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 1211 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()->mpImuPreintegrated0x555bb418d250 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-83.6169 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()3976 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId702 Video FPS: 59.9401 ORB-SLAM 3 running at: 6.30589 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: 9.1401029530228506 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: 6.1719112811947223 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: 11.942962322820183 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: 11.012104461175307 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: 7.6443397543621368 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.553250943865942 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: 11.085792270145326 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: 5.3861402589272744 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 14.952925797122532 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 7.8657714904813432 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.6100825669269 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.813554239179263 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 73 KFs CSV camera trajectory saved!