19 /*if(mSensor == System::IMU_MONOCULAR || mSensor == System::IMU_STEREO || mSensor == System::IMU_RGBD)    mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.GetPose());*/2441 //mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.GetPose());2652 //mpMapDrawer->SetCurrentCameraPose(pKFcur->GetPose());3783 /*if(mpViewer){    mpViewer->RequestStop();    while(!mpViewer->isStopped())        usleep(3000);}*/3834 /*if(mpViewer)    mpViewer->Release();*/3843 /*if(mpViewer){    mpViewer->RequestStop();    while(!mpViewer->isStopped())        usleep(3000);}*/3925 /*if(mpViewer)    mpViewer->Release();*/