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 861 frames in total video FPS 59.9401 line 1873 keyframes 100MapPoints3282 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=452 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 9.78119 FPS Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55ac618c5820 pKFCur->mTimeStamp0.016683333333333335 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=2 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp0.050050000000000004 vpKFs.front()->mTimeStamp-72.222133341670826 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp0.45045000000000002 vpKFs.front()->mTimeStamp-72.288858345839571 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.56488752365112305 -0.39256563782691956 -0.58712601661682129 pKFcur->mnId454 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.0343666666666667 vpKFs.front()->mTimeStamp-72.755983350008322 vpKFs.back()->mTimeStamp-0.016675004168751062 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.17829224467277527 -0.56576025485992432 -0.018204769119620323 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.0677333333333334 vpKFs.front()->mTimeStamp-73.807025020843739 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.58569598197937012 -0.14647901058197021 0.041662964969873428 pKFcur->mnId456 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=6 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.1011 vpKFs.front()->mTimeStamp-74.891433358345822 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.58569598197937012 -0.14647901058197021 0.041662964969873428 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.1344666666666667 vpKFs.front()->mTimeStamp-76.00920836251457 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.07846745103597641 0.27871346473693848 -0.026953408494591713 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.1678333333333333 vpKFs.front()->mTimeStamp-77.160350033349985 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.12343520671129227 0.33477506041526794 -0.048125792294740677 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.2012 vpKFs.front()->mTimeStamp-78.344858370852066 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.48538249731063843 0.33687067031860352 -0.062774024903774261 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.2345666666666666 vpKFs.front()->mTimeStamp-79.562733375020812 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.34643605351448059 0.37637799978256226 -0.045620255172252655 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.2679333333333334 vpKFs.front()->mTimeStamp-80.813975045856225 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.28936785459518433 0.51834392547607422 -0.07162543386220932 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.3513500000000001 vpKFs.front()->mTimeStamp-82.098583383358303 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -1.3078655004501343 1.3051146268844604 -0.45260235667228699 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.3847166666666666 vpKFs.front()->mTimeStamp-83.46660838752706 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.74089926481246948 -0.10598994791507721 0.10624354332685471 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.4180833333333334 vpKFs.front()->mTimeStamp-84.868000058362483 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.72613602876663208 0.89475059509277344 -0.20314185321331024 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.4514500000000001 vpKFs.front()->mTimeStamp-86.302758395864572 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.20563487708568573 0.31603965163230896 -0.073060564696788788 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.4848166666666667 vpKFs.front()->mTimeStamp-87.770883400033327 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.53015482425689697 0.81106996536254883 -0.20261453092098236 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.5181833333333334 vpKFs.front()->mTimeStamp-89.272375070868748 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.15064804255962372 0.29967659711837769 0.012528013437986374 pKFcur->mnId468 TRACK_REF_KF: Less than 15 matches!! 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 Relocalization() failed. Fail to track local map! n_lost_frames=24 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.6516500000000001 vpKFs.front()->mTimeStamp-90.807233408370834 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.15064804255962372 0.29967659711837769 0.012528013437986374 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.7851166666666667 vpKFs.front()->mTimeStamp-92.475558412539584 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1.078644871711731 1.2506867647171021 -2.1331603527069092 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.8184833333333335 vpKFs.front()->mTimeStamp-94.277350083374998 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.82654440402984619 -0.3685118556022644 1.3777034282684326 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.85185 vpKFs.front()->mTimeStamp-96.112508420877077 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.88796311616897583 1.2517937421798706 -0.68948984146118164 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.8852166666666668 vpKFs.front()->mTimeStamp-97.981033425045823 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -4.591425895690918 5.6929478645324707 -2.2643966674804688 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp1.9185833333333333 vpKFs.front()->mTimeStamp-99.882925095881234 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -5.201024055480957 3.9472403526306152 -3.8490710258483887 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp2.0020000000000002 vpKFs.front()->mTimeStamp-101.81818343338333 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.2907998561859131 2.3048768043518066 -1.0424454212188721 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp2.0687333333333333 vpKFs.front()->mTimeStamp-103.83685843755208 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.8056704998016357 1.5237642526626587 -0.93583816289901733 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp2.1354666666666668 vpKFs.front()->mTimeStamp-105.92226677505417 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.5042057037353516 -1.3987166881561279 -0.30111101269721985 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.363350000000001 vpKFs.front()->mTimeStamp-108.07440844588959 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() 2.619542121887207 2.9448909759521484 1.9389497041702271 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.396716666666666 vpKFs.front()->mTimeStamp-121.45443345005835 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 1.7673510313034058 -5.532191276550293 -7.0221896171569824 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.430083333333334 vpKFs.front()->mTimeStamp-134.86782512089377 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 4.1204147338867188 0.37723144888877869 -2.8469448089599609 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.496816666666668 vpKFs.front()->mTimeStamp-148.31458345839584 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -12.849826812744141 2.1163220405578613 -3.5645642280578613 pKFcur->mnId481 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.563550000000001 vpKFs.front()->mTimeStamp-161.82807512923125 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -6.9909124374389648 -6.4290504455566406 0.80560082197189331 pKFcur->mnId482 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.630283333333333 vpKFs.front()->mTimeStamp-175.40830013340002 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -1.502572774887085 -5.9508652687072754 -0.11689877510070801 pKFcur->mnId483 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.697016666666666 vpKFs.front()->mTimeStamp-189.05525847090212 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.9996341466903687 -4.9172172546386719 0.079956904053688049 pKFcur->mnId484 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.747066666666667 vpKFs.front()->mTimeStamp-202.76895014173755 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -2.2494189739227295 -5.4376020431518555 0.060228209942579269 pKFcur->mnId485 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.813800000000001 vpKFs.front()->mTimeStamp-216.53269181257298 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -2.9843993186950684 -4.7173142433166504 -0.1552615612745285 pKFcur->mnId486 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.897216666666667 vpKFs.front()->mTimeStamp-230.36316681674174 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -4.3451118469238281 -5.2383232116699219 -0.27778556942939758 pKFcur->mnId487 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp13.980633333333333 vpKFs.front()->mTimeStamp-244.27705848757716 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.9399356842041016 -2.5659685134887695 -0.21962994337081909 pKFcur->mnId488 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp14.097416666666668 vpKFs.front()->mTimeStamp-258.27436682507926 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1259 1691 pKFcur->GetVelocity() -2.3949742317199707 -0.10507600009441376 -0.4378400444984436 pKFcur->mnId489 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp14.180833333333334 vpKFs.front()->mTimeStamp-272.38845849591468 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -2.3415732383728027 1.3738032579421997 -0.4094797670841217 pKFcur->mnId490 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55ac6349ea20 pKFCur->mTimeStamp14.280933333333333 vpKFs.front()->mTimeStamp-286.58596683341676 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.8993580341339111 1.5738899707794189 -0.090086258947849274 pKFcur->mnId491 Shutdown mpLocalMapper is not finished mpLoopCloser is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 129 KFs CSV camera trajectory saved!