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 1217 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()->mpImuPreintegrated0x56049ef8a5b0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-75.4253 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()3992 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId619 Video FPS: 59.9401 ORB-SLAM 3 running at: 8.2296 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: 20.985208093415569 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: 21.225880792863911 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: 22.144097845024973 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: 21.794996221946381 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: 13.840402881948339 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: 23.225788410419842 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: 21.235492866870533 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: 19.825581669679561 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: 23.137308426267609 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: 24.188195773451422 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: 23.043256524628955 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.141103333265995 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 Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 91 KFs CSV camera trajectory saved!