328125 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.25725 -vpKFs.front()->mTimeStamp-519.40155866266514 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 303.56442260742188 - 441.817626953125 --179.52996826171875 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.2906166666666667 -vpKFs.front()->mTimeStamp-526.67548366683388 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 275.70147705078125 - 448.17721557617188 --185.60552978515625 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.3239833333333335 -vpKFs.front()->mTimeStamp-533.9827753376693 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 246.40673828125 -454.77081298828125 --192.3135986328125 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.3573500000000003 -vpKFs.front()->mTimeStamp-541.32343367517137 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 216.12138366699219 - 461.11849975585938 --199.42189025878906 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.390716666666667 -vpKFs.front()->mTimeStamp-548.69745867934012 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 184.58076477050781 - 468.2198486328125 --207.17475891113281 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.4574499999999997 -vpKFs.front()->mTimeStamp-556.10485035017552 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 151.53868103027344 - 475.94485473632812 --215.72023010253906 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.4908166666666665 -vpKFs.front()->mTimeStamp-563.57897535434427 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 114.17368316650391 - 484.92901611328125 --226.73883056640625 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.5241833333333332 -vpKFs.front()->mTimeStamp-571.08646702517967 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 74.5113525390625 - 494.41879272460938 --239.17587280273438 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.55755 -vpKFs.front()->mTimeStamp-578.62732536268174 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 33.151382446289062 - 504.62197875976562 --252.75588989257812 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.5909166666666668 -vpKFs.front()->mTimeStamp-586.20155036685048 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -9.7923860549926758 - 515.98150634765625 - -267.546630859375 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.6242833333333335 -vpKFs.front()->mTimeStamp-593.80914203768589 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -54.028270721435547 - 527.87591552734375 --283.28738403320312 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.6576500000000003 -vpKFs.front()->mTimeStamp-601.45010037518796 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -99.547492980957031 - 540.916259765625 --300.12783813476562 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.6910166666666671 -vpKFs.front()->mTimeStamp-609.12442537935669 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -146.00994873046875 - 554.77923583984375 --317.79586791992188 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.7243833333333338 -vpKFs.front()->mTimeStamp-616.8321170501921 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -193.84910583496094 - 568.51934814453125 --336.44131469726562 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.7744333333333335 -vpKFs.front()->mTimeStamp-624.57317538769416 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -243.00677490234375 - 582.529052734375 --356.14651489257812 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.8078000000000003 -vpKFs.front()->mTimeStamp-632.36428372519629 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -294.50698852539062 - 596.57550048828125 - -377.787353515625 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.8411666666666671 -vpKFs.front()->mTimeStamp-640.18875872936508 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -347.77212524414062 - 610.0594482421875 --400.85235595703125 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.8745333333333338 -vpKFs.front()->mTimeStamp-648.04660040020053 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -402.56878662109375 - 623.410400390625 --425.29751586914062 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.9078999999999997 -vpKFs.front()->mTimeStamp-655.93780873770265 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -458.35687255859375 - 636.888916015625 - -450.6380615234375 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.9412666666666665 -vpKFs.front()->mTimeStamp-663.86238374187144 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -514.6129150390625 -650.94549560546875 --476.4527587890625 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp7.9746333333333332 -vpKFs.front()->mTimeStamp-671.82032541270689 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -571.0289306640625 - 665.23406982421875 --502.31268310546875 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.0080000000000009 -vpKFs.front()->mTimeStamp-679.81163375020901 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -627.3109130859375 - 680.22314453125 --528.0423583984375 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.0413666666666668 -vpKFs.front()->mTimeStamp-687.8363087543778 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -683.34124755859375 - 695.824462890625 - -553.536865234375 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.0747333333333327 -vpKFs.front()->mTimeStamp-695.89435042521325 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -739.46734619140625 - 711.48443603515625 - -579.0172119140625 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.1081000000000003 -vpKFs.front()->mTimeStamp-703.98575876271536 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -795.93438720703125 - 727.6343994140625 --604.82696533203125 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.1414666666666662 -vpKFs.front()->mTimeStamp-712.11053376688415 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -853.564697265625 - 743.2633056640625 --631.5501708984375 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.1748333333333338 -vpKFs.front()->mTimeStamp-720.26867543771959 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -912.4476318359375 - 758.6710205078125 --659.47772216796875 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.2081999999999997 -vpKFs.front()->mTimeStamp-728.46018377522171 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -972.25543212890625 - 774.12225341796875 - -688.24169921875 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.2415666666666674 -vpKFs.front()->mTimeStamp-736.68505877939049 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1032.86083984375 - 789.561279296875 --717.74481201171875 -pKFcur->mnId598 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.2749333333333333 -vpKFs.front()->mTimeStamp-744.94330045022593 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1094.2056884765625 - 804.7294921875 - -747.846435546875 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.3083000000000009 -vpKFs.front()->mTimeStamp-753.23490878772805 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1155.4189453125 - 820.046142578125 --777.60723876953125 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.3416666666666668 -vpKFs.front()->mTimeStamp-761.55988379189682 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1216.866455078125 - 836.10943603515625 --807.67010498046875 -pKFcur->mnId601 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 13.68504856987958 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.3750333333333327 -vpKFs.front()->mTimeStamp-769.91822546273227 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1278.26171875 -852.73504638671875 --837.6756591796875 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.4084000000000003 -vpKFs.front()->mTimeStamp-778.30993380023438 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1339.665771484375 - 870.44647216796875 --867.88446044921875 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.4417666666666662 -vpKFs.front()->mTimeStamp-786.73500880440315 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1400.3250732421875 - 890.63934326171875 --897.93878173828125 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.4751333333333339 -vpKFs.front()->mTimeStamp-795.19345047523859 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1460.0927734375 - 911.38592529296875 --926.99359130859375 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.5084999999999997 -vpKFs.front()->mTimeStamp-803.6852588127407 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1518.9569091796875 - 932.310302734375 --954.94598388671875 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.5585500000000003 -vpKFs.front()->mTimeStamp-812.21043381690947 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1577.44970703125 - 953.158447265625 --982.2445068359375 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.5919166666666662 -vpKFs.front()->mTimeStamp-820.78565882107819 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1635.811279296875 - 975.26409912109375 --1009.6087646484375 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.6252833333333339 -vpKFs.front()->mTimeStamp-829.39425049191357 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1694.05078125 - 997.778564453125 --1036.792724609375 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.6586499999999997 -vpKFs.front()->mTimeStamp-838.03620882941561 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1751.8350830078125 - 1020.4129638671875 - -1063.387451171875 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.6920166666666674 -vpKFs.front()->mTimeStamp-846.71153383358433 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1809.1585693359375 - 1044.0054931640625 --1089.7178955078125 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.7253833333333333 -vpKFs.front()->mTimeStamp-855.4202255044197 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1866.670166015625 - 1067.8271484375 --1116.0894775390625 -pKFcur->mnId612 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.7587500000000009 -vpKFs.front()->mTimeStamp-864.16228384192175 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1923.6107177734375 - 1091.4072265625 - -1141.60107421875 -pKFcur->mnId613 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.7921166666666668 -vpKFs.front()->mTimeStamp-872.93770884609046 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1980.037109375 -1115.8292236328125 --1166.800537109375 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.8421666666666674 -vpKFs.front()->mTimeStamp-881.74650051692583 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2035.864013671875 - 1140.701416015625 --1191.4822998046875 -pKFcur->mnId615 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.8755333333333333 -vpKFs.front()->mTimeStamp-890.60534218776127 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2091.7900390625 -1165.6068115234375 --1216.023681640625 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.9089000000000009 -vpKFs.front()->mTimeStamp-899.49755052526336 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2147.836181640625 - 1190.8408203125 --1240.6114501953125 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.9422666666666668 -vpKFs.front()->mTimeStamp-908.42312552943213 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2203.9443359375 - 1216.134765625 --1265.0994873046875 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp8.9756333333333327 -vpKFs.front()->mTimeStamp-917.38206720026756 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2260.411865234375 - 1241.692626953125 - -1289.8232421875 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.0090000000000003 -vpKFs.front()->mTimeStamp-926.37437553776965 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -2317.58447265625 - 1266.775634765625 --1314.8199462890625 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.0423666666666662 -vpKFs.front()->mTimeStamp-935.40005054193841 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2374.744384765625 - 1291.654052734375 - -1339.59423828125 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.0757333333333339 -vpKFs.front()->mTimeStamp-944.45909221277384 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1260 -1691 pKFcur->GetVelocity() -2432.454345703125 -1316.2232666015625 - -1364.607421875 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55993f25b7d0 -pKFCur->mTimeStamp8.9589499999999997 -vpKFs.front()->mTimeStamp-934.96625888777794 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -367.32791137695312 - 490.14340209960938 - -1090.697021484375 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55993f25b7d0 -pKFCur->mTimeStamp8.9923166666666674 -vpKFs.front()->mTimeStamp-943.94188389194665 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -400.0067138671875 - 505.07308959960938 --1103.6146240234375 -pKFcur->mnId625 -gopro_slam.cc Caught signal 2 -p-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3008.236328125 - 1525.350341796875 --1638.6446533203125 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.4260833333333327 -vpKFs.front()->mTimeStamp-1037.0348255877943 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3078.768310546875 -1548.4893798828125 - -1675.6708984375 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.4594500000000004 -vpKFs.front()->mTimeStamp-1046.4775839252964 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3149.254638671875 - 1571.4381103515625 --1712.3629150390625 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.4928166666666662 -vpKFs.front()->mTimeStamp-1055.9537089294652 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3219.137939453125 -1594.9412841796875 --1748.356201171875 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.5261833333333339 -vpKFs.front()->mTimeStamp-1065.4632006003005 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3288.54296875 -1619.091064453125 - -1783.8671875 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.5595499999999998 -vpKFs.front()->mTimeStamp-1075.0060589378027 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3357.756103515625 - 1643.0128173828125 --1818.9014892578125 -pKFcur->mnId636 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.5929166666666674 -vpKFs.front()->mTimeStamp-1084.5822839419714 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3427.15478515625 - 1667.15478515625 --1854.060791015625 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.6262833333333333 -vpKFs.front()->mTimeStamp-1094.1918756128068 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3496.870849609375 - 1691.61083984375 --1889.4837646484375 -pKFcur->mnId638 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.659650000000001 -vpKFs.front()->mTimeStamp-1103.8348339503088 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3566.614501953125 -1716.1239013671875 - -1924.73486328125 -pKFcur->mnId639 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.6930166666666668 -vpKFs.front()->mTimeStamp-1113.5111589544777 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3636.587890625 -1741.7540283203125 - -1960.4482421875 -pKFcur->mnId640 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.7263833333333327 -vpKFs.front()->mTimeStamp-1123.220850625313 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3706.600341796875 - 1766.795654296875 --1995.7210693359375 -pKFcur->mnId641 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.7597500000000004 -vpKFs.front()->mTimeStamp-1132.9639089628151 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3776.495849609375 - 1792.46630859375 - -2030.90673828125 -pKFcur->mnId642 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.7931166666666662 -vpKFs.front()->mTimeStamp-1142.7403339669838 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3846.095458984375 -1818.9093017578125 --2065.828857421875 -pKFcur->mnId643 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.8264833333333339 -vpKFs.front()->mTimeStamp-1152.5501256378193 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3915.39501953125 -1845.5330810546875 --2100.269775390625 -pKFcur->mnId644 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.8598499999999998 -vpKFs.front()->mTimeStamp-1162.3932839753213 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3984.556884765625 -1872.2764892578125 - -2134.33740234375 -pKFcur->mnId645 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.8932166666666674 -vpKFs.front()->mTimeStamp-1172.2698089794901 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4052.279541015625 -1899.6473388671875 --2166.857666015625 -pKFcur->mnId646 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.9265833333333333 -vpKFs.front()->mTimeStamp-1182.1797006503255 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4118.1923828125 -1927.8648681640625 --2197.673583984375 -pKFcur->mnId647 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.959950000000001 -vpKFs.front()->mTimeStamp-1192.1229589878276 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4182.5615234375 - 1956.5205078125 --2226.983154296875 -pKFcur->mnId648 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp9.9933166666666668 -vpKFs.front()->mTimeStamp-1202.0995839919963 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4245.98974609375 -1984.7181396484375 --2255.080810546875 -pKFcur->mnId649 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.026683333333333 -vpKFs.front()->mTimeStamp-1212.1095756628317 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4308.9873046875 -2013.0555419921875 --2282.712646484375 -pKFcur->mnId650 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.06005 -vpKFs.front()->mTimeStamp-1222.1529340003337 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4372.0478515625 -2041.8070068359375 --2310.446044921875 -pKFcur->mnId651 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.093416666666666 -vpKFs.front()->mTimeStamp-1232.2296590045025 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4436.39599609375 -2070.092529296875 - -2339.037109375 -pKFcur->mnId652 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.126783333333334 -vpKFs.front()->mTimeStamp-1242.3397506753379 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4502.20947265625 - 2098.89599609375 --2369.05419921875 -pKFcur->mnId653 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.16015 -vpKFs.front()->mTimeStamp-1252.48320901284 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4570.63623046875 - 2127.3896484375 --2401.30224609375 -pKFcur->mnId654 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.193516666666667 -vpKFs.front()->mTimeStamp-1262.6600340170087 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -4641.294921875 - 2155.92724609375 --2435.656982421875 -pKFcur->mnId655 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.226883333333333 -vpKFs.front()->mTimeStamp-1272.8702256878441 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4714.220703125 - 2184.5322265625 --2472.27685546875 -pKFcur->mnId656 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.260250000000001 -vpKFs.front()->mTimeStamp-1283.1137840253461 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4788.8486328125 - 2212.189453125 --2510.170166015625 -pKFcur->mnId657 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.293616666666667 -vpKFs.front()->mTimeStamp-1293.3907090295149 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4864.4794921875 -2238.673583984375 --2548.46044921875 -pKFcur->mnId658 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.326983333333333 -vpKFs.front()->mTimeStamp-1303.7010007003503 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4940.2626953125 -2263.529541015625 - -2586.0068359375 -pKFcur->mnId659 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.36035 -vpKFs.front()->mTimeStamp-1314.0446590378524 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5015.19970703125 - 2286.824951171875 --2621.812744140625 -pKFcur->mnId660 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.393716666666666 -vpKFs.front()->mTimeStamp-1324.4216840420211 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5088.8916015625 - 2308.68359375 --2655.6279296875 -pKFcur->mnId661 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.427083333333334 -vpKFs.front()->mTimeStamp-1334.8320757128565 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5160.97998046875 - 2330.396728515625 --2687.600341796875 -pKFcur->mnId662 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.46045 -vpKFs.front()->mTimeStamp-1345.2758340503585 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -5230.53857421875 - 2352.343994140625 --2717.046142578125 -pKFcur->mnId663 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.493816666666667 -vpKFs.front()->mTimeStamp-1355.7529590545273 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5297.54638671875 - 2375.037841796875 --2744.290283203125 -pKFcur->mnId664 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.527183333333333 -vpKFs.front()->mTimeStamp-1366.2634507253626 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5361.94189453125 - 2399.3837890625 - -2769.7158203125 -pKFcur->mnId665 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.560550000000001 -vpKFs.front()->mTimeStamp-1376.8073090628648 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5424.06103515625 - 2424.8662109375 --2793.560302734375 -pKFcur->mnId666 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.593916666666667 -vpKFs.front()->mTimeStamp-1387.3845340670334 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5483.9365234375 - 2451.9130859375 --2816.083251953125 -pKFcur->mnId667 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.627283333333333 -vpKFs.front()->mTimeStamp-1397.9951257378689 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5542.2900390625 -2479.456298828125 - -2837.55078125 -pKFcur->mnId668 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.66065 -vpKFs.front()->mTimeStamp-1408.6390840753709 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5599.470703125 - 2507.5908203125 --2858.296630859375 -pKFcur->mnId669 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.694016666666666 -vpKFs.front()->mTimeStamp-1419.3164090795397 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5656.01318359375 -2536.164794921875 --2878.66162109375 -pKFcur->mnId670 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.727383333333334 -vpKFs.front()->mTimeStamp-1430.027100750375 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5711.5712890625 - 2564.556884765625 --2898.212646484375 -pKFcur->mnId671 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.76075 -vpKFs.front()->mTimeStamp-1440.7711590878771 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -5766.2568359375 - 2593.158447265625 --2917.189208984375 -pKFcur->mnId672 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.794116666666667 -vpKFs.front()->mTimeStamp-1451.5485840920458 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -5819.7138671875 - 2622.5498046875 - -2935.56640625 -pKFcur->mnId673 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.827483333333333 -vpKFs.front()->mTimeStamp-1462.3593757628812 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5872.27294921875 - 2652.7578125 --2953.563232421875 -pKFcur->mnId674 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.860850000000001 -vpKFs.front()->mTimeStamp-1473.2035341003832 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5925.12109375 -2683.29052734375 --2971.7197265625 -pKFcur->mnId675 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.894216666666667 -vpKFs.front()->mTimeStamp-1484.081059104552 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5978.943359375 - 2714.29443359375 --2990.473388671875 -pKFcur->mnId676 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.927583333333333 -vpKFs.front()->mTimeStamp-1494.9919507753873 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -6034.76904296875 - 2745.10302734375 --3010.169189453125 -pKFcur->mnId677 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.96095 -vpKFs.front()->mTimeStamp-1505.9362091128894 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6092.20068359375 - 2773.857421875 --3030.055908203125 -pKFcur->mnId678 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55a479447840 -pKFCur->mTimeStamp10.994316666666666 -vpKFs.front()->mTimeStamp-1516.9138341170581 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -6150.4150390625 - 2802.58203125 --3050.33447265625 -pKFcur->mnId679 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:4b521ddb8602cc3141db51c8492beea7648324ac94536109fc9e0a3131698eb5 +size 104684 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/extract_gopro_imu_stdout.txt index 65a4a531b84baa206b9f0dda85354d6a3704fb58..e69ad081c36a89dc6a65770e7312d8d073a39997 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 138183613 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:243385d365639629a78ea6d008a44a9849416bc8fff6deecc3cfff092fc255e7 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/imu_data.json index cd3a40cbb03b17de295caf60607278ca83d76070..ba7d274bd7407cb04e1f4b3c90c3624618e1304c 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/imu_data.json @@ -1 +1,3 @@ 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.940059940059946} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:56b72998ed64c35e419fc44435186dc4ce5a0b46450e79661a098bdf4914765f +size 1641391 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stdout.txt index 9e6381211dbc96d5b9d49bfd726a5eea52330bba..bc8b8174e7b7c2321708b835d5f8a64f9bad9bab 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stdout.txt @@ -1,3804 +1,3 @@ -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 1103 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 2.96477 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x561ea4f61b90 -pKFCur->mTimeStamp0.46713333333333334 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.2916166666666662 -vpKFs.front()->mTimeStamp-63.696950008337495 -vpKFs.back()->mTimeStamp-0.016675004168751062 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -0.9763416051864624 --3.1487476825714111 --1.6492365598678589 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.4250833333333333 -vpKFs.front()->mTimeStamp-72.005241679172912 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -49.500679016113281 -0.54606461524963379 --20.014062881469727 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.4584500000000009 -vpKFs.front()->mTimeStamp-80.447000016674991 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -89.699684143066406 - 6.1059646606445312 --32.706851959228516 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.4918166666666668 -vpKFs.front()->mTimeStamp-88.922125020843737 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -128.32536315917969 - 11.915584564208984 --44.528884887695312 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.5251833333333327 -vpKFs.front()->mTimeStamp-97.430616691679148 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -165.78518676757812 - 18.210910797119141 --55.761478424072266 -pKFcur->mnId497 -TRACK_REF_KF: Less than 15 matches!! -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.5585500000000003 -vpKFs.front()->mTimeStamp-105.97247502918123 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -165.78518676757812 - 18.210910797119141 --55.761478424072266 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.5919166666666662 -vpKFs.front()->mTimeStamp-114.54770003334998 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -201.05586242675781 - 25.7452392578125 --66.007965087890625 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.6252833333333339 -vpKFs.front()->mTimeStamp-123.15629170418541 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -235.28364562988281 - 33.407543182373047 --75.759506225585938 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.6586499999999997 -vpKFs.front()->mTimeStamp-131.79825004168748 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -269.24221801757812 - 42.572868347167969 --85.503913879394531 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.6920166666666674 -vpKFs.front()->mTimeStamp-140.47357504585622 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -302.84988403320312 - 52.562019348144531 --95.133140563964844 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.7253833333333333 -vpKFs.front()->mTimeStamp-149.18226671669163 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -336.44638061523438 - 63.386783599853516 --104.81230926513672 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.7587500000000009 -vpKFs.front()->mTimeStamp-157.9243250541937 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -369.41552734375 - 74.49383544921875 --114.20330047607422 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.7921166666666668 -vpKFs.front()->mTimeStamp-166.69975005836244 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -401.9119873046875 - 86.05059814453125 --123.40788269042969 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.8254833333333327 -vpKFs.front()->mTimeStamp-175.50854172919787 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -433.42486572265625 - 97.777061462402344 --132.18060302734375 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.8588500000000003 -vpKFs.front()->mTimeStamp-184.35070006669997 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -464.8912353515625 - 110.32318878173828 --141.02055358886719 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.8922166666666662 -vpKFs.front()->mTimeStamp-193.22622507086874 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -495.98687744140625 - 122.76309204101562 --149.65837097167969 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.9255833333333339 -vpKFs.front()->mTimeStamp-202.13511674170417 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -526.666015625 -135.41304016113281 - -158.13818359375 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.9589499999999997 -vpKFs.front()->mTimeStamp-211.07737507920626 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -557.60943603515625 - 149.22601318359375 --166.89004516601562 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp8.9923166666666674 -vpKFs.front()->mTimeStamp-220.05300008337503 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -588.52825927734375 - 163.40721130371094 --175.66152954101562 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.0256833333333333 -vpKFs.front()->mTimeStamp-229.06199175421045 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -620.3870849609375 -177.88630676269531 - -184.81591796875 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.0590500000000009 -vpKFs.front()->mTimeStamp-238.10435009171255 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -653.21380615234375 - 192.5213623046875 --194.35626220703125 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.0924166666666668 -vpKFs.front()->mTimeStamp-247.18007509588131 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -687.65179443359375 - 206.79933166503906 --204.46723937988281 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.1257833333333327 -vpKFs.front()->mTimeStamp-256.28916676671673 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -723.6123046875 - 220.65315246582031 --215.15660095214844 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.2258833333333339 -vpKFs.front()->mTimeStamp-265.43162510421882 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -760.3358154296875 - 234.52377319335938 --226.15180969238281 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.2592499999999998 -vpKFs.front()->mTimeStamp-274.67418344172091 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -761.9395751953125 - 232.22080993652344 --226.68235778808594 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.2926166666666674 -vpKFs.front()->mTimeStamp-283.95010844588967 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -762.4697265625 - 229.1309814453125 --227.16665649414062 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.3259833333333333 -vpKFs.front()->mTimeStamp-293.25940011672509 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -762.3409423828125 - 224.81405639648438 --227.64463806152344 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.3593500000000009 -vpKFs.front()->mTimeStamp-302.60205845422718 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -761.87371826171875 - 219.42022705078125 --228.12455749511719 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.3927166666666668 -vpKFs.front()->mTimeStamp-311.97808345839593 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -759.9144287109375 - 212.48953247070312 --228.68229675292969 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.4260833333333327 -vpKFs.front()->mTimeStamp-321.38747512923135 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -757.09783935546875 - 203.95689392089844 --229.35435485839844 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.4594500000000004 -vpKFs.front()->mTimeStamp-330.83023346673343 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -753.28656005859375 - 193.49900817871094 --230.22500610351562 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.4928166666666662 -vpKFs.front()->mTimeStamp-340.30635847090218 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -748.4508056640625 - 180.85105895996094 --231.39202880859375 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.5261833333333339 -vpKFs.front()->mTimeStamp-349.8158501417376 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -740.06689453125 - 166.87193298339844 --232.99002075195312 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.5595499999999998 -vpKFs.front()->mTimeStamp-359.35870847923968 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -730.29083251953125 - 150.80136108398438 --235.05216979980469 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.5929166666666674 -vpKFs.front()->mTimeStamp-368.93493348340843 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -717.28887939453125 - 133.85881042480469 - -237.649169921875 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.6262833333333333 -vpKFs.front()->mTimeStamp-378.54452515424384 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -700.79412841796875 - 115.59789276123047 --241.04829406738281 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.659650000000001 -vpKFs.front()->mTimeStamp-388.18748349174592 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -680.6356201171875 -95.725486755371094 - -245.521728515625 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.6930166666666668 -vpKFs.front()->mTimeStamp-397.86380849591467 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -657.4327392578125 - 74.511573791503906 --251.03242492675781 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.7263833333333327 -vpKFs.front()->mTimeStamp-407.57350016675008 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -630.87908935546875 - 52.131420135498047 - -257.7674560546875 -pKFcur->mnId531 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.7764333333333333 -vpKFs.front()->mTimeStamp-417.31655850425216 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -602.12921142578125 - 28.561237335205078 --265.50827026367188 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.809800000000001 -vpKFs.front()->mTimeStamp-427.10966684175423 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -569.837158203125 - 4.1855149269104004 --274.71636962890625 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.8431666666666668 -vpKFs.front()->mTimeStamp-436.93614184592298 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -535.29217529296875 --20.379779815673828 --284.84576416015625 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.8765333333333327 -vpKFs.front()->mTimeStamp-446.79598351675838 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -498.3380126953125 --44.215858459472656 - -295.7550048828125 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.9099000000000004 -vpKFs.front()->mTimeStamp-456.68919185426046 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -459.04266357421875 --67.623069763183594 --307.57449340820312 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.9432666666666663 -vpKFs.front()->mTimeStamp-466.6157668584292 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -417.95208740234375 --90.665359497070312 --320.12600708007812 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp9.9933166666666668 -vpKFs.front()->mTimeStamp-476.5757085292646 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -374.61105346679688 --113.39368438720703 - -333.70556640625 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.076733333333333 -vpKFs.front()->mTimeStamp-486.58570020010001 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -327.21286010742188 --134.62496948242188 - -349.0667724609375 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.110100000000001 -vpKFs.front()->mTimeStamp-496.67910853760208 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -312.85809326171875 - -128.074462890625 --350.57778930664062 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.143466666666667 -vpKFs.front()->mTimeStamp-506.80588354177081 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -296.42584228515625 --119.47383880615234 --352.57366943359375 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.176833333333333 -vpKFs.front()->mTimeStamp-516.96602521260627 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -278.22396850585938 - -109.138427734375 - -355.0458984375 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.243566666666666 -vpKFs.front()->mTimeStamp-527.15953355010834 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -258.91973876953125 --97.298927307128906 --357.87747192382812 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.276933333333334 -vpKFs.front()->mTimeStamp-537.41977522094373 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -238.05047607421875 --82.803451538085938 --361.34417724609375 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.326983333333333 -vpKFs.front()->mTimeStamp-547.7133835584458 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -216.90518188476562 --66.912513732910156 --365.06875610351562 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp10.36035 -vpKFs.front()->mTimeStamp-558.05704189594792 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -195.54244995117188 --49.050331115722656 - -369.1419677734375 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.1111 -vpKFs.front()->mTimeStamp-568.4340669001167 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -174.19715881347656 --30.473819732666016 --373.33621215820312 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.144466666666666 -vpKFs.front()->mTimeStamp-579.56184190428542 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -158.66783142089844 --24.055519104003906 --374.32229614257812 -pKFcur->mnId548 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.194516666666667 -vpKFs.front()->mTimeStamp-590.72298357512079 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -142.37728881835938 --18.323766708374023 --375.33786010742188 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.227883333333333 -vpKFs.front()->mTimeStamp-601.93417524595623 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -126.43391418457031 - -14.10335636138916 - -376.1739501953125 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.26125 -vpKFs.front()->mTimeStamp-613.17873358345832 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -110.98166656494141 --10.473926544189453 - -376.8802490234375 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.294616666666666 -vpKFs.front()->mTimeStamp-624.45665858762709 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -96.892868041992188 --7.3316478729248047 - -377.353515625 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.327983333333334 -vpKFs.front()->mTimeStamp-635.76795025846252 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -84.137771606445312 --5.0513324737548828 - -377.6112060546875 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.36135 -vpKFs.front()->mTimeStamp-647.11260859596462 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -73.006736755371094 --3.1519045829772949 --377.65887451171875 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.394716666666667 -vpKFs.front()->mTimeStamp-658.49063360013338 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -63.581455230712891 --2.7510356903076172 --377.50180053710938 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.428083333333333 -vpKFs.front()->mTimeStamp-669.90202527096881 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -55.535186767578125 --2.3522343635559082 --377.20205688476562 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.461450000000001 -vpKFs.front()->mTimeStamp-681.3467836084709 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -49.155609130859375 - -2.719182014465332 - -376.7645263671875 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.494816666666667 -vpKFs.front()->mTimeStamp-692.82490861263966 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -44.132637023925781 --3.2568559646606445 --376.22528076171875 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.528183333333333 -vpKFs.front()->mTimeStamp-704.33640028347509 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -40.842437744140625 --3.9607391357421875 --375.59307861328125 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.56155 -vpKFs.front()->mTimeStamp-715.88125862097718 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -38.904899597167969 --4.8240246772766113 - -374.897705078125 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.594916666666666 -vpKFs.front()->mTimeStamp-727.45948362514594 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -38.203281402587891 - -5.548189640045166 --374.15805053710938 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.628283333333334 -vpKFs.front()->mTimeStamp-739.07107529598136 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -38.051338195800781 --6.1145567893981934 --373.39437866210938 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.66165 -vpKFs.front()->mTimeStamp-750.71603363348345 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -38.621902465820312 --7.0997405052185059 - -372.6116943359375 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.695016666666668 -vpKFs.front()->mTimeStamp-762.3943586376522 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -39.105052947998047 --8.7808799743652344 --371.81076049804688 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.728383333333333 -vpKFs.front()->mTimeStamp-774.10605030848762 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -39.544597625732422 --11.328290939331055 --371.00619506835938 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.761750000000001 -vpKFs.front()->mTimeStamp-785.85110864598971 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -40.203506469726562 --15.043658256530762 - -370.20458984375 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.795116666666667 -vpKFs.front()->mTimeStamp-797.62953365015846 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -41.617507934570312 --19.262350082397461 --369.40267944335938 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.828483333333333 -vpKFs.front()->mTimeStamp-809.44132532099388 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 3.7485959529876709 --12.501264572143555 - 189.99676513671875 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.86185 -vpKFs.front()->mTimeStamp-821.28648365849597 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1.379245400428772 --18.663131713867188 - 190.70695495605469 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.895216666666666 -vpKFs.front()->mTimeStamp-833.16500866266472 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -8.9752950668334961 --25.167795181274414 - 191.32516479492188 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.928583333333334 -vpKFs.front()->mTimeStamp-845.07690033350013 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -18.953975677490234 --31.844892501831055 - 191.82905578613281 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.96195 -vpKFs.front()->mTimeStamp-857.02215867100222 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -31.46369743347168 --38.082176208496094 - 192.24346923828125 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp11.995316666666668 -vpKFs.front()->mTimeStamp-869.00078367517096 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -46.538867950439453 --46.137825012207031 - 192.39811706542969 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.028683333333333 -vpKFs.front()->mTimeStamp-881.01277534600638 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -64.217475891113281 --57.728084564208984 - 192.00106811523438 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.062050000000001 -vpKFs.front()->mTimeStamp-893.05813368350846 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -84.32598876953125 --73.352272033691406 - 190.80148315429688 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.095416666666667 -vpKFs.front()->mTimeStamp-905.1368586876772 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -106.67650604248047 --92.611968994140625 - 188.67164611816406 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.128783333333333 -vpKFs.front()->mTimeStamp-917.24895035851262 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -131.57411193847656 --114.40423583984375 - 185.57057189941406 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.16215 -vpKFs.front()->mTimeStamp-929.39440869601469 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -159.04158020019531 --138.37673950195312 - 181.43327331542969 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.195516666666666 -vpKFs.front()->mTimeStamp-941.57323370018344 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -189.19720458984375 --162.71073913574219 - 176.52308654785156 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.228883333333334 -vpKFs.front()->mTimeStamp-953.78542537101885 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -222.2508544921875 --186.50807189941406 - 170.90296936035156 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.26225 -vpKFs.front()->mTimeStamp-966.03098370852092 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -258.7388916015625 --210.17146301269531 - 164.24172973632812 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.295616666666668 -vpKFs.front()->mTimeStamp-978.30990871268966 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -299.17739868164062 --233.72918701171875 - 156.24119567871094 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.328983333333333 -vpKFs.front()->mTimeStamp-990.62220038352507 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -343.38711547851562 --256.62237548828125 - 146.94351196289062 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.362350000000001 -vpKFs.front()->mTimeStamp-1002.9678587210271 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -391.48260498046875 --278.91159057617188 - 136.15202331542969 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.395716666666667 -vpKFs.front()->mTimeStamp-1015.3468837251959 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -443.44338989257812 --300.67047119140625 - 123.71684265136719 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.429083333333333 -vpKFs.front()->mTimeStamp-1027.7592753960314 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -498.9244384765625 --322.07894897460938 - 109.63022613525391 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.629283333333333 -vpKFs.front()->mTimeStamp-1040.2050337335336 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -557.158203125 --343.29885864257812 - 94.15130615234375 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.662650000000001 -vpKFs.front()->mTimeStamp-1052.8509920710358 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -574.87969970703125 - -337.9110107421875 - 90.367645263671875 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.746066666666668 -vpKFs.front()->mTimeStamp-1065.5303170752045 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -594.05120849609375 - -331.3782958984375 - 86.341758728027344 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.779433333333333 -vpKFs.front()->mTimeStamp-1078.2930587460398 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -617.51080322265625 --321.29681396484375 - 81.406417846679688 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.812800000000001 -vpKFs.front()->mTimeStamp-1091.089167083542 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -642.92718505859375 - -309.1494140625 - 76.009208679199219 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp12.846166666666667 -vpKFs.front()->mTimeStamp-1103.9186420877106 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -670.94061279296875 --296.11245727539062 - 69.906394958496094 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.16315 -vpKFs.front()->mTimeStamp-1116.7814837585461 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -701.5301513671875 --282.43133544921875 - 63.072360992431641 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.246566666666666 -vpKFs.front()->mTimeStamp-1129.9613087627149 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -727.896728515625 --275.65280151367188 - 58.393714904785156 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.279933333333334 -vpKFs.front()->mTimeStamp-1143.2245504335503 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -768.73455810546875 --263.91464233398438 - 49.407135009765625 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.396716666666666 -vpKFs.front()->mTimeStamp-1156.5211587710523 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -814.55999755859375 - -249.26220703125 - 38.3887939453125 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.446766666666667 -vpKFs.front()->mTimeStamp-1169.9345504418877 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -868.97821044921875 --227.57975769042969 - 23.301410675048828 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.480133333333333 -vpKFs.front()->mTimeStamp-1183.3979921127232 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -925.55267333984375 --204.35676574707031 - 6.7587552070617676 -pKFcur->mnId598 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.530183333333333 -vpKFs.front()->mTimeStamp-1196.8948004502251 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -982.8338623046875 --180.27310180664062 --10.179569244384766 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.563550000000001 -vpKFs.front()->mTimeStamp-1210.4416587877272 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1041.7589111328125 --155.09248352050781 - -27.98504638671875 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.596916666666667 -vpKFs.front()->mTimeStamp-1224.021883791896 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1101.5030517578125 --129.68632507324219 --46.126369476318359 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.646966666666668 -vpKFs.front()->mTimeStamp-1237.6354754627314 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1162.9193115234375 --103.97901916503906 --65.092178344726562 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.680333333333333 -vpKFs.front()->mTimeStamp-1251.2991171335668 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1226.2021484375 --77.998054504394531 --84.949378967285156 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.713700000000001 -vpKFs.front()->mTimeStamp-1264.9961254710688 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1290.103515625 --51.725940704345703 --105.07032775878906 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.747066666666667 -vpKFs.front()->mTimeStamp-1278.7265004752376 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1355.363037109375 --26.637134552001953 --125.56240844726562 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.780433333333333 -vpKFs.front()->mTimeStamp-1292.4902421460729 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1422.05908203125 --2.0086815357208252 --146.64932250976562 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.813800000000001 -vpKFs.front()->mTimeStamp-1306.287350483575 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1491.225830078125 - 22.446313858032227 --169.03642272949219 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.847166666666666 -vpKFs.front()->mTimeStamp-1320.1178254877436 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1561.706298828125 - 46.909439086914062 --192.08670043945312 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.880533333333334 -vpKFs.front()->mTimeStamp-1333.9816671585791 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1632.5609130859375 - 71.301666259765625 --215.20277404785156 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.9139 -vpKFs.front()->mTimeStamp-1347.878875496081 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1703.72509765625 - 95.622299194335938 --238.32569885253906 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.947266666666668 -vpKFs.front()->mTimeStamp-1361.8094505002498 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1773.518798828125 -120.38236999511719 --260.5452880859375 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp13.980633333333333 -vpKFs.front()->mTimeStamp-1375.7733921710851 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1842.7589111328125 - 146.05581665039062 --282.49746704101562 -pKFcur->mnId612 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.014000000000001 -vpKFs.front()->mTimeStamp-1389.7707005085872 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1910.5250244140625 - 172.601806640625 --303.61178588867188 -pKFcur->mnId613 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.047366666666667 -vpKFs.front()->mTimeStamp-1403.8013755127558 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1976.6336669921875 - 200.30201721191406 --323.91387939453125 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.080733333333333 -vpKFs.front()->mTimeStamp-1417.8654171835913 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2040.9814453125 - 229.08975219726562 --343.36837768554688 -pKFcur->mnId615 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.114100000000001 -vpKFs.front()->mTimeStamp-1431.9628255210932 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2103.059814453125 - 258.65362548828125 --361.67132568359375 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.147466666666666 -vpKFs.front()->mTimeStamp-1446.093600525262 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -2163.41455078125 -289.55303955078125 --379.2989501953125 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.180833333333334 -vpKFs.front()->mTimeStamp-1460.2577421960973 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2222.5810546875 - 320.71240234375 --396.24627685546875 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.2142 -vpKFs.front()->mTimeStamp-1474.4552505335994 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -2281.5693359375 -352.05438232421875 --413.0040283203125 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.247566666666668 -vpKFs.front()->mTimeStamp-1488.686125537768 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2340.77294921875 -383.68862915039062 - -429.779541015625 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.280933333333333 -vpKFs.front()->mTimeStamp-1502.9503672086034 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2399.144775390625 - 415.264404296875 --445.98086547851562 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.314300000000001 -vpKFs.front()->mTimeStamp-1517.2479755461056 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2456.51123046875 - 446.20343017578125 --461.38955688476562 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.347666666666667 -vpKFs.front()->mTimeStamp-1531.5789505502744 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2512.638427734375 - 476.50851440429688 --475.93060302734375 -pKFcur->mnId623 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.381033333333333 -vpKFs.front()->mTimeStamp-1545.9432922211099 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2567.799072265625 -506.49514770507812 --489.8341064453125 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.414400000000001 -vpKFs.front()->mTimeStamp-1560.341000558612 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2622.04150390625 - 536.197998046875 --503.15420532226562 -pKFcur->mnId625 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.464450000000001 -vpKFs.front()->mTimeStamp-1574.7720755627809 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2674.348388671875 -564.13800048828125 --515.1580810546875 -pKFcur->mnId626 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.497816666666667 -vpKFs.front()->mTimeStamp-1589.2532005669495 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -2726.90087890625 -591.05096435546875 --526.8492431640625 -pKFcur->mnId627 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.547866666666668 -vpKFs.front()->mTimeStamp-1603.767692237785 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -2780.137451171875 -616.83123779296875 --538.4476318359375 -pKFcur->mnId628 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.597916666666666 -vpKFs.front()->mTimeStamp-1618.3322339086205 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -2833.457763671875 -641.96099853515625 --549.7520751953125 -pKFcur->mnId629 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.631283333333334 -vpKFs.front()->mTimeStamp-1632.9468255794559 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2887.0732421875 -664.81805419921875 --560.6090087890625 -pKFcur->mnId630 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.698016666666668 -vpKFs.front()->mTimeStamp-1647.594783916958 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -2941.048095703125 - 686.84375 --571.4031982421875 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.748066666666666 -vpKFs.front()->mTimeStamp-1662.3094755877935 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -2998.4619140625 -706.6636962890625 --583.218994140625 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.8148 -vpKFs.front()->mTimeStamp-1677.074217258629 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3059.8212890625 - 722.99871826171875 --596.25738525390625 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.881533333333334 -vpKFs.front()->mTimeStamp-1691.9056922627979 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3125.091552734375 -737.16119384765625 - -610.77294921875 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.931583333333334 -vpKFs.front()->mTimeStamp-1706.8039006003 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3191.85009765625 - 749.42510986328125 --625.70343017578125 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.96495 -vpKFs.front()->mTimeStamp-1721.7521589378021 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3257.682373046875 -760.44415283203125 --639.9678955078125 -pKFcur->mnId636 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp14.998316666666668 -vpKFs.front()->mTimeStamp-1736.7337839419708 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3322.08837890625 - 771.42840576171875 --653.45269775390625 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.031683333333334 -vpKFs.front()->mTimeStamp-1751.7487756128062 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3384.668212890625 - 782.76123046875 - -666.040283203125 -pKFcur->mnId638 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.065049999999999 -vpKFs.front()->mTimeStamp-1766.7971339503083 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3444.176513671875 - 795.06488037109375 --677.27093505859375 -pKFcur->mnId639 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.098416666666667 -vpKFs.front()->mTimeStamp-1781.878858954477 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -3501.513671875 -808.45172119140625 - -687.61865234375 -pKFcur->mnId640 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.131783333333333 -vpKFs.front()->mTimeStamp-1796.9939506253124 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3556.172607421875 - 822.4449462890625 --696.87652587890625 -pKFcur->mnId641 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.165150000000001 -vpKFs.front()->mTimeStamp-1812.1424089628144 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3607.599609375 - 838.57177734375 --705.0714111328125 -pKFcur->mnId642 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.198516666666666 -vpKFs.front()->mTimeStamp-1827.3242339669832 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3656.099609375 - 856.3355712890625 --712.36248779296875 -pKFcur->mnId643 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.231883333333334 -vpKFs.front()->mTimeStamp-1842.5394256378186 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3701.794677734375 -876.39202880859375 --718.9481201171875 -pKFcur->mnId644 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.26525 -vpKFs.front()->mTimeStamp-1857.7879839753207 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -3745.08447265625 -899.12237548828125 - -725.102783203125 -pKFcur->mnId645 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.298616666666668 -vpKFs.front()->mTimeStamp-1873.0699089794894 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3786.988037109375 - 925.20458984375 --731.30523681640625 -pKFcur->mnId646 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.331983333333334 -vpKFs.front()->mTimeStamp-1888.3852006503248 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -3828.775634765625 - 954.444580078125 - -737.949951171875 -pKFcur->mnId647 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.365349999999999 -vpKFs.front()->mTimeStamp-1903.7338589878268 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -3871.21875 - 985.8326416015625 --745.08599853515625 -pKFcur->mnId648 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.398716666666667 -vpKFs.front()->mTimeStamp-1919.1158839919956 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -3915.23876953125 -1018.1701049804688 --752.7432861328125 -pKFcur->mnId649 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.432083333333333 -vpKFs.front()->mTimeStamp-1934.5312756628309 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -3961.08447265625 - 1050.27490234375 --760.775146484375 -pKFcur->mnId650 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.465450000000001 -vpKFs.front()->mTimeStamp-1949.980034000333 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4008.362060546875 - 1082.0428466796875 --769.06317138671875 -pKFcur->mnId651 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.498816666666666 -vpKFs.front()->mTimeStamp-1965.4621590045017 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4057.046142578125 - 1113.6773681640625 --777.70111083984375 -pKFcur->mnId652 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.532183333333334 -vpKFs.front()->mTimeStamp-1980.9776506753371 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1259 -1691 pKFcur->GetVelocity() -4107.5498046875 -1145.0780029296875 --786.8267822265625 -pKFcur->mnId653 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.56555 -vpKFs.front()->mTimeStamp-1996.5265090128391 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4159.8359375 - 1176.7908935546875 --796.56610107421875 -pKFcur->mnId654 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.598916666666668 -vpKFs.front()->mTimeStamp-2012.1087340170079 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() -4214.36474609375 - 1209.02392578125 --807.15411376953125 -pKFcur->mnId655 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.632283333333334 -vpKFs.front()->mTimeStamp-2027.7243256878432 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4271.09912109375 - 1241.633056640625 --818.59271240234375 -pKFcur->mnId656 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.665649999999999 -vpKFs.front()->mTimeStamp-2043.3732840253454 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4330.48193359375 -1275.2989501953125 --831.2589111328125 -pKFcur->mnId657 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.699016666666667 -vpKFs.front()->mTimeStamp-2059.055609029514 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4392.83154296875 -1309.1361083984375 - -845.09814453125 -pKFcur->mnId658 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.732383333333333 -vpKFs.front()->mTimeStamp-2074.7713007003495 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4458.29296875 - 1342.327392578125 --860.04046630859375 -pKFcur->mnId659 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.765750000000001 -vpKFs.front()->mTimeStamp-2090.5203590378514 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -4526.4169921875 - 1373.1746826171875 --875.54693603515625 -pKFcur->mnId660 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.799116666666666 -vpKFs.front()->mTimeStamp-2106.30278404202 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4594.89794921875 -1400.7708740234375 - -890.403564453125 -pKFcur->mnId661 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.832483333333334 -vpKFs.front()->mTimeStamp-2122.1185757128555 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -4662.48095703125 -1425.4456787109375 - -904.1669921875 -pKFcur->mnId662 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.86585 -vpKFs.front()->mTimeStamp-2137.9677340503576 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4727.24755859375 -1447.727783203125 --916.135009765625 -pKFcur->mnId663 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.899216666666668 -vpKFs.front()->mTimeStamp-2153.8502590545263 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -4788.36572265625 -1469.225341796875 - -926.31201171875 -pKFcur->mnId664 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.932583333333334 -vpKFs.front()->mTimeStamp-2169.7661507253615 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4845.44775390625 - 1490.936767578125 --934.80804443359375 -pKFcur->mnId665 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.965949999999999 -vpKFs.front()->mTimeStamp-2185.7154090628637 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -4898.35791015625 - 1513.2763671875 --941.77447509765625 -pKFcur->mnId666 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp15.999316666666667 -vpKFs.front()->mTimeStamp-2201.6980340670325 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4947.91455078125 - 1535.2978515625 --947.47454833984375 -pKFcur->mnId667 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.032683333333335 -vpKFs.front()->mTimeStamp-2217.7140257378678 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4993.7763671875 - 1557.463134765625 --951.95989990234375 -pKFcur->mnId668 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.066050000000001 -vpKFs.front()->mTimeStamp-2233.7633840753697 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5035.58837890625 - 1579.7186279296875 --955.24627685546875 -pKFcur->mnId669 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.099416666666666 -vpKFs.front()->mTimeStamp-2249.8461090795386 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5072.6259765625 - 1601.4169921875 --957.19451904296875 -pKFcur->mnId670 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.132783333333332 -vpKFs.front()->mTimeStamp-2265.962200750374 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -5103.69873046875 - 1622.941650390625 --957.77374267578125 -pKFcur->mnId671 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.166150000000002 -vpKFs.front()->mTimeStamp-2282.111659087876 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5128.009765625 - 1645.75927734375 --957.2850341796875 -pKFcur->mnId672 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.199516666666668 -vpKFs.front()->mTimeStamp-2298.2944840920445 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5144.7197265625 -1671.1500244140625 --956.1236572265625 -pKFcur->mnId673 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.232883333333334 -vpKFs.front()->mTimeStamp-2314.5106757628801 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -5154.14208984375 - 1698.2857666015625 --954.54388427734375 -pKFcur->mnId674 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.266249999999999 -vpKFs.front()->mTimeStamp-2330.7602341003821 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5156.8876953125 - 1725.842529296875 --952.65789794921875 -pKFcur->mnId675 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.299616666666665 -vpKFs.front()->mTimeStamp-2347.0431591045508 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5153.39013671875 - 1752.294921875 --950.4769287109375 -pKFcur->mnId676 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.332983333333335 -vpKFs.front()->mTimeStamp-2363.359450775386 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -5143.6337890625 - 1776.379638671875 --948.07061767578125 -pKFcur->mnId677 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.366350000000001 -vpKFs.front()->mTimeStamp-2379.7091091128882 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5127.39501953125 - 1798.061767578125 --945.7442626953125 -pKFcur->mnId678 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.399716666666666 -vpKFs.front()->mTimeStamp-2396.092134117057 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -5104.2734375 - 1816.972900390625 --943.81915283203125 -pKFcur->mnId679 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.433083333333332 -vpKFs.front()->mTimeStamp-2412.5085257878923 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -5074.2314453125 - 1832.5413818359375 --942.59991455078125 -pKFcur->mnId680 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.466450000000002 -vpKFs.front()->mTimeStamp-2428.9582841253941 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -5037.2646484375 - 1845.5860595703125 --942.52423095703125 -pKFcur->mnId681 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.499816666666668 -vpKFs.front()->mTimeStamp-2445.441409129563 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4994.00927734375 - 1856.764892578125 --943.81927490234375 -pKFcur->mnId682 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.533183333333334 -vpKFs.front()->mTimeStamp-2461.9579008003984 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4945.73876953125 - 1865.948974609375 --946.36761474609375 -pKFcur->mnId683 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.583233333333332 -vpKFs.front()->mTimeStamp-2478.5077591379004 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -4893.74072265625 - 1873.1099853515625 --949.93414306640625 -pKFcur->mnId684 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x561ea5c1c830 -pKFCur->mTimeStamp16.616600000000002 -vpKFs.front()->mTimeStamp-2495.1076674754026 -vpKFs.back()->mTimeStamp-0.016675004168750007 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -4838.57275390625 - 1878.5369873046875 --954.45623779296875 -pKFcur->mnId685 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:1c70e8dad5d43fb168b48bc94d57edf62ce2e97329a66eed54ec2bcec87bc375 +size 124217 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/extract_gopro_imu_stdout.txt index d34962297ef33fbb7013f89a48d6583ca4ac118b..110ff3735e93119a82d3fe289506362fe7d710d5 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 156864773 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:b9c6aa761f1b8f2ddfef4050410f1a8d9bf9b0d773da600a410f4b07f1d5e869 +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/imu_data.json index 6c3a6ac3ce824c46b02a674b0cb73fa29705d4f2..56a02c9dde7d3bcb0d5a2d18c64db6f29bb8b0f5 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[7.762589928057554,-0.2182254196642686,6.0647482014388485],"cts":80.196,"date":"2015-10-18T00:51:59.050Z","temperature [°C]":61.900390625},{"value":[7.733812949640288,-0.2302158273381295,6.0503597122302155],"cts":85.13192610837439,"date":"2015-10-18T00:51:59.056Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:bd75debf49e71fdb455b62de4b9b87f671d17030da5c4a10006074cd6fce8211 +size 1857263 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stdout.txt index d0c95d89817a662f2a1adee92b1ceb2637062ef7..c00b2e28e7d43aa328b725548f7dd2ba6ded9161 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/slam_stdout.txt @@ -1,3289 +1,3 @@ -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 1251 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 5.21098 FPS -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalization() failed. -Fail to track local map! -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x55c6bf597bc0 -pKFCur->mTimeStamp0.30030000000000001 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.3052999999999999 -vpKFs.front()->mTimeStamp-63.530116675004166 -vpKFs.back()->mTimeStamp-0.016675004168751062 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -0.66053926944732666 - -2.5264244079589844 - -1.6850051879882812 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.3553500000000005 -vpKFs.front()->mTimeStamp-68.852091679172915 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -33.964511871337891 --15.094446182250977 --18.505727767944336 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.438766666666667 -vpKFs.front()->mTimeStamp-74.224116683341663 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -67.694969177246094 --28.015462875366211 --35.647830963134766 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.4721333333333337 -vpKFs.front()->mTimeStamp-79.679558354177075 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -101.912841796875 --40.867965698242188 --52.888603210449219 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.5055000000000005 -vpKFs.front()->mTimeStamp-85.168366691679154 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -136.11398315429688 --54.520233154296875 --70.304496765136719 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.5722333333333331 -vpKFs.front()->mTimeStamp-90.690541695847912 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -170.70654296875 - -68.80523681640625 --88.213890075683594 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.6055999999999999 -vpKFs.front()->mTimeStamp-96.279450033350003 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -205.02659606933594 --84.804679870605469 --106.32976531982422 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.6389666666666667 -vpKFs.front()->mTimeStamp-101.90172503751876 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -240.23234558105469 --101.22151184082031 --125.33180236816406 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.6723333333333334 -vpKFs.front()->mTimeStamp-107.55736670835418 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -275.15228271484375 --118.58194732666016 --144.34173583984375 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.7057000000000002 -vpKFs.front()->mTimeStamp-113.24637504585627 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -310.26412963867188 --136.94485473632812 --163.86819458007812 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.739066666666667 -vpKFs.front()->mTimeStamp-118.96875005002502 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -344.02340698242188 --156.36659240722656 --182.52906799316406 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.7724333333333337 -vpKFs.front()->mTimeStamp-124.72449172086044 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -378.85299682617188 --175.53021240234375 --201.90031433105469 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.8058000000000005 -vpKFs.front()->mTimeStamp-130.51360005836253 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -411.49917602539062 --196.04295349121094 --219.90496826171875 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.8391666666666664 -vpKFs.front()->mTimeStamp-136.33607506253128 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -444.31674194335938 --216.69656372070312 --238.01393127441406 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.8725333333333332 -vpKFs.front()->mTimeStamp-142.1919167333667 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -474.45458984375 --238.08634948730469 --254.31208801269531 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.9058999999999999 -vpKFs.front()->mTimeStamp-148.08112507086878 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -504.18679809570312 --259.64395141601562 --270.31582641601562 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.9392666666666667 -vpKFs.front()->mTimeStamp-154.00370007503753 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -534.2049560546875 --281.33749389648438 --286.50210571289062 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp5.9726333333333335 -vpKFs.front()->mTimeStamp-159.95964174587294 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -563.02972412109375 --302.67886352539062 - -301.6202392578125 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.0060000000000002 -vpKFs.front()->mTimeStamp-165.94895008337502 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -591.698974609375 --324.05361938476562 --316.57867431640625 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.039366666666667 -vpKFs.front()->mTimeStamp-171.97162508754377 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -620.9361572265625 --345.17083740234375 --331.73452758789062 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.0727333333333338 -vpKFs.front()->mTimeStamp-178.02766675837918 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -650.79241943359375 --365.87908935546875 --347.06594848632812 -pKFcur->mnId513 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.1061000000000005 -vpKFs.front()->mTimeStamp-184.11707509588126 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -679.55694580078125 --386.61248779296875 --361.59634399414062 -pKFcur->mnId514 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.1394666666666664 -vpKFs.front()->mTimeStamp-190.23985010005001 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -709.4710693359375 - -407.4765625 - -376.87060546875 -pKFcur->mnId515 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.1728333333333332 -vpKFs.front()->mTimeStamp-196.39599177088542 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -739.89739990234375 --428.07937622070312 --392.28302001953125 -pKFcur->mnId516 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.2061999999999999 -vpKFs.front()->mTimeStamp-202.58550010838749 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -770.525146484375 --448.75167846679688 - -407.7705078125 -pKFcur->mnId517 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.2395666666666667 -vpKFs.front()->mTimeStamp-208.80837511255623 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -802.10382080078125 - -469.16552734375 --423.70095825195312 -pKFcur->mnId518 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.2729333333333335 -vpKFs.front()->mTimeStamp-215.06461678339164 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -832.8963623046875 --489.45370483398438 --438.93820190429688 -pKFcur->mnId519 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.3063000000000002 -vpKFs.front()->mTimeStamp-221.35422512089372 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -865.38580322265625 --509.94363403320312 --455.34124755859375 -pKFcur->mnId520 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.339666666666667 -vpKFs.front()->mTimeStamp-227.67720012506246 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -897.1566162109375 - -530.3006591796875 --471.07843017578125 -pKFcur->mnId521 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.3730333333333338 -vpKFs.front()->mTimeStamp-234.03354179589786 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -929.5 --550.81219482421875 --487.18624877929688 -pKFcur->mnId522 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.4064000000000005 -vpKFs.front()->mTimeStamp-240.42325013339993 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -962.093994140625 --570.82183837890625 --503.15753173828125 -pKFcur->mnId523 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.4397666666666664 -vpKFs.front()->mTimeStamp-246.84632513756867 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -994.680908203125 - -590.671630859375 --518.98175048828125 -pKFcur->mnId524 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.4731333333333332 -vpKFs.front()->mTimeStamp-253.3027668084041 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1027.5557861328125 --610.11248779296875 - -534.7562255859375 -pKFcur->mnId525 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.5065 -vpKFs.front()->mTimeStamp-259.7925751459062 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1061.1307373046875 - -629.78466796875 --551.04205322265625 -pKFcur->mnId526 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.5398666666666667 -vpKFs.front()->mTimeStamp-266.31575015007496 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1094.08056640625 --649.46295166015625 - -566.80859375 -pKFcur->mnId527 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.5732333333333335 -vpKFs.front()->mTimeStamp-272.87229182091039 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1126.884765625 --669.1754150390625 --582.4129638671875 -pKFcur->mnId528 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.6066000000000003 -vpKFs.front()->mTimeStamp-279.46220015841249 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1159.5657958984375 --689.02288818359375 - -597.9150390625 -pKFcur->mnId529 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.639966666666667 -vpKFs.front()->mTimeStamp-286.08547516258125 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1193.220703125 --709.33245849609375 - -614.1636962890625 -pKFcur->mnId530 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.6733333333333338 -vpKFs.front()->mTimeStamp-292.74211683341667 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1227.087890625 --729.9888916015625 --630.5728759765625 -pKFcur->mnId531 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 11.060153909783763 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.7067000000000005 -vpKFs.front()->mTimeStamp-299.43212517091877 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1260.447021484375 --750.8143310546875 --646.5733642578125 -pKFcur->mnId532 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.7400666666666664 -vpKFs.front()->mTimeStamp-306.15550017508752 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1294.4122314453125 - -772.2706298828125 - -663.154296875 -pKFcur->mnId533 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.7734333333333332 -vpKFs.front()->mTimeStamp-312.91224184592295 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1328.8238525390625 - -794.1114501953125 --680.09588623046875 -pKFcur->mnId534 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.8068 -vpKFs.front()->mTimeStamp-319.70235018342504 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1363.610595703125 --816.32073974609375 --697.33123779296875 -pKFcur->mnId535 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.8401666666666667 -vpKFs.front()->mTimeStamp-326.5258251875938 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -1398.5069580078125 --838.78082275390625 --714.63604736328125 -pKFcur->mnId536 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.8735333333333335 -vpKFs.front()->mTimeStamp-333.38266685842922 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1433.6796875 --861.15240478515625 - -731.9625244140625 -pKFcur->mnId537 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.9069000000000003 -vpKFs.front()->mTimeStamp-340.27287519593131 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1469.1842041015625 --883.89837646484375 - -749.57763671875 -pKFcur->mnId538 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.940266666666667 -vpKFs.front()->mTimeStamp-347.19645020010006 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1504.9901123046875 - -906.8251953125 - -767.370849609375 -pKFcur->mnId539 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp6.9736333333333338 -vpKFs.front()->mTimeStamp-354.15339187093548 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1541.3494873046875 - -929.6632080078125 - -785.413818359375 -pKFcur->mnId540 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp7.0070000000000006 -vpKFs.front()->mTimeStamp-361.14370020843756 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1578.2027587890625 - -952.5523681640625 --803.73870849609375 -pKFcur->mnId541 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp7.0403666666666664 -vpKFs.front()->mTimeStamp-368.16737521260632 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1615.5718994140625 --975.13848876953125 - -822.22509765625 -pKFcur->mnId542 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp7.0737333333333332 -vpKFs.front()->mTimeStamp-375.22441688344173 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1653.5599365234375 - -997.14453125 - -840.86572265625 -pKFcur->mnId543 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp7.1071 -vpKFs.front()->mTimeStamp-382.31482522094382 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1692.7926025390625 --1018.0159301757812 --859.92486572265625 -pKFcur->mnId544 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp7.1404666666666667 -vpKFs.front()->mTimeStamp-389.43860022511257 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1732.895263671875 --1037.686279296875 - -879.12890625 -pKFcur->mnId545 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp7.1738333333333335 -vpKFs.front()->mTimeStamp-396.59574189594798 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1773.79296875 --1056.0506591796875 - -898.3818359375 -pKFcur->mnId546 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.644966666666667 -vpKFs.front()->mTimeStamp-403.78625023345006 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1814.8277587890625 - -1072.951904296875 - -917.16357421875 -pKFcur->mnId547 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.678333333333333 -vpKFs.front()->mTimeStamp-415.44789190428548 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1788.658447265625 --1071.7869873046875 - -890.7255859375 -pKFcur->mnId548 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 9.6593385064757857 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.7117 -vpKFs.front()->mTimeStamp-427.14290024178757 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1761.37158203125 - -1070.8857421875 --864.58294677734375 -pKFcur->mnId549 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.745066666666666 -vpKFs.front()->mTimeStamp-438.87127524595633 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1732.594970703125 --1069.4031982421875 --838.81719970703125 -pKFcur->mnId550 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.778433333333334 -vpKFs.front()->mTimeStamp-450.63301691679175 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1701.1444091796875 --1064.5201416015625 --813.67303466796875 -pKFcur->mnId551 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.8118 -vpKFs.front()->mTimeStamp-462.42812525429383 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1666.2325439453125 - -1056.207763671875 --789.52801513671875 -pKFcur->mnId552 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.845166666666668 -vpKFs.front()->mTimeStamp-474.25660025846258 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1629.301025390625 - -1042.24169921875 - -765.84130859375 -pKFcur->mnId553 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.878533333333333 -vpKFs.front()->mTimeStamp-486.118441929298 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1591.297119140625 --1025.3375244140625 --742.51458740234375 -pKFcur->mnId554 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.911900000000001 -vpKFs.front()->mTimeStamp-498.01365026680008 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1553.5018310546875 --1004.7448120117188 - -719.5142822265625 -pKFcur->mnId555 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.945266666666667 -vpKFs.front()->mTimeStamp-509.94222527096883 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1516.0059814453125 - -980.568115234375 --696.68060302734375 -pKFcur->mnId556 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp11.978633333333333 -vpKFs.front()->mTimeStamp-521.90416694180431 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1479.0194091796875 - -951.40966796875 --673.99041748046875 -pKFcur->mnId557 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.012 -vpKFs.front()->mTimeStamp-533.89947527930644 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -1440.6861572265625 --919.48797607421875 - -651.785888671875 -pKFcur->mnId558 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.045366666666666 -vpKFs.front()->mTimeStamp-545.92815028347525 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -1401.49755859375 - -886.42578125 --629.65704345703125 -pKFcur->mnId559 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.078733333333334 -vpKFs.front()->mTimeStamp-557.99019195431072 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1362.2965087890625 - -851.838134765625 - -607.4927978515625 -pKFcur->mnId560 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.1121 -vpKFs.front()->mTimeStamp-570.08560029181285 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1324.23291015625 --816.81634521484375 - -584.710205078125 -pKFcur->mnId561 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.145466666666668 -vpKFs.front()->mTimeStamp-582.21437529598165 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1287.0936279296875 - -782.627197265625 --561.06524658203125 -pKFcur->mnId562 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.178833333333333 -vpKFs.front()->mTimeStamp-594.37651696681712 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1250.4818115234375 --747.45391845703125 - -537.107421875 -pKFcur->mnId563 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.212200000000001 -vpKFs.front()->mTimeStamp-606.57202530431925 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -1212.7138671875 --712.99346923828125 --512.89739990234375 -pKFcur->mnId564 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.245566666666667 -vpKFs.front()->mTimeStamp-618.80090030848805 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1173.98291015625 --678.66900634765625 --488.54241943359375 -pKFcur->mnId565 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.278933333333333 -vpKFs.front()->mTimeStamp-631.06314197932352 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1134.34375 --644.3695068359375 --464.0435791015625 -pKFcur->mnId566 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.3123 -vpKFs.front()->mTimeStamp-643.35875031682565 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -1094.181884765625 --609.75445556640625 - -439.3927001953125 -pKFcur->mnId567 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.345666666666666 -vpKFs.front()->mTimeStamp-655.68772532099445 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -1054 - -576.42822265625 --414.04092407226562 -pKFcur->mnId568 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.379033333333334 -vpKFs.front()->mTimeStamp-668.05006699182991 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -1014.4877319335938 - -544.2000732421875 --387.85916137695312 -pKFcur->mnId569 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.4124 -vpKFs.front()->mTimeStamp-680.44577532933204 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -976.763671875 --512.74896240234375 --360.64141845703125 -pKFcur->mnId570 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.445766666666668 -vpKFs.front()->mTimeStamp-692.87485033350083 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -940.36260986328125 --483.23455810546875 --332.28350830078125 -pKFcur->mnId571 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.479133333333333 -vpKFs.front()->mTimeStamp-705.33729200433629 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -905.029296875 --456.77450561523438 --302.66217041015625 -pKFcur->mnId572 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.512500000000001 -vpKFs.front()->mTimeStamp-717.83310034183842 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -869.6595458984375 --433.64434814453125 - -272.0609130859375 -pKFcur->mnId573 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.545866666666667 -vpKFs.front()->mTimeStamp-730.36227534600721 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -833.66558837890625 --414.06546020507812 --240.70408630371094 -pKFcur->mnId574 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.579233333333333 -vpKFs.front()->mTimeStamp-742.92481701684267 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -794.953857421875 --395.62686157226562 --209.50572204589844 -pKFcur->mnId575 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.6126 -vpKFs.front()->mTimeStamp-755.52072535434479 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -752.7431640625 - -377.32763671875 --178.837646484375 -pKFcur->mnId576 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.645966666666666 -vpKFs.front()->mTimeStamp-768.15000035851358 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -705.503662109375 --359.82022094726562 --149.16671752929688 -pKFcur->mnId577 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.679333333333334 -vpKFs.front()->mTimeStamp-780.81264202934904 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -651.08819580078125 - -345.0797119140625 --121.22428894042969 -pKFcur->mnId578 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.7127 -vpKFs.front()->mTimeStamp-793.50865036685116 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -589.44866943359375 --334.15408325195312 --95.397972106933594 -pKFcur->mnId579 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.746066666666668 -vpKFs.front()->mTimeStamp-806.23802537101994 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -518.955810546875 --324.80490112304688 --73.055976867675781 -pKFcur->mnId580 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.779433333333333 -vpKFs.front()->mTimeStamp-819.0007670418554 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -438.87966918945312 --316.23501586914062 --55.317516326904297 -pKFcur->mnId581 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.812800000000001 -vpKFs.front()->mTimeStamp-831.79687537935752 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -348.67144775390625 --309.32284545898438 --43.332893371582031 -pKFcur->mnId582 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.846166666666667 -vpKFs.front()->mTimeStamp-844.6263503835263 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() -249.53005981445312 - -304.725341796875 - -37.223388671875 -pKFcur->mnId583 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.879533333333333 -vpKFs.front()->mTimeStamp-857.48919205436175 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -142.80438232421875 - -302.47900390625 - -36.75665283203125 -pKFcur->mnId584 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.9129 -vpKFs.front()->mTimeStamp-870.38540039186387 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -29.270437240600586 --300.90838623046875 --41.758354187011719 -pKFcur->mnId585 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.946266666666666 -vpKFs.front()->mTimeStamp-883.31497539603265 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 90.64312744140625 --298.62448120117188 --52.831871032714844 -pKFcur->mnId586 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp12.979633333333334 -vpKFs.front()->mTimeStamp-896.2779170668681 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 216.44187927246094 --294.41522216796875 --69.902664184570312 -pKFcur->mnId587 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.013 -vpKFs.front()->mTimeStamp-909.27422540437021 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 347.14218139648438 --287.53814697265625 - -92.43994140625 -pKFcur->mnId588 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.046366666666668 -vpKFs.front()->mTimeStamp-922.30390040853899 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 482.35977172851562 --279.17117309570312 --120.39128875732422 -pKFcur->mnId589 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.079733333333333 -vpKFs.front()->mTimeStamp-935.36694207937444 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 621.12567138671875 --269.57376098632812 --152.77644348144531 -pKFcur->mnId590 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.113100000000001 -vpKFs.front()->mTimeStamp-948.46335041687655 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 761.861328125 --259.09771728515625 --187.45602416992188 -pKFcur->mnId591 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.146466666666667 -vpKFs.front()->mTimeStamp-961.59312542104533 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 904.59637451171875 --248.72610473632812 --224.41606140136719 -pKFcur->mnId592 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.179833333333333 -vpKFs.front()->mTimeStamp-974.75626709188077 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1048.56005859375 --237.50059509277344 --262.61407470703125 -pKFcur->mnId593 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.213200000000001 -vpKFs.front()->mTimeStamp-987.95277542938288 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1193.90673828125 --225.79319763183594 --302.28292846679688 -pKFcur->mnId594 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.246566666666666 -vpKFs.front()->mTimeStamp-1001.1826504335517 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1340.174072265625 --213.24900817871094 --342.73342895507812 -pKFcur->mnId595 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.279933333333334 -vpKFs.front()->mTimeStamp-1014.4458921043871 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 1487.5799560546875 --199.99685668945312 --384.31768798828125 -pKFcur->mnId596 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.3133 -vpKFs.front()->mTimeStamp-1027.7425004418892 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 1636.1767578125 --185.78057861328125 --427.20455932617188 -pKFcur->mnId597 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.346666666666668 -vpKFs.front()->mTimeStamp-1041.072475446058 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 1786.325927734375 --170.74917602539062 --472.02215576171875 -pKFcur->mnId598 -Video FPS: 59.940059940059939 -ORB-SLAM 3 running at: 9.1992546506302926 FPS -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.380033333333333 -vpKFs.front()->mTimeStamp-1054.4358171168933 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 1938.0340576171875 - -154.76416015625 --518.9254150390625 -pKFcur->mnId599 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.413400000000001 -vpKFs.front()->mTimeStamp-1067.8325254543954 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 2091.162109375 --137.30302429199219 - -567.829833984375 -pKFcur->mnId600 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.446766666666667 -vpKFs.front()->mTimeStamp-1081.2626004585641 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 2245.629638671875 --118.51520538330078 --618.64105224609375 -pKFcur->mnId601 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.480133333333333 -vpKFs.front()->mTimeStamp-1094.7260421293995 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2400.963623046875 --97.628150939941406 --670.69036865234375 -pKFcur->mnId602 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.513500000000001 -vpKFs.front()->mTimeStamp-1108.2228504669015 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 2557.065673828125 --74.385887145996094 --723.90484619140625 -pKFcur->mnId603 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.546866666666666 -vpKFs.front()->mTimeStamp-1121.7530254710703 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 2714.086669921875 --49.712787628173828 --778.40826416015625 -pKFcur->mnId604 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.580233333333334 -vpKFs.front()->mTimeStamp-1135.3165671419056 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 2872.097412109375 --24.503929138183594 - -834.09521484375 -pKFcur->mnId605 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.6136 -vpKFs.front()->mTimeStamp-1148.9134754794077 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 3030.583740234375 -3.0462169647216797 - -890.56103515625 -pKFcur->mnId606 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.646966666666668 -vpKFs.front()->mTimeStamp-1162.5437504835763 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 3189.9033203125 -31.820135116577148 - -948.245849609375 -pKFcur->mnId607 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.680333333333333 -vpKFs.front()->mTimeStamp-1176.2073921544118 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 3350.120849609375 -62.036361694335938 --1007.363037109375 -pKFcur->mnId608 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.730383333333334 -vpKFs.front()->mTimeStamp-1189.9044004919137 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 3512.24609375 - 93.752006530761719 --1070.2503662109375 -pKFcur->mnId609 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.76375 -vpKFs.front()->mTimeStamp-1203.6514588294158 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 3676.754638671875 - 127.87102508544922 --1138.1395263671875 -pKFcur->mnId610 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.797116666666668 -vpKFs.front()->mTimeStamp-1217.4318838335846 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 3843.21337890625 - 162.2564697265625 --1209.823974609375 -pKFcur->mnId611 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.847166666666666 -vpKFs.front()->mTimeStamp-1231.24567550442 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 4011.521240234375 - 198.65170288085938 --1286.2337646484375 -pKFcur->mnId612 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.930583333333333 -vpKFs.front()->mTimeStamp-1245.1095171752554 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 4181.84228515625 - 237.46392822265625 --1367.7830810546875 -pKFcur->mnId613 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.963950000000001 -vpKFs.front()->mTimeStamp-1259.0567755127574 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 4353.17431640625 - 280.53033447265625 --1451.4488525390625 -pKFcur->mnId614 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp13.997316666666666 -vpKFs.front()->mTimeStamp-1273.0374005169263 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 4524.57373046875 - 325.0086669921875 --1534.8533935546875 -pKFcur->mnId615 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.030683333333334 -vpKFs.front()->mTimeStamp-1287.0513921877616 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 4696.0634765625 - 371.75711059570312 --1618.7803955078125 -pKFcur->mnId616 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.06405 -vpKFs.front()->mTimeStamp-1301.0987505252638 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 4867.81640625 -420.73663330078125 - -1703.88037109375 -pKFcur->mnId617 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.097416666666668 -vpKFs.front()->mTimeStamp-1315.1794755294325 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 5040.19482421875 - 471.6424560546875 --1791.0455322265625 -pKFcur->mnId618 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.130783333333333 -vpKFs.front()->mTimeStamp-1329.2935672002679 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 5213.388671875 - 522.901123046875 --1879.035888671875 -pKFcur->mnId619 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.164150000000001 -vpKFs.front()->mTimeStamp-1343.44102553777 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 5387.89599609375 - 571.5791015625 --1966.5325927734375 -pKFcur->mnId620 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.197516666666667 -vpKFs.front()->mTimeStamp-1357.6218505419388 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 5563.19970703125 -618.90484619140625 --2053.463134765625 -pKFcur->mnId621 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.230883333333333 -vpKFs.front()->mTimeStamp-1371.8360422127741 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 5740.32421875 - 662.4720458984375 --2141.490478515625 -pKFcur->mnId622 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.264250000000001 -vpKFs.front()->mTimeStamp-1386.0836005502763 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1250 -1691 pKFcur->GetVelocity() 5919.30859375 - 703.302490234375 --2231.799560546875 -pKFcur->mnId623 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.297616666666666 -vpKFs.front()->mTimeStamp-1400.364525554445 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 6099.75830078125 - 743.5341796875 --2324.874267578125 -pKFcur->mnId624 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.330983333333334 -vpKFs.front()->mTimeStamp-1414.6788172252805 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 6281.45703125 - 782.803466796875 --2419.78662109375 -pKFcur->mnId625 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.36435 -vpKFs.front()->mTimeStamp-1429.0264755627825 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 6463.96533203125 -822.05828857421875 --2515.725830078125 -pKFcur->mnId626 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.397716666666668 -vpKFs.front()->mTimeStamp-1443.4075005669513 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 6646.8515625 -861.38470458984375 - -2610.9794921875 -pKFcur->mnId627 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.431083333333333 -vpKFs.front()->mTimeStamp-1457.8218922377866 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() 6830.13916015625 -900.41351318359375 --2705.353759765625 -pKFcur->mnId628 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.464450000000001 -vpKFs.front()->mTimeStamp-1472.2696505752888 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7013.78662109375 - 937.953857421875 --2797.79736328125 -pKFcur->mnId629 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.497816666666667 -vpKFs.front()->mTimeStamp-1486.7507755794575 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7197.64404296875 -974.80670166015625 - -2888.50634765625 -pKFcur->mnId630 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.531183333333333 -vpKFs.front()->mTimeStamp-1501.2652672502929 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7381.6962890625 -1010.6793212890625 - -2977.31982421875 -pKFcur->mnId631 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.564550000000001 -vpKFs.front()->mTimeStamp-1515.813125587795 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7565.9345703125 - 1044.772216796875 --3063.820068359375 -pKFcur->mnId632 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.597916666666666 -vpKFs.front()->mTimeStamp-1530.3943505919638 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 7750.74365234375 - 1076.64111328125 --3149.188232421875 -pKFcur->mnId633 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.631283333333334 -vpKFs.front()->mTimeStamp-1545.0089422627991 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() 7936.02734375 -1103.2894287109375 --3231.663818359375 -pKFcur->mnId634 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.66465 -vpKFs.front()->mTimeStamp-1559.6569006003012 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 8121.4697265625 -1128.2940673828125 --3312.274658203125 -pKFcur->mnId635 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.698016666666668 -vpKFs.front()->mTimeStamp-1574.3382256044699 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 8306.7763671875 - 1149.421142578125 --3389.572509765625 -pKFcur->mnId636 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.731383333333333 -vpKFs.front()->mTimeStamp-1589.0529172753054 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 8492.103515625 -1169.80419921875 --3465.1962890625 -pKFcur->mnId637 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.764750000000001 -vpKFs.front()->mTimeStamp-1603.8009756128074 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 8678.1474609375 -1186.790283203125 - -3540.3671875 -pKFcur->mnId638 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.798116666666667 -vpKFs.front()->mTimeStamp-1618.5824006169762 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 8864.6220703125 -1201.8646240234375 --3614.853759765625 -pKFcur->mnId639 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.831483333333333 -vpKFs.front()->mTimeStamp-1633.3971922878115 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 9052.1015625 - 1213.28759765625 --3689.88427734375 -pKFcur->mnId640 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.864850000000001 -vpKFs.front()->mTimeStamp-1648.2453506253137 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1252 -1691 pKFcur->GetVelocity() 9240.8603515625 -1221.1771240234375 --3766.390380859375 -pKFcur->mnId641 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.898216666666666 -vpKFs.front()->mTimeStamp-1663.1268756294824 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() 9431.314453125 -1226.554443359375 --3845.82958984375 -pKFcur->mnId642 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.931583333333334 -vpKFs.front()->mTimeStamp-1678.0417673003178 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 9623.5126953125 -1229.0242919921875 --3928.540283203125 -pKFcur->mnId643 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.96495 -vpKFs.front()->mTimeStamp-1692.9900256378198 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 9817.3623046875 -1229.239013671875 --4014.56884765625 -pKFcur->mnId644 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp14.998316666666668 -vpKFs.front()->mTimeStamp-1707.9716506419886 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 10012.646484375 -1226.164794921875 - -4103.49609375 -pKFcur->mnId645 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp15.031683333333334 -vpKFs.front()->mTimeStamp-1722.986642312824 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() 10209.0712890625 -1222.3209228515625 - -4194.283203125 -pKFcur->mnId646 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp15.065049999999999 -vpKFs.front()->mTimeStamp-1738.0350006503261 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 10406 -1218.6439208984375 - -4284.6064453125 -pKFcur->mnId647 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c6c0252860 -pKFCur->mTimeStamp15.131783333333333 -vpKFs.front()->mTimeStamp-1753.1167256544948 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() 10602.263671875 -1217.383056640625 --4370.35791015625 -pKFcur->mnId648 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:93821d49135ede129ae5d6b0d457da09550c37f244d80dfcd5bfa44eb55ba660 +size 105822 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/extract_gopro_imu_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/extract_gopro_imu_stdout.txt index ccc32469b434f064d722063a87acbebbfe12a557..2f2e75840db0e7caebd7f8a67699d85ed184dca9 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/extract_gopro_imu_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/extract_gopro_imu_stdout.txt @@ -1,9 +1,3 @@ -Input video path: /data/raw_video.mp4 -Output file will be: /data/imu_data.json -Opening /data/raw_video.mp4 -Read stream data from raw_video.mp4 -Extracted information for raw_video.mp4 -Flushing on end after 181801731 bytes -Generated telemetry for raw_video.mp4 -Telemetry saved as JSON to imu_data.json -Done +version https://git-lfs.github.com/spec/v1 +oid sha256:d1157080af46fa0bd77b7aaf4be9b162758858068d54549216d78afb8d4c6b4c +size 305 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/imu_data.json b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/imu_data.json index 3a5bdec7707beabcd3f060168d694c1a15c8fd87..928f290ee0fd2b960bdc4652fa8855af01ac25a1 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/imu_data.json +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/imu_data.json @@ -1 +1,3 @@ -{"1":{"streams":{"ACCL":{"samples":[{"value":[8.05515587529976,0.2422062350119904,5.54916067146283],"cts":81.437,"date":"2015-10-18T00:52:32.159Z","temperature [°C]":62.208984375},{"value":[8.074340527577938,0.16546762589928057,5.565947242206235],"cts":86.37297044334976,"date":"2015-10-18T00:52:32.165Z","temperature [°C]":62.208984375},{"value":[8.016786570743406,0.21342925659472423,5.649880095923262],"cts":91.30894088669952,"date":"2015-10-18T00:52:32.171Z","temperature [°C]":62.208984375},{"value":[8.023980815347722,0.19664268585131894,5.671462829736211],"cts":96.24491133004928,"date":"2015-10-18T00:52:32.177Z","temperature [°C]":62.208984375},{"value":[8.028776978417266,0.18705035971223022,5.695443645083933],"cts":101.18088177339904,"date":"2015-10-18T00:52:32.183Z","temperature [°C]":62.208984375},{"value":[8.035971223021583,0.15347721822541965,5.683453237410072],"cts":106.1168522167488,"date":"2015-10-18T00:52:32.190Z","temperature [°C]":62.208984375},{"value":[8.035971223021583,0.15827338129496402,5.705035971223022],"cts":111.05282266009856,"date":"2015-10-18T00:52:32.196Z","temperature [°C]":62.208984375},{"value":[8.052757793764988,0.15347721822541965,5.700239808153477],"cts":115.98879310344832,"date":"2015-10-18T00:52:32.202Z","temperature [°C]":62.208984375},{"value":[8.117505995203837,0.12470023980815348,5.690647482014389],"cts":120.92476354679808,"date":"2015-10-18T00:52:32.208Z","temperature [°C]":62.208984375},{"value":[8.122302158273381,0.09592326139088729,5.712230215827338],"cts":125.86073399014784,"date":"2015-10-18T00:52:32.215Z","temperature [°C]":62.208984375},{"value":[8.09832134292566,0.07913669064748201,5.700239808153477],"cts":130.79670443349758,"date":"2015-10-18T00:52:32.221Z","temperature [°C]":62.208984375},{"value":[8.074340527577938,0.026378896882494004,5.743405275779376],"cts":135.73267487684734,"date":"2015-10-18T00:52:32.227Z","temperature [°C]":62.208984375},{"value":[8.06714628297362,0.03357314148681055,5.743405275779376],"cts":140.6686453201971,"date":"2015-10-18T00:52:32.233Z","temperature [°C]":62.208984375},{"value":[8.023980815347722,0.0407673860911271,5.743405275779376],"cts":145.60461576354686,"date":"2015-10-18T00:52:32.240Z","temperature [°C]":62.208984375},{"value":[8.062350119904076,0.03357314148681055,5.7745803357314145],"cts":150.54058620689662,"date":"2015-10-18T00:52:32.246Z","temperature [°C]":62.208984375},{"value":[8.045563549160672,-0.014388489208633094,5.750599520383693],"cts":155.47655665024638,"date":"2015-10-18T00:52:32.252Z","temperature 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Vector"}},"device name":"HERO9 Black"},"frames/second":59.94005994005993} \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:bbbb814da05cc445660d2027323562333e46e62292e7a2dbf08eedd3bd40f331 +size 2156920 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stderr.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stderr.txt index 5d0240c37afacfe44b4b63cc530e6808cae169ef..33a942613635c66c1a4ba52fe30dba0124d65fe6 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stderr.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stderr.txt @@ -1,5 +1,3 @@ -Camera.newHeight optional parameter does not exist... -Camera.newWidth optional parameter does not exist... -IMU.InsertKFsWhenLost optional parameter does not exist... -System.LoadAtlasFromFile optional parameter does not exist... -System.SaveAtlasToFile optional parameter does not exist... +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a +size 288 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stdout.txt b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stdout.txt index 4e36d852269d620dc7279772405aabdeae77c2b5..96b1d32629b10347a32a9cbe9e73b3e5dbc1f0e5 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stdout.txt +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.23.36.891267/slam_stdout.txt @@ -1,815 +1,3 @@ -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 1448 frames in total -video FPS 59.9401 -line 1873 keyframes 66MapPoints2425 -line 1877 -mlFrameTimes.size()= 0 -KeyFrame::nNextId=492 -Relocalization() failed. -Fail to track local map! -Video FPS: 59.9401 -ORB-SLAM 3 running at: 7.52444 FPS -Relocalized!! -INIT_RELOCALIZE success! -vpKFs.back()->mpImuPreintegrated0x557ad1886bb0 -pKFCur->mTimeStamp0.016683333333333335 -vpKFs.front()->mTimeStamp-63.213141670835412 -vpKFs.back()->mTimeStamp-0.016675004168746455 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() 0 -0 -0 -pKFcur->mnId492 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp3.9706333333333332 -vpKFs.front()->mTimeStamp-63.246500008337499 -vpKFs.back()->mTimeStamp-0.016675004168751041 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -0.12062335759401321 --0.85521000623703003 - 0.17444169521331787 -pKFcur->mnId493 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.0540500000000002 -vpKFs.front()->mTimeStamp-67.233808345839577 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -8.3393230438232422 - 3.8545117378234863 --1.2168298959732056 -pKFcur->mnId494 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.0874166666666669 -vpKFs.front()->mTimeStamp-71.304533350008327 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -15.277463912963867 - 4.7325472831726074 --2.1704559326171875 -pKFcur->mnId495 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.1207833333333337 -vpKFs.front()->mTimeStamp-75.408625020843743 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -22.318445205688477 - 5.5692768096923828 --3.1409280300140381 -pKFcur->mnId496 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.1541500000000005 -vpKFs.front()->mTimeStamp-79.546083358345825 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -29.437990188598633 - 6.1488375663757324 --4.1191930770874023 -pKFcur->mnId497 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.1875166666666663 -vpKFs.front()->mTimeStamp-83.716908362514573 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -36.317115783691406 - 6.139655590057373 --5.0531015396118164 -pKFcur->mnId498 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.2208833333333331 -vpKFs.front()->mTimeStamp-87.921100033349987 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -43.365821838378906 - 6.0387248992919922 --6.0222005844116211 -pKFcur->mnId499 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.2542499999999999 -vpKFs.front()->mTimeStamp-92.158658370852066 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -50.290378570556641 - 5.3526921272277832 --6.9724340438842773 -pKFcur->mnId500 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.2876166666666666 -vpKFs.front()->mTimeStamp-96.429583375020812 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -57.527778625488281 - 4.7481627464294434 - -7.966893196105957 -pKFcur->mnId501 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.3209833333333334 -vpKFs.front()->mTimeStamp-100.73387504585622 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -64.86212158203125 - 3.8460273742675781 --8.9809255599975586 -pKFcur->mnId502 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.3543500000000002 -vpKFs.front()->mTimeStamp-105.07153338335831 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -72.504341125488281 - 2.748997688293457 --10.054471969604492 -pKFcur->mnId503 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.3877166666666669 -vpKFs.front()->mTimeStamp-109.44255838752707 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -80.498481750488281 - 1.2696214914321899 - -11.20429801940918 -pKFcur->mnId504 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.4210833333333337 -vpKFs.front()->mTimeStamp-113.84695005836249 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -88.88665771484375 --0.31979060173034668 - -12.436586380004883 -pKFcur->mnId505 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.4544500000000005 -vpKFs.front()->mTimeStamp-118.28470839586458 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -97.338996887207031 --2.4925189018249512 --13.713358879089355 -pKFcur->mnId506 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.4878166666666663 -vpKFs.front()->mTimeStamp-122.75583340003334 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1256 -1691 pKFcur->GetVelocity() -106.07025909423828 --4.7077541351318359 --15.055500984191895 -pKFcur->mnId507 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.5211833333333331 -vpKFs.front()->mTimeStamp-127.26032507086876 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -114.96253967285156 --7.2285261154174805 --16.456293106079102 -pKFcur->mnId508 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.5545499999999999 -vpKFs.front()->mTimeStamp-131.79818340837085 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1253 -1691 pKFcur->GetVelocity() -124.16477203369141 --9.7633228302001953 --17.934385299682617 -pKFcur->mnId509 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.5879166666666666 -vpKFs.front()->mTimeStamp-136.3694084125396 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1258 -1691 pKFcur->GetVelocity() -133.57521057128906 --12.590007781982422 --19.486331939697266 -pKFcur->mnId510 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.6212833333333334 -vpKFs.front()->mTimeStamp-140.97400008337502 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1254 -1691 pKFcur->GetVelocity() -143.45988464355469 --15.086106300354004 --21.133152008056641 -pKFcur->mnId511 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.6546500000000002 -vpKFs.front()->mTimeStamp-145.6119584208771 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1251 -1691 pKFcur->GetVelocity() -153.69218444824219 --17.454654693603516 --22.855916976928711 -pKFcur->mnId512 -TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557ad2541850 -pKFCur->mTimeStamp4.6880166666666669 -vpKFs.front()->mTimeStamp-150.28328342504585 -vpKFs.back()->mTimeStamp-0.016675004168750895 -pKFcur->GetMapPointMatches().size()1255 -1691 pKFcur->GetVelocity() -164.21174621582031 --19.808446884155273 --24.649921417236328 -pKFcur->mnId513 -gopro_slam.cc Caught signal 2 -meStamp13.430083333333334 -vpKFs.front()->mTimeStamp-2292.7050426880091 -vpKFs.back()->mTimeStamp-0.016675004168751784 -pKFcur->GetMapPointMatches().size()1257 -1691 pKFcur->GetVelocity() -5094.65869140625 - 2719.781005859375 --1135.4285888671875 -pKFcur->mnId736 -gopro_slam.cc Caught signal 2 +version https://git-lfs.github.com/spec/v1 +oid sha256:c8b2dcf4d031735a031fd1ea0e0a68d6e241628745aad0b588b7abfb61752c6d +size 131362 diff --git a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.24.10.925267/camera_trajectory.csv b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.24.10.925267/camera_trajectory.csv index a2b4abc6f15f123d9d059749f8cfc73a740f25cc..603e21b01fdb28e88c09d6b1910f47ba9eb332d3 100644 --- a/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.24.10.925267/camera_trajectory.csv +++ b/bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.24.10.925267/camera_trajectory.csv @@ -1,1383 +1,3 @@ -frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w -0,0.000000,6,true,false,0,0,0,0,0,0,0 -1,0.000000,6,true,false,0,0,0,0,0,0,0 -2,0.000000,6,true,false,0,0,0,0,0,0,0 -3,0.000000,6,true,false,0,0,0,0,0,0,0 -4,0.000000,6,true,false,0,0,0,0,0,0,0 -5,0.000000,6,true,false,0,0,0,0,0,0,0 -6,0.100100,2,false,false,-0.052318104,0.233795777,0.147059128,-0.011677409,-0.063904516,-0.001155071,0.997887075 -7,0.116783,2,false,false,-0.051690362,0.217002615,0.152305543,0.013331274,0.064812869,0.000104701,-0.997808456 -8,0.133467,2,false,false,-0.052008688,0.217153236,0.152500138,0.013792174,0.065043695,-0.000123430,-0.997787178 -9,0.150150,2,false,false,-0.052298538,0.216939986,0.152746052,0.014003396,0.065550216,-0.000675585,-0.997750759 -10,0.166833,2,false,false,-0.052341931,0.217123032,0.152671874,0.014218053,0.066452615,-0.001241061,-0.997687519 -11,0.183517,2,false,false,-0.052106779,0.217201874,0.153052464,0.014038745,0.067620359,-0.002056373,-0.997610271 -12,0.200200,2,false,false,-0.052135598,0.217571482,0.152819842,0.013493577,0.068945840,-0.003064746,-0.997524440 -13,0.216883,2,false,false,-0.052240722,0.217890486,0.153241515,0.012819074,0.070134565,-0.004160444,-0.997446537 -14,0.233567,2,false,false,-0.052107569,0.218092427,0.153276101,0.011877881,0.071117051,-0.005361138,-0.997382879 -15,0.250250,2,false,false,-0.051761854,0.217888966,0.152961686,0.010960593,0.072034650,-0.006372703,-0.997321546 -16,0.266933,2,false,false,-0.020954443,0.067282900,-0.258898556,-0.108820632,-0.002235933,-0.055894256,-0.992486298 -17,0.283617,2,false,false,-0.029576836,0.078408055,-0.281326771,-0.109356046,-0.001664190,-0.056126527,-0.992415488 -18,0.300300,2,false,false,-0.037582438,0.089261726,-0.303709269,-0.109660342,-0.001348148,-0.056527227,-0.992359579 -19,0.300300,6,true,false,0,0,0,0,0,0,0 -20,0.300300,6,true,false,0,0,0,0,0,0,0 -21,0.300300,6,true,false,0,0,0,0,0,0,0 -22,0.300300,6,true,false,0,0,0,0,0,0,0 -23,0.300300,6,true,false,0,0,0,0,0,0,0 -24,0.300300,6,true,false,0,0,0,0,0,0,0 -25,0.300300,6,true,false,0,0,0,0,0,0,0 -26,0.300300,6,true,false,0,0,0,0,0,0,0 -27,0.300300,6,true,false,0,0,0,0,0,0,0 -28,0.300300,6,true,false,0,0,0,0,0,0,0 -29,0.300300,6,true,false,0,0,0,0,0,0,0 -30,0.300300,6,true,false,0,0,0,0,0,0,0 -31,0.300300,6,true,false,0,0,0,0,0,0,0 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