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 1063 frames in total video FPS 59.9401 line 1873 keyframes 60MapPoints1832 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=518 Relocalization() failed. Fail to track local map! n_lost_frames=1 Video FPS: 59.9401 ORB-SLAM 3 running at: 12.5582 FPS Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55f16e3365a0 pKFCur->mTimeStamp0.016683333333333335 vpKFs.front()->mTimeStamp-82.599175004168742 vpKFs.back()->mTimeStamp-0.016675004168746455 pKFcur->GetMapPointMatches().size()1253 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId518 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55f16f2a5410 pKFCur->mTimeStamp1.1177833333333334 vpKFs.front()->mTimeStamp-82.632533341670822 vpKFs.back()->mTimeStamp-0.016675004168751041 pKFcur->GetMapPointMatches().size()1257 1691 pKFcur->GetVelocity() -0.27358382940292358 0.75984340906143188 0.73476576805114746 pKFcur->mnId519 TrackLocalMap() mCurrentFrame.mnIdmpImuPreintegrated0x55f16f2a5410 pKFCur->mTimeStamp1.2679333333333334 vpKFs.front()->mTimeStamp-83.766991679172904 vpKFs.back()->mTimeStamp-0.016675004168751117 pKFcur->GetMapPointMatches().size()1255 1691 pKFcur->GetVelocity() -0.16471850872039795 2.0683164596557617 -0.70950996875762939 pKFcur->mnId520 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