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 1139 frames in total video FPS 59.9401 line 1873 keyframes 73MapPoints2638 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=476 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55a9242c4ec0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-66.4163 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()5215 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId476 Video FPS: 59.9401 ORB-SLAM 3 running at: 7.28074 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.297948524093698 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.39178466354862 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.500087526075994 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 16.983543354094923 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 7.604492706915071 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.17278252011802 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.629274596426125 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.725156907520233 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.60505960875048 FPS No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. No IMU Preintegration for KeyFrame 476, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.084327128937709 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.565338606451755 FPS 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 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 81 KFs CSV camera trajectory saved!