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 309 frames in total video FPS 59.9401 line 1873 keyframes 61MapPoints2301 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=603 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 19.5015 FPS Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x57e43c5ea9d0 pKFCur->mTimeStamp0.016683333333333335 vpKFs.front()->mTimeStamp-66.733325004168734 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId603 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp0.16683333333333333 vpKFs.front()->mTimeStamp-66.766683341670813 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.3141024112701416 -0.71943533420562744 -0.67336422204971313 pKFcur->mnId604 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp0.85085 vpKFs.front()->mTimeStamp-66.950191679172903 vpKFs.back()->mTimeStamp-0.016675004168751034 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1.326720118522644 -0.76170510053634644 -0.66601920127868652 pKFcur->mnId605 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.0010000000000001 vpKFs.front()->mTimeStamp-67.817716683341658 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -4.6255912780761719 -0.29520559310913086 0.50272190570831299 pKFcur->mnId606 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.05105 vpKFs.front()->mTimeStamp-68.835391687510409 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.041974775493144989 1.0061928033828735 -0.12498366087675095 pKFcur->mnId607 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.0844166666666666 vpKFs.front()->mTimeStamp-69.903116691679159 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -3.1251776218414307 2.1375026702880859 -0.70173394680023193 pKFcur->mnId608 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.1177833333333334 vpKFs.front()->mTimeStamp-71.004208362514575 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 1.0783441066741943 -1.0089428424835205 0.20238955318927765 pKFcur->mnId609 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.2345666666666666 vpKFs.front()->mTimeStamp-72.138666700016657 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -3.7290730476379395 1.803687572479248 -1.2481142282485962 pKFcur->mnId610 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.3513500000000001 vpKFs.front()->mTimeStamp-73.389908370852069 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -4.2793598175048828 2.574845552444458 -1.4524117708206177 pKFcur->mnId611 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.4347666666666667 vpKFs.front()->mTimeStamp-74.757933375020826 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -4.7833418846130371 2.9601840972900391 -1.7462812662124634 pKFcur->mnId612 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.5181833333333334 vpKFs.front()->mTimeStamp-76.209375045856248 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.6255497932434082 2.8645696640014648 -2.2214169502258301 pKFcur->mnId613 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.5849166666666668 vpKFs.front()->mTimeStamp-77.744233383358335 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -4.5602092742919922 2.6204578876495361 -2.2135488986968994 pKFcur->mnId614 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.6850166666666666 vpKFs.front()->mTimeStamp-79.345825054193753 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -4.3107924461364746 2.4374494552612305 -2.0766611099243164 pKFcur->mnId615 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.8184833333333335 vpKFs.front()->mTimeStamp-81.047516725029169 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -4.4728302955627441 2.58339524269104 -1.3892349004745483 pKFcur->mnId616 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x57e43cff4540 pKFCur->mTimeStamp1.9185833333333333 vpKFs.front()->mTimeStamp-82.882675062531248 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1260 1691 pKFcur->GetVelocity() -2.3578536510467529 1.7435274124145508 -1.5095522403717041 pKFcur->mnId617 TrackLocalMap() mCurrentFrame.mnId= 60 frames. Terminating! Shutdown mpLocalMapper is not finished mpLoopCloser is not finished