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 229 frames in total video FPS 59.9401 line 1873 keyframes 69MapPoints2176 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=522 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 17.6883 FPS Relocalization() failed. Fail to track local map! n_lost_frames=2 Relocalization() failed. Fail to track local map! n_lost_frames=3 Relocalization() failed. Fail to track local map! n_lost_frames=4 Relocalization() failed. Fail to track local map! n_lost_frames=5 Relocalization() failed. Fail to track local map! n_lost_frames=6 Relocalization() failed. Fail to track local map! n_lost_frames=7 Relocalization() failed. Fail to track local map! n_lost_frames=8 Relocalization() failed. Fail to track local map! n_lost_frames=9 Relocalization() failed. Fail to track local map! n_lost_frames=10 Relocalization() failed. Fail to track local map! n_lost_frames=11 Relocalization() failed. Fail to track local map! n_lost_frames=12 Relocalization() failed. Fail to track local map! n_lost_frames=13 Relocalization() failed. Fail to track local map! n_lost_frames=14 Relocalization() failed. Fail to track local map! n_lost_frames=15 Relocalization() failed. Fail to track local map! n_lost_frames=16 Relocalization() failed. Fail to track local map! n_lost_frames=17 Relocalization() failed. Fail to track local map! n_lost_frames=18 Relocalization() failed. Fail to track local map! n_lost_frames=19 Relocalization() failed. Fail to track local map! n_lost_frames=20 Relocalization() failed. Fail to track local map! n_lost_frames=21 Relocalization() failed. Fail to track local map! n_lost_frames=22 Relocalization() failed. Fail to track local map! n_lost_frames=23 Relocalization() failed. Fail to track local map! n_lost_frames=24 Relocalization() failed. Fail to track local map! n_lost_frames=25 Relocalization() failed. Fail to track local map! n_lost_frames=26 Relocalization() failed. Fail to track local map! n_lost_frames=27 Relocalization() failed. Fail to track local map! n_lost_frames=28 Relocalization() failed. Fail to track local map! n_lost_frames=29 Relocalization() failed. Fail to track local map! n_lost_frames=30 Relocalization() failed. Fail to track local map! n_lost_frames=31 Relocalization() failed. Fail to track local map! n_lost_frames=32 Relocalization() failed. Fail to track local map! n_lost_frames=33 Relocalization() failed. Fail to track local map! n_lost_frames=34 Relocalization() failed. Fail to track local map! n_lost_frames=35 Relocalization() failed. Fail to track local map! n_lost_frames=36 Relocalization() failed. Fail to track local map! n_lost_frames=37 Relocalization() failed. Fail to track local map! n_lost_frames=38 Relocalization() failed. Fail to track local map! n_lost_frames=39 Relocalization() failed. Fail to track local map! n_lost_frames=40 Relocalization() failed. Fail to track local map! n_lost_frames=41 Relocalization() failed. Fail to track local map! n_lost_frames=42 Relocalization() failed. Fail to track local map! n_lost_frames=43 Relocalization() failed. Fail to track local map! n_lost_frames=44 Relocalization() failed. Fail to track local map! n_lost_frames=45 Relocalization() failed. Fail to track local map! n_lost_frames=46 Relocalization() failed. Fail to track local map! n_lost_frames=47 Relocalization() failed. Fail to track local map! n_lost_frames=48 Relocalization() failed. Fail to track local map! n_lost_frames=49 Relocalization() failed. Fail to track local map! n_lost_frames=50 Relocalization() failed. Fail to track local map! n_lost_frames=51 Relocalization() failed. Fail to track local map! n_lost_frames=52 Relocalization() failed. Fail to track local map! n_lost_frames=53 Relocalization() failed. Fail to track local map! n_lost_frames=54 Relocalization() failed. Fail to track local map! n_lost_frames=55 Relocalization() failed. Fail to track local map! n_lost_frames=56 Relocalization() failed. Fail to track local map! n_lost_frames=57 Relocalization() failed. Fail to track local map! n_lost_frames=58 Relocalization() failed. Fail to track local map! n_lost_frames=59 Relocalization() failed. Fail to track local map! n_lost_frames=60 Lost tracking on 60 >= 60 frames. Terminating! Shutdown mpLocalMapper is not finished mpLoopCloser is not finished