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 1356 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()->mpImuPreintegrated0x55d06b1e05f0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-82.5992 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()3094 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId518 Video FPS: 59.9401 ORB-SLAM 3 running at: 9.46082 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: 16.395317871029281 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: 13.425453965279655 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: 15.517120613306123 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: 18.136048072424639 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: 12.968726072700397 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: 13.15831684179553 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: 13.956667506206738 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: 13.081559362690497 FPS 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: 13.108310482708028 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.42798761676088 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.129473794093213 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 15.914099003710565 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.870189327361455 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 Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 73 KFs CSV camera trajectory saved!