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 1171 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()->mpImuPreintegrated0x558b9aec2570
pKFCur->mTimeStamp0
vpKFs.front()->mTimeStamp-75.4253
vpKFs.back()->mTimeStamp-0.016675
pKFcur->GetMapPointMatches().size()4235
1691 pKFcur->GetVelocity() 0
0
0
pKFcur->mnId619
Video FPS: 59.9401
ORB-SLAM 3 running at: 2.00526 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: 13.65444006684613 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: 12.639277091996584 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: 12.81023310115042 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: 10.129011394914981 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: 11.954692099493069 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: 10.852869022128502 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: 12.167891545441107 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: 9.2306133328105116 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: 11.772572730954332 FPS
No IMU Preintegration for KeyFrame 619, skipping inertial edge.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 12.514047644182977 FPS
No IMU Preintegration for KeyFrame 619, skipping inertial edge.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 13.931284302391845 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 93 KFs

CSV camera trajectory saved!