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 970 frames in total video FPS 59.9401 line 1873 keyframes 100MapPoints3282 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=452 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x558a47f397f0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-72.1888 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4801 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 Video FPS: 59.9401 ORB-SLAM 3 running at: 12.9212 FPS No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.046208515248498 FPS No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.230226600568301 FPS No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.79676365698352 FPS No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. No IMU Preintegration for KeyFrame 452, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.525420953140319 FPS No IMU Preintegration for KeyFrame 452, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 15.053933954989551 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.889504056223812 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.611354832762665 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.324606018118782 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.79944358301691 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 125 KFs CSV camera trajectory saved!