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 5037 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()->mpImuPreintegrated0x55bacd7adbc0 pKFCur->mTimeStamp0 vpKFs.front()->mTimeStamp-83.6169 vpKFs.back()->mTimeStamp-0.016675 pKFcur->GetMapPointMatches().size()4337 1691 pKFcur->GetVelocity() 0 0 0 pKFcur->mnId702 Video FPS: 59.9401 ORB-SLAM 3 running at: 3.98308 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: 15.197164440112372 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: 16.756326979613416 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: 16.475892852523724 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: 15.723294420747781 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. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 9.4700613338939359 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: 7.2712955942863697 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: 3.3083405627742697 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: 6.0535293380576443 FPS No IMU Preintegration for KeyFrame 702, skipping inertial edge. Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.973808730259604 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 5.6926316266935677 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 7.7476887075678356 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 4.7426282815027614 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 7.5507782285088991 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.352976305918389 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 4.8424980182924298 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.160476627350391 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 12.095150370840335 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 11.476363597135339 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.192929634634428 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 17.946319078051644 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 16.399932963634019 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.654041859856473 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 13.883827847976416 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 18.89225775629199 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 16.506068670725686 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.76498084850456 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.077853994016461 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.759170878317473 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.839071247196383 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 25.225285129596038 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 19.882331589891443 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.178485565512048 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.784898612428311 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.99349606748584 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.052459613593051 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.812453308243896 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.313265731108409 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.731152739645339 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.970930159525654 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.905253939778028 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.172743007110419 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.12609858292074 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.999826420310008 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.595020291976766 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 22.378574359045743 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 20.794879269297887 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.005521371140116 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 24.643645493076466 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 23.235880270063198 FPS Video FPS: 59.940059940059939 ORB-SLAM 3 running at: 21.913258906556429 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 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 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 94 KFs CSV camera trajectory saved!