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 848 frames in total video FPS 59.9401 line 1873 keyframes 85MapPoints2375 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=619 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 2.91617 FPS Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55c59b577140 pKFCur->mTimeStamp0.016683333333333335 vpKFs.front()->mTimeStamp-75.425341670835408 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId619 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp0.50050000000000006 vpKFs.front()->mTimeStamp-75.458700008337487 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.1972099095582962 -0.10712123662233353 0.10994930565357208 pKFcur->mnId620 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.0010000000000001 vpKFs.front()->mTimeStamp-75.975875012506236 vpKFs.back()->mTimeStamp-0.016675004168751006 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.1112712025642395 0.82617843151092529 -0.16285043954849243 pKFcur->mnId621 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.1177833333333334 vpKFs.front()->mTimeStamp-76.993550016674988 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0.38367176055908203 1.8406015634536743 -0.63272058963775635 pKFcur->mnId622 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.2012 vpKFs.front()->mTimeStamp-78.128008354177069 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.57155472040176392 3.8601222038269043 -1.0797605514526367 pKFcur->mnId623 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.3013000000000001 vpKFs.front()->mTimeStamp-79.345883358345816 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.040280792862176895 2.0736243724822998 -0.72337824106216431 pKFcur->mnId624 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.3680333333333334 vpKFs.front()->mTimeStamp-80.66385836251456 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.08814992755651474 2.2755906581878662 -0.4960753321647644 pKFcur->mnId625 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.4848166666666667 vpKFs.front()->mTimeStamp-82.04856670001665 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.15266589820384979 4.5499720573425293 -0.95060849189758301 pKFcur->mnId626 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.5682333333333334 vpKFs.front()->mTimeStamp-83.550058370852071 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -0.13440176844596863 1.8323575258255005 -0.55216777324676514 pKFcur->mnId627 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.972904120684479 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.7017 vpKFs.front()->mTimeStamp-85.134966708354156 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.2662699818611145 1.7563545703887939 -0.48795634508132935 pKFcur->mnId628 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.8018000000000001 vpKFs.front()->mTimeStamp-86.853341712522905 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.43292248249053955 2.0474448204040527 -0.51976823806762695 pKFcur->mnId629 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp1.9519500000000001 vpKFs.front()->mTimeStamp-88.671816716691652 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.41562443971633911 2.3316836357116699 -1.0782768726348877 pKFcur->mnId630 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.0687333333333333 vpKFs.front()->mTimeStamp-90.640441720860409 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.16888047754764557 2.6284070014953613 -0.56890332698822021 pKFcur->mnId631 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.1855166666666666 vpKFs.front()->mTimeStamp-92.725850058362496 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.064737416803836823 2.0875000953674316 -1.0074422359466553 pKFcur->mnId632 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.3356666666666666 vpKFs.front()->mTimeStamp-94.928041729197915 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.19689534604549408 1.9788471460342407 -0.51569020748138428 pKFcur->mnId633 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.4691333333333332 vpKFs.front()->mTimeStamp-97.28038340003333 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.22593341767787933 2.0541176795959473 -0.34058234095573425 pKFcur->mnId634 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.5859166666666669 vpKFs.front()->mTimeStamp-99.766191737535408 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.23513409495353699 1.7338132858276367 -0.54258614778518677 pKFcur->mnId635 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.7193833333333335 vpKFs.front()->mTimeStamp-102.36878340837083 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() 0.43518009781837463 1.4708631038665771 -0.67701810598373413 pKFcur->mnId636 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.8695333333333335 vpKFs.front()->mTimeStamp-105.10484174587292 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() 0.47326385974884033 1.6720207929611206 -0.73021066188812256 pKFcur->mnId637 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp2.9863166666666667 vpKFs.front()->mTimeStamp-107.991050083375 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1251 1691 pKFcur->GetVelocity() 0.18993809819221497 1.7583210468292236 -0.43655666708946228 pKFcur->mnId638 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp3.1531500000000001 vpKFs.front()->mTimeStamp-110.99404175421041 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.41362267732620239 1.2947856187820435 -0.50363850593566895 pKFcur->mnId639 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp3.2866166666666667 vpKFs.front()->mTimeStamp-114.16386675837917 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.18806794285774231 1.2509392499923706 -0.48917967081069946 pKFcur->mnId640 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 6.1152819066377591 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp3.4034 vpKFs.front()->mTimeStamp-117.46715842921459 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() 0.024039784446358681 1.2830222845077515 -0.16886445879936218 pKFcur->mnId641 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp3.55355 vpKFs.front()->mTimeStamp-120.88723343338334 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() 0.19340804219245911 1.0624778270721436 -0.40170007944107056 pKFcur->mnId642 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp3.7037 vpKFs.front()->mTimeStamp-124.45745843755209 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.059798996895551682 0.78398466110229492 -0.55192470550537109 pKFcur->mnId643 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp3.85385 vpKFs.front()->mTimeStamp-128.17783344172085 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.021514043211936951 0.59812384843826294 -0.1979764997959137 pKFcur->mnId644 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp3.9539499999999999 vpKFs.front()->mTimeStamp-132.04835844588959 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -0.088086389005184174 0.68570417165756226 -0.54976797103881836 pKFcur->mnId645 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp4.0874166666666669 vpKFs.front()->mTimeStamp-136.01898345005833 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1256 1691 pKFcur->GetVelocity() -0.46691209077835083 0.44121819734573364 0.083758808672428131 pKFcur->mnId646 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp4.2709333333333337 vpKFs.front()->mTimeStamp-140.12307512089376 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.31762152910232544 0.37579196691513062 -0.44069483876228333 pKFcur->mnId647 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp4.4043999999999999 vpKFs.front()->mTimeStamp-144.41068345839585 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.18504537642002106 -0.13520920276641846 -0.64527267217636108 pKFcur->mnId648 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp4.5545499999999999 vpKFs.front()->mTimeStamp-148.83175846256461 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.34556576609611511 -0.0027255418244749308 -0.91911709308624268 pKFcur->mnId649 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp4.7380666666666666 vpKFs.front()->mTimeStamp-153.40298346673336 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.50760161876678467 -0.58518761396408081 -0.42518749833106995 pKFcur->mnId650 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp4.8548499999999999 vpKFs.front()->mTimeStamp-158.15772513756878 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.23594993352890015 -0.067491099238395691 -0.69316095113754272 pKFcur->mnId651 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp5.0049999999999999 vpKFs.front()->mTimeStamp-163.02925014173752 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1258 1691 pKFcur->GetVelocity() -0.29002726078033447 -0.78620338439941406 0.27760568261146545 pKFcur->mnId652 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 8.5204650408471938 FPS TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp5.1551499999999999 vpKFs.front()->mTimeStamp-168.05092514590626 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1252 1691 pKFcur->GetVelocity() -0.51875025033950806 -1.0392407178878784 0.25718292593955994 pKFcur->mnId653 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp5.3219833333333337 vpKFs.front()->mTimeStamp-173.222750150075 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1254 1691 pKFcur->GetVelocity() -0.47588011622428894 -1.3702775239944458 0.21962197124958038 pKFcur->mnId654 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55c59c00edf0 pKFCur->mTimeStamp5.4721333333333337 vpKFs.front()->mTimeStamp-178.5614084875771 vpKFs.back()->mTimeStamp-0.016675004168750895 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() -0.053749602288007736 -1.1258846521377563 -0.45538872480392456 pKFcur->mnId655 TrackLocalMap() mCurrentFrame.mnId= 60 frames. Terminating! 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 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 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 mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished