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 252 frames in total video FPS 59.9401 line 1873 keyframes 99MapPoints3550 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=625 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x6554775c3220 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-95.0616 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4623 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId625 Video FPS: 59.9401 ORB-SLAM 3 running at: 9.50229 FPS No IMU Preintegration for KeyFrame 625, skipping inertial edge. TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0 pKFCur->mTimeStamp0.56723333333333337 vpKFs.front()->mTimeStamp-95.078300008337493 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -0.1890375167131424 -0.24887113273143768 -0.21138826012611389 pKFcur->mnId626 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.60060000000000002 vpKFs.front()->mTimeStamp-95.662208345839574 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.42051905393600464 2.9690334796905518 -1.5345702171325684 pKFcur->mnId627 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.63396666666666668 vpKFs.front()->mTimeStamp-96.27948335000832 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 1.057801365852356 6.4616866111755371 -2.9725286960601807 pKFcur->mnId628 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.66733333333333333 vpKFs.front()->mTimeStamp-96.930125020843732 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 1.7179752588272095 10.236098289489746 -4.536984920501709 pKFcur->mnId629 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.70069999999999999 vpKFs.front()->mTimeStamp-97.614133358345811 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 2.4105715751647949 14.297972679138184 -6.2160892486572266 pKFcur->mnId630 No IMU Preintegration for KeyFrame 625, skipping inertial edge. TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.73406666666666665 vpKFs.front()->mTimeStamp-98.331508362514555 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 3.119563102722168 18.642704010009766 -8.0026845932006836 pKFcur->mnId631 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.7674333333333333 vpKFs.front()->mTimeStamp-99.082250033349979 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 3.8419122695922852 23.282491683959961 -9.9048032760620117 pKFcur->mnId632 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.80080000000000007 vpKFs.front()->mTimeStamp-99.866358370852069 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 4.5540199279785156 28.184322357177734 -11.880698204040527 pKFcur->mnId633 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.83416666666666672 vpKFs.front()->mTimeStamp-100.68383337502082 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 5.286137580871582 33.266693115234375 -13.895621299743652 pKFcur->mnId634 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.86753333333333338 vpKFs.front()->mTimeStamp-101.53467504585625 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 6.0360608100891113 38.605518341064453 -16.026350021362305 pKFcur->mnId635 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp0.96763333333333335 vpKFs.front()->mTimeStamp-102.41888338335833 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 6.8286323547363281 44.207527160644531 -18.288873672485352 pKFcur->mnId636 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.0010000000000001 vpKFs.front()->mTimeStamp-103.40319172086042 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 7.8672189712524414 50.520515441894531 -20.976274490356445 pKFcur->mnId637 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.0343666666666667 vpKFs.front()->mTimeStamp-104.42086672502917 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 9.0513172149658203 56.991336822509766 -23.75792121887207 pKFcur->mnId638 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.0677333333333334 vpKFs.front()->mTimeStamp-105.47190839586459 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 10.495490074157715 63.641910552978516 -26.679693222045898 pKFcur->mnId639 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.1011 vpKFs.front()->mTimeStamp-106.55631673336667 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 12.17473316192627 70.671562194824219 -29.913665771484375 pKFcur->mnId640 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.1344666666666667 vpKFs.front()->mTimeStamp-107.67409173753542 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 14.227138519287109 77.791473388671875 -33.238559722900391 pKFcur->mnId641 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.1678333333333333 vpKFs.front()->mTimeStamp-108.82523340837083 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 16.624406814575195 85.157814025878906 -36.801555633544922 pKFcur->mnId642 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.2012 vpKFs.front()->mTimeStamp-110.00974174587292 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 19.47974967956543 92.737228393554688 -40.581371307373047 pKFcur->mnId643 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.2345666666666666 vpKFs.front()->mTimeStamp-111.22761675004166 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 22.73036003112793 100.51665496826172 -44.541450500488281 pKFcur->mnId644 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.2679333333333334 vpKFs.front()->mTimeStamp-112.47885842087707 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 26.365509033203125 108.57865142822266 -48.762825012207031 pKFcur->mnId645 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.3013000000000001 vpKFs.front()->mTimeStamp-113.76346675837915 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 30.320148468017578 116.92661285400391 -53.205028533935547 pKFcur->mnId646 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.3346666666666667 vpKFs.front()->mTimeStamp-115.08144176254791 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 34.561965942382812 125.50541687011719 -57.815689086914062 pKFcur->mnId647 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.3680333333333334 vpKFs.front()->mTimeStamp-116.43278343338334 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 39.065574645996094 134.26287841796875 -62.526901245117188 pKFcur->mnId648 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.4014 vpKFs.front()->mTimeStamp-117.81749177088543 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 43.830051422119141 142.9251708984375 -67.080619812011719 pKFcur->mnId649 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x655478064730 pKFCur->mTimeStamp1.4347666666666667 vpKFs.front()->mTimeStamp-119.23556677505418 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 48.695316314697266 152.05360412597656 -71.955863952636719 pKFcur->mnId650