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 347 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()->mpImuPreintegrated0x5ee7c5cc5cd0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-80.9642 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()3926 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId601 Video FPS: 59.9401 ORB-SLAM 3 running at: 7.09826 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 32.606956850757499 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. No IMU Preintegration for KeyFrame 601, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.460898719854555 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: 17.939839108346941 FPS No IMU Preintegration for KeyFrame 601, skipping inertial edge. Shutdown mpLocalMapper is not finished mpLoopCloser is not finished Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 69 KFs CSV camera trajectory saved!