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 820 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()->mpImuPreintegrated0x5624cdc7a700 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-66.4163 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()5335 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId476 Video FPS: 59.9401 ORB-SLAM 3 running at: 7.34166 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: 22.177421366903147 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: 21.157780402423946 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: 13.391781316496472 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: 23.71922359580773 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: 15.389290177454674 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: 22.213245109431995 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: 19.81658875180301 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: 16.591196631429618 FPS 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 81 KFs CSV camera trajectory saved!