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 1064 frames in total video FPS 59.9401 line 1873 keyframes 85MapPoints2375 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=619 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x55b93eda9120 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-75.4253 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()3773 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId619 Video FPS: 59.9401 ORB-SLAM 3 running at: 3.2647 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 9.9131367341551684 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.001656736109599 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 6.3616603798724265 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 5.9469529772465588 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 6.4075814914291804 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 10.636246773986466 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.248074109764962 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.287823070828667 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.545426842748096 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.059333543050354 FPS Shutdown mpLocalMapper is not finished mpLoopCloser is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished mpLocalMapper is not finished Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 94 KFs CSV camera trajectory saved!