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 5035 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()->mpImuPreintegrated0x55a2c55ba590 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-82.5992 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4145 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId518 Video FPS: 59.9401 ORB-SLAM 3 running at: 9.11899 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: 20.682152828451926 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: 12.451858314089609 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.144605878874449 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: 20.424654297918131 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: 13.877875445485005 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: 17.689146192850856 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: 17.704981817160721 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: 12.864377047687215 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: 13.016817611202315 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.981806964395059 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.262846608746489 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 15.234296471962406 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.58477511526366 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.23909275274919 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.359554822948006 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.150905658606124 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.607514556978622 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.660474089651427 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.55782860332183 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.223014416011324 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.979204803801533 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.474208542091574 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.166711358451217 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.837883343863503 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.354278851864418 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.75739838051992 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 26.21327624850689 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.276441210901922 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.81207454055227 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.659016413300684 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.603151171602057 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.668966217189844 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.944813717370792 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.591446478714214 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.600917547032026 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.630965937073647 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.725901942187395 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.810048764408474 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.345849542698517 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.806632916581073 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.443334825680402 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.26652369478013 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.008872522749261 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.43314784200275 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.242354894596907 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.5588903112438 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.246915464414865 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.981299656843234 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.947838542331468 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.801728743360361 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 mpLocalMapper is not finished Saving camera trajectory to /data/camera_trajectory.csv ... There are 1 maps in the atlas Map 0 has 90 KFs CSV camera trajectory saved!