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 1044 frames in total video FPS 59.9401 line 1873 keyframes 69MapPoints2297 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=592 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x5bf4e707d980 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-72.9062 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4142 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId592 Video FPS: 59.9401 ORB-SLAM 3 running at: 9.40537 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.280998194583958 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.859753273312922 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.809144832284389 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.337373568142418 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.354154968964188 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.41218679844623 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.361392601722613 FPS No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. No IMU Preintegration for KeyFrame 592, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.991936452351311 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 16.828042546272659 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.888159729288734 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 84 KFs CSV camera trajectory saved!