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 1192 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()->mpImuPreintegrated0x5602660722a0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-83.6169 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4673 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId702 Video FPS: 59.9401 ORB-SLAM 3 running at: 4.87938 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: 11.695597969901495 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: 10.418744989234831 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: 11.370776177368825 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: 12.674217094915576 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. 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: 11.618484520896397 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: 13.823944382179862 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: 18.761451520972113 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.530861174636248 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.539493605341033 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.2071328290004 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.523319738683069 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 76 KFs CSV camera trajectory saved!