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 3601 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()->mpImuPreintegrated0x557cef92ef50 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-5.67233 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()5676 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId432 Video FPS: 59.9401 ORB-SLAM 3 running at: 9.84999 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: 24.0634945141489 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.242204949836189 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: 25.508110074025048 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: 24.540740291554304 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.72142620266894 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: 25.203453619168055 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.933262253719263 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: 25.144315168300583 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: 26.222001654398529 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.426855885869628 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.451135372603861 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.08336456212221 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.947021527128037 FPS start VIBA 2 No IMU Preintegration for KeyFrame 432, skipping inertial edge. end VIBA 2 Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.662668688372406 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.697452089224353 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 28.406373742602518 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.458930315547146 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.07595987256104 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.379089361220249 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.90578341174453 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.159567638868424 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 30.577952036769869 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.571256017691994 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.9212628441345 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.604518782432034 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.698026499496549 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 29.044793984985816 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.87167512864659 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 30.31737225752461 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 27.785483618567994 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.027499590862949 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.780885623436085 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.460279648995964 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.968091403388751 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.40181095599829 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.468758874270669 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 65 KFs CSV camera trajectory saved!