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 938 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()->mpImuPreintegrated0x561e85745120 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-75.4253 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4436 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId619 Video FPS: 59.9401 ORB-SLAM 3 running at: 7.26711 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: 10.030863261007365 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: 13.740893549146525 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: 12.547176599816774 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: 5.5995595700017571 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: 11.4857638379248 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: 12.533848283983311 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. No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.184467510670354 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: 8.4507048204721702 FPS No IMU Preintegration for KeyFrame 619, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 10.754660669322975 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 Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 91 KFs CSV camera trajectory saved!