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 1023 frames in total video FPS 59.9401 line 1873 keyframes 22MapPoints1075 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=432 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55db4c2201c0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-5.67233 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()5773 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId432 Video FPS: 59.9401 ORB-SLAM 3 running at: 9.89714 FPS No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.983609409460701 FPS No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.077208480744037 FPS No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.939114269899324 FPS No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.94885495393255 FPS No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 28.078884819010529 FPS No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.472249731101616 FPS No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. No IMU Preintegration for KeyFrame 432, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.218969718243606 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.463618002747374 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.405834759996573 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.827706592992062 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 50 KFs CSV camera trajectory saved!