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 1165 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()->mpImuPreintegrated0x55ca5941d5b0
pKFCur->mTimeStamp0
vpKFs.front()->mTimeStamp-82.5992
vpKFs.back()->mTimeStamp-0.016675
pKFcur->GetMapPointMatches().size()3648
1691 pKFcur->GetVelocity() 0
0
0
pKFcur->mnId518
Video FPS: 59.9401
ORB-SLAM 3 running at: 7.2247 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: 13.448397463406305 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.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 16.863074833975439 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: 17.936098523706637 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: 15.199588686970461 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.
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 15.847440368181681 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 13.225172406984422 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 13.232669767875153 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 16.78816062650192 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 14.916097770426727 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 18.356812338803095 FPS
Video FPS: 59.940059940059939
ORB-SLAM 3 running at: 14.726619165269307 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!