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 1330 frames in total video FPS 59.9401 line 1873 keyframes 60MapPoints1832 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=518 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x563fb60815e0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-82.5992 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()3140 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId518 Video FPS: 59.9401 ORB-SLAM 3 running at: 8.05757 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.931836095626339 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.455983546884502 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.118729516370212 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.167887726958618 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.315821070961707 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 15.422544641827825 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.754518703256988 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 16.784087865639886 FPS No IMU Preintegration for KeyFrame 518, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.599537387256605 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.179247638669199 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.660430520762249 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.598417835406881 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.977357313221756 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 71 KFs CSV camera trajectory saved!