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 1091 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: 21.0233 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 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x557b2d3f4820 pKFCur->mTimeStamp0.15015000000000001 vpKFs.front()->mTimeStamp-72.188775004168747 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1250 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp0.78411666666666668 vpKFs.front()->mTimeStamp-72.355600008337504 vpKFs.back()->mTimeStamp-0.016675004168751034 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -0.48977088928222656 -0.75862663984298706 -0.79785233736038208 pKFcur->mnId453 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp0.86753333333333338 vpKFs.front()->mTimeStamp-73.156391679172927 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.38259014487266541 -1.1533734798431396 -1.0234549045562744 pKFcur->mnId454 TRACK_REF_KF: Less than 15 matches!! Fail to track local map! n_lost_frames=38 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp0.90090000000000003 vpKFs.front()->mTimeStamp-74.040600016675015 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -0.38259014487266541 -1.1533734798431396 -1.0234549045562744 pKFcur->mnId455 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp0.93426666666666669 vpKFs.front()->mTimeStamp-74.958175020843768 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.62511903047561646 -1.7972596883773804 -1.3498239517211914 pKFcur->mnId456 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp0.96763333333333335 vpKFs.front()->mTimeStamp-75.909116691679188 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1.0410202741622925 -2.3137176036834717 -1.6915196180343628 pKFcur->mnId457 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp1.0010000000000001 vpKFs.front()->mTimeStamp-76.893425029181273 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.6452435255050659 -2.7324950695037842 -2.0489766597747803 pKFcur->mnId458 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp15.732383333333333 vpKFs.front()->mTimeStamp-77.911100033350024 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -2.3754138946533203 -3.0815043449401855 -2.4191055297851562 pKFcur->mnId459 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp15.799116666666666 vpKFs.front()->mTimeStamp-93.660158370852116 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -5.2179737091064453 -7.1123642921447754 12.860666275024414 pKFcur->mnId460 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp15.882533333333333 vpKFs.front()->mTimeStamp-109.47595004168754 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.34957990050315857 3.4891068935394287 2.2415952682495117 pKFcur->mnId461 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp15.949266666666666 vpKFs.front()->mTimeStamp-125.37515837918963 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -10.632065773010254 -10.315176963806152 8.1286287307739258 pKFcur->mnId462 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp16.066050000000001 vpKFs.front()->mTimeStamp-141.34110005002503 vpKFs.back()->mTimeStamp-0.016675004168751784 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -4.4802675247192383 -1.0216068029403687 2.2398679256439209 pKFcur->mnId463 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp16.149466666666665 vpKFs.front()->mTimeStamp-157.4238250541938 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() -7.9284110069274902 -6.531278133392334 6.4400653839111328 pKFcur->mnId464 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp16.266249999999999 vpKFs.front()->mTimeStamp-173.58996672502923 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -4.4896416664123535 -1.6933101415634155 3.0772604942321777 pKFcur->mnId465 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp16.399716666666666 vpKFs.front()->mTimeStamp-189.87289172919799 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -7.8172364234924316 -5.3388633728027344 5.9589219093322754 pKFcur->mnId466 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp16.516500000000001 vpKFs.front()->mTimeStamp-206.28928340003341 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -11.840521812438965 -18.172872543334961 4.2747769355773926 pKFcur->mnId467 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp16.900216666666665 vpKFs.front()->mTimeStamp-222.82245840420217 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -1.5185275077819824 -18.746330261230469 1.4344438314437866 pKFcur->mnId468 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp16.966950000000001 vpKFs.front()->mTimeStamp-239.73935007503758 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -7.9640212059020996 9.2184343338012695 -2.2991695404052734 pKFcur->mnId469 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.033683333333332 vpKFs.front()->mTimeStamp-256.72297507920632 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -1.8714170455932617 -14.900650024414062 0.28931942582130432 pKFcur->mnId470 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.117100000000001 vpKFs.front()->mTimeStamp-273.7733334167084 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -6.4488930702209473 -19.727743148803711 4.2571110725402832 pKFcur->mnId471 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.183833333333332 vpKFs.front()->mTimeStamp-290.90710842087714 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.97523093223571777 14.608541488647461 -1.6519217491149902 pKFcur->mnId472 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.283933333333334 vpKFs.front()->mTimeStamp-308.10761675837921 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -3.8958895206451416 -10.540969848632812 1.1892797946929932 pKFcur->mnId473 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.367350000000002 vpKFs.front()->mTimeStamp-325.40822509588128 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -5.5791792869567871 -10.70643138885498 -0.1251084953546524 pKFcur->mnId474 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.450766666666667 vpKFs.front()->mTimeStamp-342.79225010005001 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.32927685976028442 8.3064136505126953 0.03613753616809845 pKFcur->mnId475 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.567550000000001 vpKFs.front()->mTimeStamp-360.25969177088541 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -6.5373940467834473 -7.7616300582885742 -0.15528726577758789 pKFcur->mnId476 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.650966666666665 vpKFs.front()->mTimeStamp-377.84391677505414 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.40113663673400879 -3.0998313426971436 -0.34708750247955322 pKFcur->mnId477 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.751066666666667 vpKFs.front()->mTimeStamp-395.51155844588953 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -2.4738590717315674 0.011721622198820114 -0.56516158580780029 pKFcur->mnId478 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.851166666666668 vpKFs.front()->mTimeStamp-413.27930011672493 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -2.9614708423614502 -0.54468774795532227 -0.65708518028259277 pKFcur->mnId479 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp17.967950000000002 vpKFs.front()->mTimeStamp-431.14714178756037 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -1.4229221343994141 0.29167735576629639 -0.16824589669704437 pKFcur->mnId480 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x557b2efcda20 pKFCur->mTimeStamp18.084733333333332 vpKFs.front()->mTimeStamp-449.13176679172915 vpKFs.back()->mTimeStamp-0.016675004168750007 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.78862279653549194 2.7394342422485352 3.7709746360778809 pKFcur->mnId481 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 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 117 KFs CSV camera trajectory saved!