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 220 frames in total video FPS 59.9401 line 1873 keyframes 99MapPoints3550 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=625 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 19.6662 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 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x5b3f74a9f260 pKFCur->mTimeStamp0.38371666666666665 vpKFs.front()->mTimeStamp-95.061625004168746 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId625 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.56723333333333337 vpKFs.front()->mTimeStamp-95.462016675004165 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.1127123832702637 2.057525634765625 -1.0861822366714478 pKFcur->mnId626 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.60060000000000002 vpKFs.front()->mTimeStamp-96.045925012506245 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 2.7150337696075439 5.7783017158508301 -3.1934857368469238 pKFcur->mnId627 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.63396666666666668 vpKFs.front()->mTimeStamp-96.663200016674992 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 4.3799896240234375 9.7982168197631836 -5.4561619758605957 pKFcur->mnId628 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.66733333333333333 vpKFs.front()->mTimeStamp-97.313841687510404 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1261 1691 pKFcur->GetVelocity() 6.0824074745178223 14.15720272064209 -7.9112205505371094 pKFcur->mnId629 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.71738333333333337 vpKFs.front()->mTimeStamp-97.997850025012482 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 7.813809871673584 18.786659240722656 -10.493422508239746 pKFcur->mnId630 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.75075000000000003 vpKFs.front()->mTimeStamp-98.731908362514574 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 9.6016683578491211 23.846445083618164 -13.301631927490234 pKFcur->mnId631 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.78411666666666668 vpKFs.front()->mTimeStamp-99.499333366683331 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 11.412774085998535 29.131523132324219 -16.203029632568359 pKFcur->mnId632 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.81748333333333334 vpKFs.front()->mTimeStamp-100.30012503751875 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 13.201503753662109 34.73138427734375 -19.289470672607422 pKFcur->mnId633 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.85085 vpKFs.front()->mTimeStamp-101.13428337502084 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 15.002383232116699 40.609100341796875 -22.544889450073242 pKFcur->mnId634 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5b3f75540770 pKFCur->mTimeStamp0.88421666666666665 vpKFs.front()->mTimeStamp-102.0018083791896 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 16.724180221557617 46.95147705078125 -26.149969100952148 pKFcur->mnId635 TRACK_REF_KF: Less than 15 matches!! 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