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 1325 frames in total video FPS 59.9401 line 1873 keyframes 62MapPoints1880 line 1877 mlFrameTimes.size()= 0 KeyFrame::nNextId=702 Relocalized!! INIT_RELOCALIZE success! vpKFs.back()->mpImuPreintegrated0x5589dd9ba260 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-83.6169 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4003 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId702 Video FPS: 59.9401 ORB-SLAM 3 running at: 6.06446 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.85572693842763 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.640615106078222 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.453328955620092 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.709996392814686 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.055413690353291 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 15.700868066453483 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.848997235345509 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.966016291721676 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 7.8307566137337012 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.005119123131649 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 8.0823481355073561 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.497587090346206 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.05165801868157 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 75 KFs CSV camera trajectory saved!