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 279 frames in total video FPS 59.9401 line 1873 keyframes 99MapPoints3551 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=528 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x63b183302ba0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-58.3249 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()5309 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId528 Video FPS: 59.9401 ORB-SLAM 3 running at: 8.3824 FPS No IMU Preintegration for KeyFrame 528, skipping inertial edge. TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0 pKFCur->mTimeStamp0.7674333333333333 vpKFs.front()->mTimeStamp-58.341600008337508 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.12174981832504272 -0.12538884580135345 -0.14701533317565918 pKFcur->mnId529 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp0.80080000000000007 vpKFs.front()->mTimeStamp-59.125708345839591 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 1.5576838254928589 4.335634708404541 -2.0183131694793701 pKFcur->mnId530 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp0.83416666666666672 vpKFs.front()->mTimeStamp-59.94318335000834 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 3.412799596786499 9.0573158264160156 -4.021540641784668 pKFcur->mnId531 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp0.86753333333333338 vpKFs.front()->mTimeStamp-60.794025020843755 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 5.4319748878479004 14.056156158447266 -6.1813607215881348 pKFcur->mnId532 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp0.90090000000000003 vpKFs.front()->mTimeStamp-61.678233358345842 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 7.6000032424926758 19.290409088134766 -8.4800453186035156 pKFcur->mnId533 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp0.93426666666666669 vpKFs.front()->mTimeStamp-62.595808362514596 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 9.937408447265625 24.779029846191406 -10.953660011291504 pKFcur->mnId534 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=7 Relocalization() failed. Fail to track local map! n_lost_frames=8 Relocalization() failed. Fail to track local map! n_lost_frames=9 No IMU Preintegration for KeyFrame 528, skipping inertial edge. Relocalization() failed. Fail to track local map! n_lost_frames=10 Relocalization() failed. Fail to track local map! n_lost_frames=11 Relocalization() failed. Fail to track local map! n_lost_frames=12 Relocalization() failed. Fail to track local map! n_lost_frames=13 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.0677333333333334 vpKFs.front()->mTimeStamp-63.546750033350015 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 9.937408447265625 24.779029846191406 -10.953660011291504 pKFcur->mnId535 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.1344666666666667 vpKFs.front()->mTimeStamp-64.631158370852106 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 13.848564147949219 31.356523513793945 -14.621665954589844 pKFcur->mnId536 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=17 Relocalization() failed. Fail to track local map! n_lost_frames=18 Relocalization() failed. Fail to track local map! n_lost_frames=19 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.2012 vpKFs.front()->mTimeStamp-65.78230004168752 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 13.848564147949219 31.356523513793945 -14.621665954589844 pKFcur->mnId537 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.25125 vpKFs.front()->mTimeStamp-67.000175045856267 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 19.286584854125977 38.598552703857422 -19.176738739013672 pKFcur->mnId538 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.2846166666666667 vpKFs.front()->mTimeStamp-68.268100050025012 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() 25.333564758300781 45.910476684570312 -23.996683120727539 pKFcur->mnId539 No IMU Preintegration for KeyFrame 528, skipping inertial edge. TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.3179833333333333 vpKFs.front()->mTimeStamp-69.569391720860423 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 31.781793594360352 53.310680389404297 -29.040061950683594 pKFcur->mnId540 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.3513500000000001 vpKFs.front()->mTimeStamp-70.904050058362515 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 38.671089172363281 60.822883605957031 -34.378421783447266 pKFcur->mnId541 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.3847166666666666 vpKFs.front()->mTimeStamp-72.272075062531272 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 46.036613464355469 68.364700317382812 -39.9708251953125 pKFcur->mnId542 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.4180833333333334 vpKFs.front()->mTimeStamp-73.673466733366695 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 53.821468353271484 76.035446166992188 -45.852626800537109 pKFcur->mnId543 No IMU Preintegration for KeyFrame 528, skipping inertial edge. TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.4514500000000001 vpKFs.front()->mTimeStamp-75.108225070868784 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 62.075004577636719 83.787986755371094 -51.99249267578125 pKFcur->mnId544 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.4848166666666667 vpKFs.front()->mTimeStamp-76.576350075037539 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 70.719970703125 91.767112731933594 -58.487968444824219 pKFcur->mnId545 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.5181833333333334 vpKFs.front()->mTimeStamp-78.077841745872959 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 79.932136535644531 99.686126708984375 -65.234268188476562 pKFcur->mnId546 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.55155 vpKFs.front()->mTimeStamp-79.612700083375046 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 89.409751892089844 107.83201599121094 -72.177490234375 pKFcur->mnId547 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.5849166666666668 vpKFs.front()->mTimeStamp-81.180925087543798 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 99.335159301757812 115.98323822021484 -79.343666076660156 pKFcur->mnId548 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.6182833333333333 vpKFs.front()->mTimeStamp-82.782516758379217 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 109.65132141113281 124.0850830078125 -86.616973876953125 pKFcur->mnId549 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.6516500000000001 vpKFs.front()->mTimeStamp-84.417475095881301 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 120.23540496826172 132.4661865234375 -94.176719665527344 pKFcur->mnId550 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.6850166666666666 vpKFs.front()->mTimeStamp-86.085800100050051 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 131.17131042480469 140.70681762695312 -101.75193786621094 pKFcur->mnId551 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.7183833333333334 vpKFs.front()->mTimeStamp-87.787491770885467 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 142.28889465332031 149.29524230957031 -109.61991119384766 pKFcur->mnId552 No IMU Preintegration for KeyFrame 528, skipping inertial edge. TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.7517500000000001 vpKFs.front()->mTimeStamp-89.522550108387549 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 153.87431335449219 157.70193481445312 -117.62642669677734 pKFcur->mnId553 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.7851166666666667 vpKFs.front()->mTimeStamp-91.290975112556296 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 165.87800598144531 166.05110168457031 -125.85394287109375 pKFcur->mnId554 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.8184833333333335 vpKFs.front()->mTimeStamp-93.09276678339171 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 178.27716064453125 174.42982482910156 -134.34173583984375 pKFcur->mnId555 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.85185 vpKFs.front()->mTimeStamp-94.927925120893789 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 191.16949462890625 182.85978698730469 -143.23626708984375 pKFcur->mnId556 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.8852166666666668 vpKFs.front()->mTimeStamp-96.796450125062535 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 204.36813354492188 191.45426940917969 -152.40158081054688 pKFcur->mnId557 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.9185833333333333 vpKFs.front()->mTimeStamp-98.698341795897946 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 217.97309875488281 200.037841796875 -161.79158020019531 pKFcur->mnId558 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.9519500000000001 vpKFs.front()->mTimeStamp-100.63360013340004 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 232.12229919433594 208.52053833007812 -171.53703308105469 pKFcur->mnId559 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp1.9853166666666666 vpKFs.front()->mTimeStamp-102.60222513756879 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 246.70277404785156 217.02374267578125 -181.54704284667969 pKFcur->mnId560 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp2.0186833333333332 vpKFs.front()->mTimeStamp-104.60421680840422 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 261.72158813476562 225.48918151855469 -191.74052429199219 pKFcur->mnId561 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp2.0520499999999999 vpKFs.front()->mTimeStamp-106.63957514590631 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 277.19305419921875 233.78263854980469 -201.95674133300781 pKFcur->mnId562 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp2.0854166666666667 vpKFs.front()->mTimeStamp-108.70830015007506 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 293.00906372070312 242.01499938964844 -212.07334899902344 pKFcur->mnId563 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp2.1187833333333335 vpKFs.front()->mTimeStamp-110.81039182091048 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 309.063720703125 249.92146301269531 -221.71833801269531 pKFcur->mnId564 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp2.1521500000000002 vpKFs.front()->mTimeStamp-112.94585015841257 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 325.20904541015625 257.53082275390625 -230.7293701171875 pKFcur->mnId565 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x63b183a95190 pKFCur->mTimeStamp2.2021999999999999 vpKFs.front()->mTimeStamp-115.11467516258132 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 341.16482543945312 264.64309692382812 -238.73403930664062 pKFcur->mnId566 TrackLocalMap() mCurrentFrame.mnId= 60 frames. Terminating! Shutdown mpLocalMapper is not finished mpLoopCloser is not finished mpLocalMapper is not finished