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 1041 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()->mpImuPreintegrated0x556315df6820
pKFCur->mTimeStamp0
vpKFs.front()->mTimeStamp-72.1888
vpKFs.back()->mTimeStamp-0.016675
pKFcur->GetMapPointMatches().size()4724
1691 pKFcur->GetVelocity() 0
0
0
pKFcur->mnId452
Video FPS: 59.9401
ORB-SLAM 3 running at: 12.3405 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: 36.544216620083148 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.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 36.306188092049545 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: 35.116942755485326 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.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 27.207607595341035 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 36.136311370116921 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 24.329313214386186 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 26.910810147786634 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 37.54553428534291 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 38.781963997772053 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 34.016800013089664 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 118 KFs

CSV camera trajectory saved!