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 1261 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()->mpImuPreintegrated0x556a82ffe610
pKFCur->mTimeStamp0
vpKFs.front()->mTimeStamp-82.5992
vpKFs.back()->mTimeStamp-0.016675
pKFcur->GetMapPointMatches().size()3178
1691 pKFcur->GetVelocity() 0
0
0
pKFcur->mnId518
Video FPS: 59.9401
ORB-SLAM 3 running at: 9.34917 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: 19.367225862389159 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: 13.421791889748034 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: 14.67992543830991 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: 13.092869517208685 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.
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: 16.012881530521465 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: 15.164285087892424 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: 13.801684288542152 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 15.073509056985749 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 17.298823932535417 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 14.024450198427038 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 21.105812449993735 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 14.693167145384743 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!