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 261 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: 12.8349 FPS Relocalization() failed. Fail to track local map! n_lost_frames=2 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x5be9c73bca40 pKFCur->mTimeStamp0.033366666666666669 vpKFs.front()->mTimeStamp-95.061625004168746 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId625 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.30030000000000001 vpKFs.front()->mTimeStamp-95.111666675004159 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 1.0159435272216797 0.73194849491119385 1.120486855506897 pKFcur->mnId626 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.35034999999999999 vpKFs.front()->mTimeStamp-95.428641679172912 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 1.6197272539138794 1.4217561483383179 1.1770869493484497 pKFcur->mnId627 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.38371666666666665 vpKFs.front()->mTimeStamp-95.795666683341665 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 2.3415601253509521 2.3690505027770996 1.1431481838226318 pKFcur->mnId628 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.41708333333333336 vpKFs.front()->mTimeStamp-96.196058354177083 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 3.1572530269622803 3.9308857917785645 0.88139599561691284 pKFcur->mnId629 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.45045000000000002 vpKFs.front()->mTimeStamp-96.629816691679167 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 4.0432395935058594 5.9482107162475586 0.40624621510505676 pKFcur->mnId630 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.48381666666666667 vpKFs.front()->mTimeStamp-97.096941695847917 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 4.9764556884765625 7.9551806449890137 -0.057855460792779922 pKFcur->mnId631 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.51718333333333333 vpKFs.front()->mTimeStamp-97.597433366683333 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 5.961064338684082 10.280450820922852 -0.67565208673477173 pKFcur->mnId632 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp0.55054999999999998 vpKFs.front()->mTimeStamp-98.131291704185415 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 6.9745640754699707 12.927729606628418 -1.4598090648651123 pKFcur->mnId633 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x5be9c7e5df50 pKFCur->mTimeStamp1.2012 vpKFs.front()->mTimeStamp-98.698516708354163 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() 8.0432472229003906 15.803255081176758 -2.362116813659668 pKFcur->mnId634 TrackLocalMap() mCurrentFrame.mnId= 60 frames. Terminating! Shutdown mpLocalMapper is not finished mpLoopCloser is not finished