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 513 frames in total video FPS 59.9401 line 1873 keyframes 67MapPoints2230 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=601 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x628cc457b930 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-80.9642 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4106 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId601 Video FPS: 59.9401 ORB-SLAM 3 running at: 11.5306 FPS No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.840807802214897 FPS No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 31.857165721485799 FPS No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.698277075416243 FPS No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.291479516808629 FPS No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. No IMU Preintegration for KeyFrame 601, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.648812998830593 FPS No IMU Preintegration for KeyFrame 601, skipping inertial edge. 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 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 71 KFs CSV camera trajectory saved!