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 1163 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()->mpImuPreintegrated0x56402dbc0460 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-72.1888 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4765 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId452 Video FPS: 59.9401 ORB-SLAM 3 running at: 11.9471 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.628922476895617 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. No IMU Preintegration for KeyFrame 452, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.135901651059239 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 32.689638394738694 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.022853613282216 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.110860052732306 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 34.856862906738201 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 33.578680439119154 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.084769234835701 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.345423915785691 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 35.935964411320747 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.966448763284486 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 126 KFs CSV camera trajectory saved!