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 1347 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()->mpImuPreintegrated0x55b5f81f45c0
pKFCur->mTimeStamp0
vpKFs.front()->mTimeStamp-82.5992
vpKFs.back()->mTimeStamp-0.016675
pKFcur->GetMapPointMatches().size()3148
1691 pKFcur->GetVelocity() 0
0
0
pKFcur->mnId518
Video FPS: 59.9401
ORB-SLAM 3 running at: 8.64719 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: 15.438722406197757 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: 14.053638719652239 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: 15.304722847692235 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: 15.16659189284087 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: 12.689404429782261 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: 14.369124590684709 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: 19.444643481975643 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: 11.64046568567651 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 13.690727773897523 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 15.285102781158079 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 14.490430534165668 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 19.796532427502079 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 21.275473123971331 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 70 KFs

CSV camera trajectory saved!