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 4546 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()->mpImuPreintegrated0x561b20c63140 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-75.4253 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4189 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId619 Video FPS: 59.9401 ORB-SLAM 3 running at: 8.23088 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: 21.407841756658993 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: 22.290059790187676 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. 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: 16.600551649611759 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: 20.414591361839221 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: 22.052696285040273 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.782550737636111 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: 22.537910229970976 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: 22.094268910142297 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: 22.915603573624214 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: 23.754512882357389 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.050847957713312 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.321244144531171 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.13224664217887 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 29.244359669594886 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.118567975621605 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 29.428368364421605 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.177496116089031 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 30.033794626389504 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.146193565238743 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.561669630803245 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.540700222836268 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.41540716735334 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.617782100287243 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.160827092590569 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.17050533077607 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.84058591219156 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.723112372706229 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.236417951442423 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.174752979149257 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.671829980159441 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.260247671967647 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.892901502588735 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.554955296566728 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.385149602168326 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.479236075500623 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.0840359100048 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.020309610818842 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.76344717089998 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.752578828212435 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.767012993716165 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.222723681047867 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.587034960619278 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.588134008057754 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.977348604131283 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.447161329553463 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 Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 126 KFs CSV camera trajectory saved!