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 1320 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()->mpImuPreintegrated0x562eca878590
pKFCur->mTimeStamp0
vpKFs.front()->mTimeStamp-82.5992
vpKFs.back()->mTimeStamp-0.016675
pKFcur->GetMapPointMatches().size()3310
1691 pKFcur->GetVelocity() 0
0
0
pKFcur->mnId518
Video FPS: 59.9401
ORB-SLAM 3 running at: 7.70624 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.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 20.666479924354068 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.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 13.587134114443179 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.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 15.336685176103028 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: 12.530827872826684 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: 15.383781110332093 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: 21.847491141170057 FPS
No IMU Preintegration for KeyFrame 518, skipping inertial edge.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 14.887393837250176 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 13.467752638002782 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 21.20603154672871 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 13.423553213461718 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 20.879298238434487 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 21.901719276202492 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 18.768830415640441 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 72 KFs

CSV camera trajectory saved!