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 255 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: 16.838 FPS
Relocalization() failed.
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n_lost_frames=2
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n_lost_frames=3
Relocalization() failed.
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n_lost_frames=4
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Relocalization() failed.
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Relocalization() failed.
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n_lost_frames=8
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n_lost_frames=9
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n_lost_frames=10
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n_lost_frames=11
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n_lost_frames=20
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n_lost_frames=22
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n_lost_frames=23
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n_lost_frames=27
Relocalization() failed.
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n_lost_frames=28
Relocalization() failed.
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n_lost_frames=29
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n_lost_frames=30
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n_lost_frames=31
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n_lost_frames=32
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n_lost_frames=33
Relocalization() failed.
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n_lost_frames=34
Relocalization() failed.
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n_lost_frames=35
Relocalization() failed.
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n_lost_frames=36
Relocalization() failed.
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n_lost_frames=37
Relocalization() failed.
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n_lost_frames=38
Relocalization() failed.
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n_lost_frames=39
Relocalization() failed.
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Relocalization() failed.
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Relocalization() failed.
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Relocalization() failed.
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Relocalization() failed.
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Relocalization() failed.
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Relocalization() failed.
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Relocalization() failed.
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n_lost_frames=47
Relocalization() failed.
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n_lost_frames=48
Relocalization() failed.
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n_lost_frames=49
Relocalization() failed.
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n_lost_frames=50
Relocalization() failed.
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n_lost_frames=51
Relocalization() failed.
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n_lost_frames=52
Relocalization() failed.
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n_lost_frames=53
Relocalization() failed.
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n_lost_frames=54
Relocalization() failed.
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n_lost_frames=55
Relocalization() failed.
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n_lost_frames=56
Relocalization() failed.
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n_lost_frames=57
Relocalization() failed.
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n_lost_frames=58
Relocalization() failed.
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n_lost_frames=59
Relocalization() failed.
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n_lost_frames=60
Lost tracking on 60 >= 60 frames. Terminating!
Shutdown
mpLocalMapper is not finished
mpLoopCloser is not finished