/SLAM-Hive/slam_hive_results/mapping_results/670/322_orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test_2-5.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/d3d3ad7e-172e-11ef-bfd5-0242ac110005/roslaunch-61d479ea95bd-70.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/stereo-inertial.launch
[1mstarted roslaunch server http://61d479ea95bd:39711/[0m

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True

NODES
  /
    orb_node (ORB_SLAM3/Stereo_Inertial)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo-inertial.launch http://localhost:11311
[1msetting /run_id to d3d3ad7e-172e-11ef-bfd5-0242ac110005[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [102][0m

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: Stereo-Inertial

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 

Camera Parameters: 
- Camera: Pinhole
- Image scale: 1
- fx: 348.164
- fy: 348.164
- cx: 293.961
- cy: 201.761
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 20
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 4.81591

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): 
[0.014865543, -0.99988091, 0.004140297, -0.021640146;
 0.99955726, 0.014967213, 0.02571553, -0.064676985;
 -0.025774436, 0.0037561883, 0.99966073, 0.0098107308;
 0, 0, 0, 1]

IMU frequency: 100 Hz
IMU gyro noise: 0.00017 rad/s/sqrt(Hz)
IMU gyro walk: 1.9393e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.002 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.003 m/s^3/sqrt(Hz)
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1716267556.184716108]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
not IMU meas
First KF:0; Map init KF:0
New Map created with 44 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1
mnInitialFrameId = 0
1 Frames set to lost
not IMU meas
First KF:1; Map init KF:0
New Map created with 25 points
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 4
mnInitialFrameId = 2
2 Frames set to lost
not IMU meas
First KF:2; Map init KF:1
New Map created with 55 points
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 7
mnInitialFrameId = 5
3 Frames set to lost
not IMU meas
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 7
mnInitialFrameId = 8
2 Frames set to lost
not IMU meas
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 7
mnInitialFrameId = 10
0 Frames set to lost
not IMU meas
First KF:3; Map init KF:2
New Map created with 56 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 14
mnInitialFrameId = 12
4 Frames set to lost
not IMU meas
First KF:4; Map init KF:3
New Map created with 23 points
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 17
mnInitialFrameId = 15
5 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 17
mnInitialFrameId = 18
4 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:5; Map init KF:4
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 117
mnInitialFrameId = 64
6 Frames set to lost
not IMU meas
First KF:6; Map init KF:5
New Map created with 23 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 120
mnInitialFrameId = 118
8 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:7; Map init KF:6
New Map created with 22 points
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 146
mnInitialFrameId = 121
64 Frames set to lost
not IMU meas
First KF:22; Map init KF:7
New Map created with 35 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 203
mnInitialFrameId = 201
66 Frames set to lost
not IMU meas
First KF:23; Map init KF:22
New Map created with 42 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 206
mnInitialFrameId = 204
67 Frames set to lost
not IMU meas
First KF:24; Map init KF:23
New Map created with 31 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 209
mnInitialFrameId = 207
69 Frames set to lost
not IMU meas
First KF:25; Map init KF:24
New Map created with 36 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 212
mnInitialFrameId = 210
71 Frames set to lost
not IMU meas
First KF:26; Map init KF:25
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 215
mnInitialFrameId = 213
72 Frames set to lost
not IMU meas
not enough acceleration
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 215
mnInitialFrameId = 216
71 Frames set to lost
not IMU meas
First KF:27; Map init KF:26
New Map created with 49 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 221
mnInitialFrameId = 219
74 Frames set to lost
not IMU meas
First KF:28; Map init KF:27
New Map created with 56 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 224
mnInitialFrameId = 222
76 Frames set to lost
not IMU meas
First KF:29; Map init KF:28
New Map created with 37 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 227
mnInitialFrameId = 225
77 Frames set to lost
not IMU meas
First KF:30; Map init KF:29
New Map created with 55 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 230
mnInitialFrameId = 228
79 Frames set to lost
not IMU meas
First KF:31; Map init KF:30
New Map created with 71 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 233
mnInitialFrameId = 231
82 Frames set to lost
not IMU meas
First KF:32; Map init KF:31
New Map created with 51 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 237
mnInitialFrameId = 235
84 Frames set to lost
not IMU meas
First KF:33; Map init KF:32
New Map created with 52 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 240
mnInitialFrameId = 238
86 Frames set to lost
not IMU meas
First KF:34; Map init KF:33
New Map created with 50 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 243
mnInitialFrameId = 241
88 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:35; Map init KF:34
New Map created with 43 points
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 248
mnInitialFrameId = 244
89 Frames set to lost
not IMU meas
First KF:36; Map init KF:35
New Map created with 56 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 251
mnInitialFrameId = 249
91 Frames set to lost
not IMU meas
not enough acceleration
First KF:37; Map init KF:36
New Map created with 37 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 255
mnInitialFrameId = 252
92 Frames set to lost
not IMU meas
First KF:38; Map init KF:37
New Map created with 28 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 258
mnInitialFrameId = 256
94 Frames set to lost
not IMU meas
First KF:39; Map init KF:38
New Map created with 46 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 261
mnInitialFrameId = 259
96 Frames set to lost
not IMU meas
First KF:40; Map init KF:39
New Map created with 36 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 264
mnInitialFrameId = 262
98 Frames set to lost
not IMU meas
not enough acceleration
First KF:41; Map init KF:40
New Map created with 47 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 268
mnInitialFrameId = 265
99 Frames set to lost
not IMU meas
First KF:42; Map init KF:41
New Map created with 55 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 271
mnInitialFrameId = 269
101 Frames set to lost
not IMU meas
First KF:43; Map init KF:42
New Map created with 62 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 274
mnInitialFrameId = 272
103 Frames set to lost
not IMU meas
First KF:44; Map init KF:43
New Map created with 59 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 277
mnInitialFrameId = 275
105 Frames set to lost
not IMU meas
First KF:45; Map init KF:44
New Map created with 72 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 280
mnInitialFrameId = 278
106 Frames set to lost
not IMU meas
First KF:46; Map init KF:45
New Map created with 76 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 283
mnInitialFrameId = 281
108 Frames set to lost
not IMU meas
First KF:47; Map init KF:46
New Map created with 101 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 286
mnInitialFrameId = 284
111 Frames set to lost
not IMU meas
First KF:48; Map init KF:47
New Map created with 89 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 290
mnInitialFrameId = 288
117 Frames set to lost
not IMU meas
First KF:49; Map init KF:48
New Map created with 78 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 297
mnInitialFrameId = 295
120 Frames set to lost
not IMU meas
First KF:50; Map init KF:49
New Map created with 59 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 301
mnInitialFrameId = 299
122 Frames set to lost
not IMU meas
First KF:51; Map init KF:50
New Map created with 41 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 304
mnInitialFrameId = 302
124 Frames set to lost
not IMU meas
First KF:52; Map init KF:51
New Map created with 39 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 307
mnInitialFrameId = 305
126 Frames set to lost
not IMU meas
First KF:53; Map init KF:52
New Map created with 55 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 310
mnInitialFrameId = 308
128 Frames set to lost
not IMU meas
First KF:54; Map init KF:53
New Map created with 53 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 313
mnInitialFrameId = 311
130 Frames set to lost
not IMU meas
First KF:55; Map init KF:54
New Map created with 53 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 316
mnInitialFrameId = 314
132 Frames set to lost
not IMU meas
First KF:56; Map init KF:55
New Map created with 45 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 319
mnInitialFrameId = 317
133 Frames set to lost
not IMU meas
First KF:57; Map init KF:56
New Map created with 55 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 322
mnInitialFrameId = 320
135 Frames set to lost
not IMU meas
First KF:58; Map init KF:57
New Map created with 45 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 325
mnInitialFrameId = 323
137 Frames set to lost
not IMU meas
First KF:59; Map init KF:58
New Map created with 46 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 328
mnInitialFrameId = 326
139 Frames set to lost
not IMU meas
First KF:60; Map init KF:59
New Map created with 32 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 331
mnInitialFrameId = 329
140 Frames set to lost
not IMU meas
First KF:61; Map init KF:60
New Map created with 42 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 334
mnInitialFrameId = 332
141 Frames set to lost
not IMU meas
First KF:62; Map init KF:61
New Map created with 29 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 337
mnInitialFrameId = 335
143 Frames set to lost
not IMU meas
First KF:63; Map init KF:62
New Map created with 31 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 340
mnInitialFrameId = 338
144 Frames set to lost
not IMU meas
First KF:64; Map init KF:63
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 343
mnInitialFrameId = 341
145 Frames set to lost
not IMU meas
First KF:65; Map init KF:64
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 346
mnInitialFrameId = 344
146 Frames set to lost
not IMU meas
First KF:66; Map init KF:65
New Map created with 27 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 349
mnInitialFrameId = 347
148 Frames set to lost
not IMU meas
not enough acceleration
First KF:67; Map init KF:66
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 353
mnInitialFrameId = 350
149 Frames set to lost
not IMU meas
not enough acceleration
First KF:68; Map init KF:67
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 357
mnInitialFrameId = 354
150 Frames set to lost
not IMU meas
not enough acceleration
First KF:69; Map init KF:68
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:70; Map init KF:69
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 364
mnInitialFrameId = 362
152 Frames set to lost
not IMU meas
First KF:71; Map init KF:70
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 367
mnInitialFrameId = 365
153 Frames set to lost
not IMU meas
First KF:72; Map init KF:71
New Map created with 28 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 370
mnInitialFrameId = 368
155 Frames set to lost
not IMU meas
First KF:73; Map init KF:72
New Map created with 17 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 373
mnInitialFrameId = 371
156 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:74; Map init KF:73
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 378
mnInitialFrameId = 374
157 Frames set to lost
not IMU meas
not enough acceleration
First KF:75; Map init KF:74
New Map created with 37 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 382
mnInitialFrameId = 379
158 Frames set to lost
not IMU meas
First KF:76; Map init KF:75
New Map created with 31 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 385
mnInitialFrameId = 383
159 Frames set to lost
not IMU meas
First KF:77; Map init KF:76
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 388
mnInitialFrameId = 386
160 Frames set to lost
First KF:78; Map init KF:77
New Map created with 31 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 391
mnInitialFrameId = 389
161 Frames set to lost
not IMU meas
First KF:79; Map init KF:78
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 394
mnInitialFrameId = 392
162 Frames set to lost
not IMU meas
First KF:80; Map init KF:79
New Map created with 23 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 397
mnInitialFrameId = 395
164 Frames set to lost
not IMU meas
First KF:81; Map init KF:80
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 400
mnInitialFrameId = 398
165 Frames set to lost
not IMU meas
First KF:82; Map init KF:81
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 403
mnInitialFrameId = 401
166 Frames set to lost
not IMU meas
not enough acceleration
First KF:83; Map init KF:82
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 407
mnInitialFrameId = 404
167 Frames set to lost
not IMU meas
not enough acceleration
First KF:84; Map init KF:83
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 411
mnInitialFrameId = 408
168 Frames set to lost
not IMU meas
First KF:85; Map init KF:84
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 414
mnInitialFrameId = 412
169 Frames set to lost
not IMU meas
First KF:86; Map init KF:85
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 417
mnInitialFrameId = 415
170 Frames set to lost
not IMU meas
First KF:87; Map init KF:86
New Map created with 35 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 420
mnInitialFrameId = 418
172 Frames set to lost
not IMU meas
not enough acceleration
First KF:88; Map init KF:87
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 424
mnInitialFrameId = 421
173 Frames set to lost
not IMU meas
First KF:89; Map init KF:88
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 427
mnInitialFrameId = 425
174 Frames set to lost
not IMU meas
First KF:90; Map init KF:89
New Map created with 32 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 430
mnInitialFrameId = 428
175 Frames set to lost
not IMU meas
not enough acceleration
First KF:91; Map init KF:90
New Map created with 48 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 434
mnInitialFrameId = 431
177 Frames set to lost
not IMU meas
First KF:92; Map init KF:91
New Map created with 39 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 437
mnInitialFrameId = 435
179 Frames set to lost
not IMU meas
First KF:93; Map init KF:92
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 440
mnInitialFrameId = 438
180 Frames set to lost
not IMU meas
First KF:94; Map init KF:93
New Map created with 35 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 443
mnInitialFrameId = 441
182 Frames set to lost
not IMU meas
First KF:95; Map init KF:94
New Map created with 38 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 446
mnInitialFrameId = 444
184 Frames set to lost
not IMU meas
First KF:96; Map init KF:95
New Map created with 47 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 449
mnInitialFrameId = 447
185 Frames set to lost
not IMU meas
First KF:97; Map init KF:96
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 452
mnInitialFrameId = 450
186 Frames set to lost
not IMU meas
First KF:98; Map init KF:97
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 455
mnInitialFrameId = 453
187 Frames set to lost
not IMU meas
First KF:99; Map init KF:98
New Map created with 36 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 458
mnInitialFrameId = 456
189 Frames set to lost
not IMU meas
not enough acceleration
First KF:100; Map init KF:99
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 462
mnInitialFrameId = 459
190 Frames set to lost
not IMU meas
First KF:101; Map init KF:100
New Map created with 38 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 465
mnInitialFrameId = 463
192 Frames set to lost
not IMU meas
First KF:102; Map init KF:101
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 468
mnInitialFrameId = 466
193 Frames set to lost
not IMU meas
not enough acceleration
First KF:103; Map init KF:102
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 472
mnInitialFrameId = 469
194 Frames set to lost
not IMU meas
First KF:104; Map init KF:103
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 475
mnInitialFrameId = 473
195 Frames set to lost
not IMU meas
not enough acceleration
First KF:105; Map init KF:104
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 479
mnInitialFrameId = 476
196 Frames set to lost
not IMU meas
not enough acceleration
First KF:106; Map init KF:105
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 483
mnInitialFrameId = 480
197 Frames set to lost
not IMU meas
First KF:107; Map init KF:106
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 486
mnInitialFrameId = 484
198 Frames set to lost
not IMU meas
First KF:108; Map init KF:107
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 489
mnInitialFrameId = 487
199 Frames set to lost
not IMU meas
First KF:109; Map init KF:108
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 492
mnInitialFrameId = 490
200 Frames set to lost
not IMU meas
First KF:110; Map init KF:109
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 495
mnInitialFrameId = 493
201 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:111; Map init KF:110
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 501
mnInitialFrameId = 496
202 Frames set to lost
not IMU meas
First KF:112; Map init KF:111
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 504
mnInitialFrameId = 502
203 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:113; Map init KF:112
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 509
mnInitialFrameId = 505
204 Frames set to lost
not IMU meas
First KF:114; Map init KF:113
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 512
mnInitialFrameId = 510
205 Frames set to lost
not IMU meas
First KF:115; Map init KF:114
New Map created with 17 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 515
mnInitialFrameId = 513
206 Frames set to lost
not IMU meas
First KF:116; Map init KF:115
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 518
mnInitialFrameId = 516
207 Frames set to lost
not IMU meas
First KF:117; Map init KF:116
New Map created with 14 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 521
mnInitialFrameId = 519
208 Frames set to lost
not IMU meas
First KF:118; Map init KF:117
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 524
mnInitialFrameId = 522
209 Frames set to lost
not IMU meas
First KF:119; Map init KF:118
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 527
mnInitialFrameId = 525
210 Frames set to lost
not IMU meas
First KF:120; Map init KF:119
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
mnFirstFrameId = 530
mnInitialFrameId = 528
211 Frames set to lost
not IMU meas
First KF:121; Map init KF:120
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 533
mnInitialFrameId = 531
212 Frames set to lost
not IMU meas
First KF:122; Map init KF:121
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 536
mnInitialFrameId = 534
213 Frames set to lost
not IMU meas
First KF:123; Map init KF:122
New Map created with 31 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 539
mnInitialFrameId = 537
215 Frames set to lost
not IMU meas
First KF:124; Map init KF:123
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 542
mnInitialFrameId = 540
216 Frames set to lost
not IMU meas
First KF:125; Map init KF:124
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 545
mnInitialFrameId = 543
217 Frames set to lost
not IMU meas
First KF:126; Map init KF:125
New Map created with 35 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 548
mnInitialFrameId = 546
219 Frames set to lost
not IMU meas
First KF:127; Map init KF:126
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 551
mnInitialFrameId = 549
220 Frames set to lost
not IMU meas
First KF:128; Map init KF:127
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 554
mnInitialFrameId = 552
221 Frames set to lost
not IMU meas
First KF:129; Map init KF:128
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 557
mnInitialFrameId = 555
222 Frames set to lost
not IMU meas
First KF:130; Map init KF:129
New Map created with 36 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 560
mnInitialFrameId = 558
223 Frames set to lost
not IMU meas
First KF:131; Map init KF:130
New Map created with 32 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 563
mnInitialFrameId = 561
224 Frames set to lost
not IMU meas
First KF:132; Map init KF:131
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 566
mnInitialFrameId = 564
225 Frames set to lost
not IMU meas
First KF:133; Map init KF:132
New Map created with 30 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 569
mnInitialFrameId = 567
227 Frames set to lost
not IMU meas
First KF:134; Map init KF:133
New Map created with 39 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 572
mnInitialFrameId = 570
228 Frames set to lost
not IMU meas
First KF:135; Map init KF:134
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 575
mnInitialFrameId = 573
229 Frames set to lost
not IMU meas
First KF:136; Map init KF:135
New Map created with 41 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 578
mnInitialFrameId = 576
230 Frames set to lost
not IMU meas
First KF:137; Map init KF:136
New Map created with 47 points
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 581
mnInitialFrameId = 579
232 Frames set to lost
not IMU meas
First KF:138; Map init KF:137
New Map created with 31 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 584
mnInitialFrameId = 582
233 Frames set to lost
not IMU meas
First KF:139; Map init KF:138
New Map created with 38 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 587
mnInitialFrameId = 585
234 Frames set to lost
not IMU meas
First KF:140; Map init KF:139
New Map created with 44 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 590
mnInitialFrameId = 588
235 Frames set to lost
not IMU meas
First KF:141; Map init KF:140
New Map created with 36 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 593
mnInitialFrameId = 591
236 Frames set to lost
not IMU meas
not enough acceleration
First KF:142; Map init KF:141
New Map created with 54 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 597
mnInitialFrameId = 594
237 Frames set to lost
not IMU meas
First KF:143; Map init KF:142
New Map created with 55 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 600
mnInitialFrameId = 598
238 Frames set to lost
not IMU meas
First KF:144; Map init KF:143
New Map created with 45 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 603
mnInitialFrameId = 601
239 Frames set to lost
not IMU meas
First KF:145; Map init KF:144
New Map created with 45 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 606
mnInitialFrameId = 604
240 Frames set to lost
not IMU meas
First KF:146; Map init KF:145
New Map created with 40 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 609
mnInitialFrameId = 607
242 Frames set to lost
not IMU meas
First KF:147; Map init KF:146
New Map created with 36 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 612
mnInitialFrameId = 610
243 Frames set to lost
not IMU meas
First KF:148; Map init KF:147
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 615
mnInitialFrameId = 613
244 Frames set to lost
not IMU meas
First KF:149; Map init KF:148
New Map created with 42 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 618
mnInitialFrameId = 616
245 Frames set to lost
not IMU meas
First KF:150; Map init KF:149
New Map created with 34 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 621
mnInitialFrameId = 619
246 Frames set to lost
not IMU meas
not enough acceleration
First KF:151; Map init KF:150
New Map created with 37 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 625
mnInitialFrameId = 622
248 Frames set to lost
not IMU meas
First KF:152; Map init KF:151
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 628
mnInitialFrameId = 626
249 Frames set to lost
not IMU meas
First KF:153; Map init KF:152
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
First KF:154; Map init KF:153
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 635
mnInitialFrameId = 632
251 Frames set to lost
not IMU meas
First KF:155; Map init KF:154
New Map created with 32 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 638
mnInitialFrameId = 636
252 Frames set to lost
not IMU meas
First KF:156; Map init KF:155
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 641
mnInitialFrameId = 639
253 Frames set to lost
not IMU meas
First KF:157; Map init KF:156
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 644
mnInitialFrameId = 642
254 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:158; Map init KF:157
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 650
mnInitialFrameId = 645
255 Frames set to lost
not IMU meas
First KF:159; Map init KF:158
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 653
mnInitialFrameId = 651
256 Frames set to lost
not IMU meas
First KF:160; Map init KF:159
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 656
mnInitialFrameId = 654
257 Frames set to lost
not IMU meas
not enough acceleration
First KF:161; Map init KF:160
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:162; Map init KF:161
New Map created with 32 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 663
mnInitialFrameId = 661
259 Frames set to lost
not IMU meas
not enough acceleration
First KF:163; Map init KF:162
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 667
mnInitialFrameId = 664
260 Frames set to lost
not IMU meas
First KF:164; Map init KF:163
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 670
mnInitialFrameId = 668
261 Frames set to lost
not IMU meas
First KF:165; Map init KF:164
New Map created with 31 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 673
mnInitialFrameId = 671
263 Frames set to lost
not IMU meas
First KF:166; Map init KF:165
New Map created with 29 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 676
mnInitialFrameId = 674
265 Frames set to lost
not IMU meas
First KF:167; Map init KF:166
New Map created with 34 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 679
mnInitialFrameId = 677
266 Frames set to lost
not IMU meas
First KF:168; Map init KF:167
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 682
mnInitialFrameId = 680
267 Frames set to lost
not IMU meas
not enough acceleration
First KF:169; Map init KF:168
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 686
mnInitialFrameId = 683
268 Frames set to lost
not IMU meas
First KF:170; Map init KF:169
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 689
mnInitialFrameId = 687
269 Frames set to lost
not IMU meas
First KF:171; Map init KF:170
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 692
mnInitialFrameId = 690
270 Frames set to lost
not IMU meas
First KF:172; Map init KF:171
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 695
mnInitialFrameId = 693
271 Frames set to lost
not IMU meas
First KF:173; Map init KF:172
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 698
mnInitialFrameId = 696
272 Frames set to lost
not IMU meas
First KF:174; Map init KF:173
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 701
mnInitialFrameId = 699
273 Frames set to lost
not IMU meas
First KF:175; Map init KF:174
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 704
mnInitialFrameId = 702
274 Frames set to lost
not IMU meas
First KF:176; Map init KF:175
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 707
mnInitialFrameId = 705
275 Frames set to lost
not IMU meas
First KF:177; Map init KF:176
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 710
mnInitialFrameId = 708
276 Frames set to lost
not IMU meas
First KF:178; Map init KF:177
New Map created with 17 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 713
mnInitialFrameId = 711
277 Frames set to lost
not IMU meas
First KF:179; Map init KF:178
New Map created with 14 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 716
mnInitialFrameId = 714
278 Frames set to lost
not IMU meas
not enough acceleration
First KF:180; Map init KF:179
New Map created with 14 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 720
mnInitialFrameId = 717
279 Frames set to lost
not IMU meas
First KF:181; Map init KF:180
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 723
mnInitialFrameId = 721
280 Frames set to lost
not IMU meas
First KF:182; Map init KF:181
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 726
mnInitialFrameId = 724
281 Frames set to lost
not IMU meas
First KF:183; Map init KF:182
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 729
mnInitialFrameId = 727
282 Frames set to lost
not IMU meas
First KF:184; Map init KF:183
New Map created with 28 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 732
mnInitialFrameId = 730
284 Frames set to lost
not IMU meas
First KF:185; Map init KF:184
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 735
mnInitialFrameId = 733
285 Frames set to lost
not IMU meas
First KF:186; Map init KF:185
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 738
mnInitialFrameId = 736
286 Frames set to lost
not IMU meas
not enough acceleration
First KF:187; Map init KF:186
New Map created with 13 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 742
mnInitialFrameId = 739
287 Frames set to lost
not IMU meas
First KF:188; Map init KF:187
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 745
mnInitialFrameId = 743
288 Frames set to lost
not IMU meas
First KF:189; Map init KF:188
New Map created with 13 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 748
mnInitialFrameId = 746
289 Frames set to lost
not IMU meas
First KF:190; Map init KF:189
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 751
mnInitialFrameId = 749
290 Frames set to lost
not IMU meas
First KF:191; Map init KF:190
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 754
mnInitialFrameId = 752
291 Frames set to lost
not IMU meas
not enough acceleration
First KF:192; Map init KF:191
New Map created with 24 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 758
mnInitialFrameId = 755
293 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:193; Map init KF:192
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 764
mnInitialFrameId = 759
294 Frames set to lost
not IMU meas
First KF:194; Map init KF:193
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 767
mnInitialFrameId = 765
295 Frames set to lost
not IMU meas
not enough acceleration
First KF:195; Map init KF:194
New Map created with 34 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 771
mnInitialFrameId = 768
296 Frames set to lost
not IMU meas
First KF:196; Map init KF:195
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 774
mnInitialFrameId = 772
297 Frames set to lost
not IMU meas
not enough acceleration
First KF:197; Map init KF:196
New Map created with 26 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 778
mnInitialFrameId = 775
299 Frames set to lost
not IMU meas
not enough acceleration
First KF:198; Map init KF:197
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 782
mnInitialFrameId = 779
300 Frames set to lost
not IMU meas
First KF:199; Map init KF:198
New Map created with 37 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
not IMU meas
First KF:200; Map init KF:199
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 788
mnInitialFrameId = 786
303 Frames set to lost
not IMU meas
First KF:201; Map init KF:200
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:202; Map init KF:201
New Map created with 40 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 794
mnInitialFrameId = 792
305 Frames set to lost
not IMU meas
First KF:203; Map init KF:202
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 797
mnInitialFrameId = 795
306 Frames set to lost
not IMU meas
First KF:204; Map init KF:203
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 800
mnInitialFrameId = 798
307 Frames set to lost
not IMU meas
First KF:205; Map init KF:204
New Map created with 27 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 803
mnInitialFrameId = 801
309 Frames set to lost
not IMU meas
First KF:206; Map init KF:205
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 806
mnInitialFrameId = 804
310 Frames set to lost
not IMU meas
not enough acceleration
First KF:207; Map init KF:206
New Map created with 35 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 810
mnInitialFrameId = 807
312 Frames set to lost
not IMU meas
First KF:208; Map init KF:207
New Map created with 43 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 813
mnInitialFrameId = 811
314 Frames set to lost
not IMU meas
not enough acceleration
First KF:209; Map init KF:208
New Map created with 25 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:210; Map init KF:209
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:211; Map init KF:210
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 823
mnInitialFrameId = 821
318 Frames set to lost
not IMU meas
not enough acceleration
First KF:212; Map init KF:211
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 827
mnInitialFrameId = 824
319 Frames set to lost
not IMU meas
First KF:213; Map init KF:212
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 830
mnInitialFrameId = 828
320 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:214; Map init KF:213
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 835
mnInitialFrameId = 831
321 Frames set to lost
not IMU meas
First KF:215; Map init KF:214
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 838
mnInitialFrameId = 836
322 Frames set to lost
not IMU meas
First KF:216; Map init KF:215
New Map created with 38 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 841
mnInitialFrameId = 839
323 Frames set to lost
not IMU meas
First KF:217; Map init KF:216
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 844
mnInitialFrameId = 842
324 Frames set to lost
not IMU meas
First KF:218; Map init KF:217
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 847
mnInitialFrameId = 845
325 Frames set to lost
not IMU meas
First KF:219; Map init KF:218
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 850
mnInitialFrameId = 848
326 Frames set to lost
not IMU meas
First KF:220; Map init KF:219
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 853
mnInitialFrameId = 851
327 Frames set to lost
not IMU meas
not enough acceleration
First KF:221; Map init KF:220
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 857
mnInitialFrameId = 854
328 Frames set to lost
not IMU meas
First KF:222; Map init KF:221
New Map created with 31 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 860
mnInitialFrameId = 858
329 Frames set to lost
not IMU meas
First KF:223; Map init KF:222
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 863
mnInitialFrameId = 861
330 Frames set to lost
not IMU meas
First KF:224; Map init KF:223
New Map created with 41 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 866
mnInitialFrameId = 864
332 Frames set to lost
not IMU meas
First KF:225; Map init KF:224
New Map created with 43 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 869
mnInitialFrameId = 867
334 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:226; Map init KF:225
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 874
mnInitialFrameId = 870
335 Frames set to lost
not IMU meas
First KF:227; Map init KF:226
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 877
mnInitialFrameId = 875
336 Frames set to lost
not IMU meas
First KF:228; Map init KF:227
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 880
mnInitialFrameId = 878
337 Frames set to lost
not IMU meas
First KF:229; Map init KF:228
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 883
mnInitialFrameId = 881
338 Frames set to lost
not IMU meas
not enough acceleration
First KF:230; Map init KF:229
New Map created with 34 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 887
mnInitialFrameId = 884
339 Frames set to lost
not IMU meas
not enough acceleration
First KF:231; Map init KF:230
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 891
mnInitialFrameId = 888
340 Frames set to lost
not IMU meas
not enough acceleration
First KF:232; Map init KF:231
New Map created with 38 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 895
mnInitialFrameId = 892
341 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:233; Map init KF:232
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 900
mnInitialFrameId = 896
342 Frames set to lost
not IMU meas
First KF:234; Map init KF:233
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 903
mnInitialFrameId = 901
343 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:235; Map init KF:234
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
not IMU meas
First KF:236; Map init KF:235
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 911
mnInitialFrameId = 909
345 Frames set to lost
not IMU meas
First KF:237; Map init KF:236
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 914
mnInitialFrameId = 912
346 Frames set to lost
not IMU meas
First KF:238; Map init KF:237
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 917
mnInitialFrameId = 915
347 Frames set to lost
not IMU meas
not enough acceleration
First KF:239; Map init KF:238
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 921
mnInitialFrameId = 918
348 Frames set to lost
not IMU meas
First KF:240; Map init KF:239
New Map created with 38 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 924
mnInitialFrameId = 922
350 Frames set to lost
not IMU meas
First KF:241; Map init KF:240
New Map created with 40 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 927
mnInitialFrameId = 925
352 Frames set to lost
not IMU meas
First KF:242; Map init KF:241
New Map created with 31 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 930
mnInitialFrameId = 928
353 Frames set to lost
not IMU meas
First KF:243; Map init KF:242
New Map created with 35 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 933
mnInitialFrameId = 931
355 Frames set to lost
not IMU meas
First KF:244; Map init KF:243
New Map created with 27 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 936
mnInitialFrameId = 934
357 Frames set to lost
not IMU meas
First KF:245; Map init KF:244
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 939
mnInitialFrameId = 937
358 Frames set to lost
not IMU meas
not enough acceleration
First KF:246; Map init KF:245
New Map created with 45 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 943
mnInitialFrameId = 940
360 Frames set to lost
not IMU meas
First KF:247; Map init KF:246
New Map created with 39 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 946
mnInitialFrameId = 944
362 Frames set to lost
not IMU meas
First KF:248; Map init KF:247
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 949
mnInitialFrameId = 947
363 Frames set to lost
not IMU meas
not enough acceleration
First KF:249; Map init KF:248
New Map created with 39 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 953
mnInitialFrameId = 950
365 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:250; Map init KF:249
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 958
mnInitialFrameId = 954
366 Frames set to lost
not IMU meas
First KF:251; Map init KF:250
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 961
mnInitialFrameId = 959
367 Frames set to lost
not IMU meas
First KF:252; Map init KF:251
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 964
mnInitialFrameId = 962
368 Frames set to lost
not IMU meas
First KF:253; Map init KF:252
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 967
mnInitialFrameId = 965
369 Frames set to lost
not IMU meas
First KF:254; Map init KF:253
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 970
mnInitialFrameId = 968
370 Frames set to lost
not IMU meas
First KF:255; Map init KF:254
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 973
mnInitialFrameId = 971
371 Frames set to lost
not IMU meas
First KF:256; Map init KF:255
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:257; Map init KF:256
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 979
mnInitialFrameId = 977
373 Frames set to lost
not IMU meas
First KF:258; Map init KF:257
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 982
mnInitialFrameId = 980
374 Frames set to lost
not IMU meas
First KF:259; Map init KF:258
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
not enough acceleration
not enough acceleration
First KF:260; Map init KF:259
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
not enough acceleration
First KF:261; Map init KF:260
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 994
mnInitialFrameId = 991
377 Frames set to lost
not IMU meas
First KF:262; Map init KF:261
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 997
mnInitialFrameId = 995
378 Frames set to lost
not IMU meas
First KF:263; Map init KF:262
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1000
mnInitialFrameId = 998
379 Frames set to lost
not IMU meas
not enough acceleration
First KF:264; Map init KF:263
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1004
mnInitialFrameId = 1001
380 Frames set to lost
not IMU meas
First KF:265; Map init KF:264
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1007
mnInitialFrameId = 1005
381 Frames set to lost
not IMU meas
First KF:266; Map init KF:265
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1010
mnInitialFrameId = 1008
382 Frames set to lost
not IMU meas
First KF:267; Map init KF:266
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1013
mnInitialFrameId = 1011
383 Frames set to lost
not IMU meas
First KF:268; Map init KF:267
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1016
mnInitialFrameId = 1014
384 Frames set to lost
not IMU meas
First KF:269; Map init KF:268
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1019
mnInitialFrameId = 1017
385 Frames set to lost
not IMU meas
First KF:270; Map init KF:269
New Map created with 33 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1022
mnInitialFrameId = 1020
387 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:271; Map init KF:270
New Map created with 39 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1028
mnInitialFrameId = 1023
389 Frames set to lost
not IMU meas
First KF:272; Map init KF:271
New Map created with 40 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1031
mnInitialFrameId = 1029
391 Frames set to lost
not IMU meas
First KF:273; Map init KF:272
New Map created with 36 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1034
mnInitialFrameId = 1032
393 Frames set to lost
not IMU meas
First KF:274; Map init KF:273
New Map created with 37 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1037
mnInitialFrameId = 1035
394 Frames set to lost
not IMU meas
First KF:275; Map init KF:274
New Map created with 33 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1040
mnInitialFrameId = 1038
396 Frames set to lost
not IMU meas
First KF:276; Map init KF:275
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1043
mnInitialFrameId = 1041
397 Frames set to lost
not IMU meas
First KF:277; Map init KF:276
New Map created with 49 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:278; Map init KF:277
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1049
mnInitialFrameId = 1047
399 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:279; Map init KF:278
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1054
mnInitialFrameId = 1050
400 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:280; Map init KF:279
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1059
mnInitialFrameId = 1055
401 Frames set to lost
not IMU meas
First KF:281; Map init KF:280
New Map created with 24 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1062
mnInitialFrameId = 1060
403 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:282; Map init KF:281
New Map created with 30 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
not IMU meas
First KF:283; Map init KF:282
New Map created with 33 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1070
mnInitialFrameId = 1068
407 Frames set to lost
not IMU meas
First KF:284; Map init KF:283
New Map created with 17 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1073
mnInitialFrameId = 1071
408 Frames set to lost
not IMU meas
not enough acceleration
First KF:285; Map init KF:284
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1077
mnInitialFrameId = 1074
409 Frames set to lost
not IMU meas
First KF:286; Map init KF:285
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
not IMU meas
First KF:287; Map init KF:286
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:288; Map init KF:287
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1086
mnInitialFrameId = 1084
412 Frames set to lost
not IMU meas
First KF:289; Map init KF:288
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1089
mnInitialFrameId = 1087
413 Frames set to lost
not IMU meas
First KF:290; Map init KF:289
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1092
mnInitialFrameId = 1090
414 Frames set to lost
not IMU meas
First KF:291; Map init KF:290
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1095
mnInitialFrameId = 1093
415 Frames set to lost
not IMU meas
First KF:292; Map init KF:291
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1098
mnInitialFrameId = 1096
416 Frames set to lost
not IMU meas
First KF:293; Map init KF:292
New Map created with 32 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1101
mnInitialFrameId = 1099
418 Frames set to lost
not IMU meas
First KF:294; Map init KF:293
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:295; Map init KF:294
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1107
mnInitialFrameId = 1105
420 Frames set to lost
not IMU meas
First KF:296; Map init KF:295
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1110
mnInitialFrameId = 1108
421 Frames set to lost
not IMU meas
First KF:297; Map init KF:296
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1113
mnInitialFrameId = 1111
422 Frames set to lost
not IMU meas
First KF:298; Map init KF:297
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1116
mnInitialFrameId = 1114
423 Frames set to lost
not IMU meas
First KF:299; Map init KF:298
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1119
mnInitialFrameId = 1117
424 Frames set to lost
not IMU meas
First KF:300; Map init KF:299
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1122
mnInitialFrameId = 1120
425 Frames set to lost
not IMU meas
First KF:301; Map init KF:300
New Map created with 33 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1125
mnInitialFrameId = 1123
427 Frames set to lost
not IMU meas
First KF:302; Map init KF:301
New Map created with 34 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1128
mnInitialFrameId = 1126
429 Frames set to lost
not IMU meas
First KF:303; Map init KF:302
New Map created with 41 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1131
mnInitialFrameId = 1129
431 Frames set to lost
not IMU meas
First KF:304; Map init KF:303
New Map created with 37 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1134
mnInitialFrameId = 1132
432 Frames set to lost
not IMU meas
not enough acceleration
First KF:305; Map init KF:304
New Map created with 34 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1138
mnInitialFrameId = 1135
434 Frames set to lost
not IMU meas
First KF:306; Map init KF:305
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1141
mnInitialFrameId = 1139
435 Frames set to lost
not IMU meas
First KF:307; Map init KF:306
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1144
mnInitialFrameId = 1142
436 Frames set to lost
not IMU meas
not enough acceleration
First KF:308; Map init KF:307
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1148
mnInitialFrameId = 1145
437 Frames set to lost
not IMU meas
not enough acceleration
First KF:309; Map init KF:308
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1152
mnInitialFrameId = 1149
438 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:310; Map init KF:309
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1158
mnInitialFrameId = 1153
439 Frames set to lost
not IMU meas
First KF:311; Map init KF:310
New Map created with 30 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1161
mnInitialFrameId = 1159
441 Frames set to lost
not IMU meas
First KF:312; Map init KF:311
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1164
mnInitialFrameId = 1162
442 Frames set to lost
not IMU meas
First KF:313; Map init KF:312
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1167
mnInitialFrameId = 1165
443 Frames set to lost
not IMU meas
not enough acceleration
First KF:314; Map init KF:313
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1171
mnInitialFrameId = 1168
444 Frames set to lost
not IMU meas
First KF:315; Map init KF:314
New Map created with 33 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1174
mnInitialFrameId = 1172
446 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:316; Map init KF:315
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1180
mnInitialFrameId = 1175
447 Frames set to lost
not IMU meas
First KF:317; Map init KF:316
New Map created with 13 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1183
mnInitialFrameId = 1181
448 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:318; Map init KF:317
New Map created with 29 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1188
mnInitialFrameId = 1184
450 Frames set to lost
not IMU meas
First KF:319; Map init KF:318
New Map created with 12 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1191
mnInitialFrameId = 1189
451 Frames set to lost
not IMU meas
not enough acceleration
First KF:320; Map init KF:319
New Map created with 31 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1195
mnInitialFrameId = 1192
453 Frames set to lost
not IMU meas
First KF:321; Map init KF:320
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1198
mnInitialFrameId = 1196
454 Frames set to lost
not IMU meas
First KF:322; Map init KF:321
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1201
mnInitialFrameId = 1199
455 Frames set to lost
not IMU meas
First KF:323; Map init KF:322
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1204
mnInitialFrameId = 1202
456 Frames set to lost
not IMU meas
First KF:324; Map init KF:323
New Map created with 31 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1207
mnInitialFrameId = 1205
458 Frames set to lost
not IMU meas
First KF:325; Map init KF:324
New Map created with 27 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1210
mnInitialFrameId = 1208
460 Frames set to lost
not IMU meas
First KF:326; Map init KF:325
New Map created with 26 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1213
mnInitialFrameId = 1211
462 Frames set to lost
not IMU meas
First KF:327; Map init KF:326
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1216
mnInitialFrameId = 1214
463 Frames set to lost
not IMU meas
First KF:328; Map init KF:327
New Map created with 24 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1219
mnInitialFrameId = 1217
465 Frames set to lost
not IMU meas
First KF:329; Map init KF:328
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1222
mnInitialFrameId = 1220
466 Frames set to lost
not IMU meas
First KF:330; Map init KF:329
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:331; Map init KF:330
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1228
mnInitialFrameId = 1226
468 Frames set to lost
not IMU meas
First KF:332; Map init KF:331
New Map created with 17 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1231
mnInitialFrameId = 1229
469 Frames set to lost
not IMU meas
First KF:333; Map init KF:332
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1234
mnInitialFrameId = 1232
470 Frames set to lost
not IMU meas
First KF:334; Map init KF:333
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1237
mnInitialFrameId = 1235
471 Frames set to lost
not IMU meas
First KF:335; Map init KF:334
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1240
mnInitialFrameId = 1238
472 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:336; Map init KF:335
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1245
mnInitialFrameId = 1241
473 Frames set to lost
not IMU meas
First KF:337; Map init KF:336
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1248
mnInitialFrameId = 1246
474 Frames set to lost
not IMU meas
not enough acceleration
First KF:338; Map init KF:337
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1252
mnInitialFrameId = 1249
475 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:339; Map init KF:338
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1257
mnInitialFrameId = 1253
476 Frames set to lost
not IMU meas
not enough acceleration
First KF:340; Map init KF:339
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1261
mnInitialFrameId = 1258
477 Frames set to lost
not IMU meas
First KF:341; Map init KF:340
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1264
mnInitialFrameId = 1262
478 Frames set to lost
not IMU meas
not enough acceleration
First KF:342; Map init KF:341
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:343; Map init KF:342
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1271
mnInitialFrameId = 1269
480 Frames set to lost
not IMU meas
First KF:344; Map init KF:343
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1274
mnInitialFrameId = 1272
481 Frames set to lost
not IMU meas
First KF:345; Map init KF:344
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1277
mnInitialFrameId = 1275
482 Frames set to lost
not IMU meas
First KF:346; Map init KF:345
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1280
mnInitialFrameId = 1278
483 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:347; Map init KF:346
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1285
mnInitialFrameId = 1281
484 Frames set to lost
not IMU meas
First KF:348; Map init KF:347
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1288
mnInitialFrameId = 1286
485 Frames set to lost
not IMU meas
First KF:349; Map init KF:348
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1291
mnInitialFrameId = 1289
486 Frames set to lost
not IMU meas
First KF:350; Map init KF:349
New Map created with 17 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1294
mnInitialFrameId = 1292
487 Frames set to lost
not IMU meas
not enough acceleration
First KF:351; Map init KF:350
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1298
mnInitialFrameId = 1295
488 Frames set to lost
not IMU meas
First KF:352; Map init KF:351
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1301
mnInitialFrameId = 1299
489 Frames set to lost
not IMU meas
First KF:353; Map init KF:352
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1304
mnInitialFrameId = 1302
490 Frames set to lost
not IMU meas
First KF:354; Map init KF:353
New Map created with 17 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1307
mnInitialFrameId = 1305
491 Frames set to lost
not IMU meas
First KF:355; Map init KF:354
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1310
mnInitialFrameId = 1308
492 Frames set to lost
not IMU meas
First KF:356; Map init KF:355
New Map created with 10 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1313
mnInitialFrameId = 1311
493 Frames set to lost
not IMU meas
First KF:357; Map init KF:356
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1316
mnInitialFrameId = 1314
494 Frames set to lost
not IMU meas
not enough acceleration
First KF:358; Map init KF:357
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1320
mnInitialFrameId = 1317
495 Frames set to lost
not IMU meas
not enough acceleration
First KF:359; Map init KF:358
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1324
mnInitialFrameId = 1321
496 Frames set to lost
not IMU meas
First KF:360; Map init KF:359
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1327
mnInitialFrameId = 1325
497 Frames set to lost
not IMU meas
First KF:361; Map init KF:360
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1330
mnInitialFrameId = 1328
498 Frames set to lost
not IMU meas
First KF:362; Map init KF:361
New Map created with 14 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1333
mnInitialFrameId = 1331
499 Frames set to lost
not IMU meas
First KF:363; Map init KF:362
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1336
mnInitialFrameId = 1334
500 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:364; Map init KF:363
New Map created with 8 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1341
mnInitialFrameId = 1337
501 Frames set to lost
not IMU meas
First KF:365; Map init KF:364
New Map created with 29 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1344
mnInitialFrameId = 1342
503 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:366; Map init KF:365
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1351
mnInitialFrameId = 1345
504 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:367; Map init KF:366
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:368; Map init KF:367
New Map created with 42 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1359
mnInitialFrameId = 1357
507 Frames set to lost
not IMU meas
First KF:369; Map init KF:368
New Map created with 45 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1362
mnInitialFrameId = 1360
509 Frames set to lost
not IMU meas
First KF:370; Map init KF:369
New Map created with 49 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1365
mnInitialFrameId = 1363
511 Frames set to lost
not IMU meas
not enough acceleration
First KF:371; Map init KF:370
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1369
mnInitialFrameId = 1366
512 Frames set to lost
not IMU meas
First KF:372; Map init KF:371
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1372
mnInitialFrameId = 1370
513 Frames set to lost
not IMU meas
First KF:373; Map init KF:372
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1375
mnInitialFrameId = 1373
514 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:374; Map init KF:373
New Map created with 41 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1380
mnInitialFrameId = 1376
516 Frames set to lost
not IMU meas
First KF:375; Map init KF:374
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1383
mnInitialFrameId = 1381
517 Frames set to lost
not IMU meas
First KF:376; Map init KF:375
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
not enough acceleration
First KF:377; Map init KF:376
New Map created with 11 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1390
mnInitialFrameId = 1387
519 Frames set to lost
not IMU meas
First KF:378; Map init KF:377
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:379; Map init KF:378
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1396
mnInitialFrameId = 1394
521 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:380; Map init KF:379
New Map created with 13 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1401
mnInitialFrameId = 1397
522 Frames set to lost
not IMU meas
First KF:381; Map init KF:380
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1404
mnInitialFrameId = 1402
523 Frames set to lost
not IMU meas
First KF:382; Map init KF:381
New Map created with 35 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1407
mnInitialFrameId = 1405
525 Frames set to lost
not IMU meas
First KF:383; Map init KF:382
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1410
mnInitialFrameId = 1408
526 Frames set to lost
not IMU meas
First KF:384; Map init KF:383
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1413
mnInitialFrameId = 1411
527 Frames set to lost
not IMU meas
First KF:385; Map init KF:384
New Map created with 13 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1416
mnInitialFrameId = 1414
528 Frames set to lost
not IMU meas
First KF:386; Map init KF:385
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1419
mnInitialFrameId = 1417
529 Frames set to lost
not IMU meas
First KF:387; Map init KF:386
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1422
mnInitialFrameId = 1420
530 Frames set to lost
not IMU meas
First KF:388; Map init KF:387
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1425
mnInitialFrameId = 1423
531 Frames set to lost
not IMU meas
not enough acceleration
First KF:389; Map init KF:388
New Map created with 26 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:390; Map init KF:389
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1432
mnInitialFrameId = 1430
534 Frames set to lost
not IMU meas
First KF:391; Map init KF:390
New Map created with 16 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1435
mnInitialFrameId = 1433
535 Frames set to lost
not IMU meas
not enough acceleration
First KF:392; Map init KF:391
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1439
mnInitialFrameId = 1436
536 Frames set to lost
not IMU meas
First KF:393; Map init KF:392
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1442
mnInitialFrameId = 1440
537 Frames set to lost
not IMU meas
not enough acceleration
First KF:394; Map init KF:393
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1446
mnInitialFrameId = 1443
538 Frames set to lost
not IMU meas
First KF:395; Map init KF:394
New Map created with 14 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1449
mnInitialFrameId = 1447
539 Frames set to lost
not IMU meas
First KF:396; Map init KF:395
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1452
mnInitialFrameId = 1450
540 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:397; Map init KF:396
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1458
mnInitialFrameId = 1453
541 Frames set to lost
not IMU meas
First KF:398; Map init KF:397
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1461
mnInitialFrameId = 1459
542 Frames set to lost
not IMU meas
First KF:399; Map init KF:398
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:400; Map init KF:399
New Map created with 28 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1472
mnInitialFrameId = 1465
545 Frames set to lost
not IMU meas
First KF:401; Map init KF:400
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1475
mnInitialFrameId = 1473
546 Frames set to lost
not IMU meas
First KF:402; Map init KF:401
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1478
mnInitialFrameId = 1476
547 Frames set to lost
not IMU meas
First KF:403; Map init KF:402
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1481
mnInitialFrameId = 1479
548 Frames set to lost
not IMU meas
First KF:404; Map init KF:403
New Map created with 30 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1484
mnInitialFrameId = 1482
549 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:405; Map init KF:404
New Map created with 20 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1489
mnInitialFrameId = 1485
550 Frames set to lost
not IMU meas
First KF:406; Map init KF:405
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1492
mnInitialFrameId = 1490
551 Frames set to lost
not IMU meas
First KF:407; Map init KF:406
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1495
mnInitialFrameId = 1493
552 Frames set to lost
not IMU meas
First KF:408; Map init KF:407
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1498
mnInitialFrameId = 1496
553 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:409; Map init KF:408
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1504
mnInitialFrameId = 1499
554 Frames set to lost
not IMU meas
First KF:410; Map init KF:409
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
First KF:411; Map init KF:410
New Map created with 22 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1510
mnInitialFrameId = 1508
556 Frames set to lost
not IMU meas
First KF:412; Map init KF:411
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1513
mnInitialFrameId = 1511
557 Frames set to lost
not IMU meas
First KF:413; Map init KF:412
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1516
mnInitialFrameId = 1514
558 Frames set to lost
not IMU meas
First KF:414; Map init KF:413
New Map created with 24 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1519
mnInitialFrameId = 1517
559 Frames set to lost
not IMU meas
First KF:415; Map init KF:414
New Map created with 47 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1522
mnInitialFrameId = 1520
561 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:416; Map init KF:415
New Map created with 18 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1527
mnInitialFrameId = 1523
562 Frames set to lost
not IMU meas
First KF:417; Map init KF:416
New Map created with 36 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1530
mnInitialFrameId = 1528
563 Frames set to lost
not IMU meas
First KF:418; Map init KF:417
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1533
mnInitialFrameId = 1531
564 Frames set to lost
not IMU meas
First KF:419; Map init KF:418
New Map created with 37 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1536
mnInitialFrameId = 1534
566 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:420; Map init KF:419
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1541
mnInitialFrameId = 1537
567 Frames set to lost
not IMU meas
First KF:421; Map init KF:420
New Map created with 28 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1544
mnInitialFrameId = 1542
568 Frames set to lost
not IMU meas
First KF:422; Map init KF:421
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1547
mnInitialFrameId = 1545
569 Frames set to lost
not IMU meas
First KF:423; Map init KF:422
New Map created with 23 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1550
mnInitialFrameId = 1548
570 Frames set to lost
not IMU meas
First KF:424; Map init KF:423
New Map created with 27 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1553
mnInitialFrameId = 1551
572 Frames set to lost
not IMU meas
First KF:425; Map init KF:424
New Map created with 36 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1556
mnInitialFrameId = 1554
574 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:426; Map init KF:425
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1561
mnInitialFrameId = 1557
575 Frames set to lost
not IMU meas
First KF:427; Map init KF:426
New Map created with 34 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 1564
mnInitialFrameId = 1562
576 Frames set to lost
not IMU meas
First KF:428; Map init KF:427
New Map created with 45 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1567
mnInitialFrameId = 1565
578 Frames set to lost
not IMU meas
not enough acceleration
First KF:429; Map init KF:428
New Map created with 44 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1571
mnInitialFrameId = 1568
580 Frames set to lost
not IMU meas
not enough acceleration
First KF:430; Map init KF:429
New Map created with 42 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1575
mnInitialFrameId = 1572
582 Frames set to lost
not IMU meas
First KF:431; Map init KF:430
New Map created with 61 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1578
mnInitialFrameId = 1576
584 Frames set to lost
not IMU meas
First KF:432; Map init KF:431
New Map created with 60 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1581
mnInitialFrameId = 1579
586 Frames set to lost
not IMU meas
First KF:433; Map init KF:432
New Map created with 41 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1584
mnInitialFrameId = 1582
587 Frames set to lost
not IMU meas
not enough acceleration
First KF:434; Map init KF:433
New Map created with 33 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1588
mnInitialFrameId = 1585
588 Frames set to lost
not IMU meas
not enough acceleration
First KF:435; Map init KF:434
New Map created with 51 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1592
mnInitialFrameId = 1589
589 Frames set to lost
not IMU meas
First KF:436; Map init KF:435
New Map created with 29 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1595
mnInitialFrameId = 1593
590 Frames set to lost
not IMU meas
First KF:437; Map init KF:436
New Map created with 24 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1598
mnInitialFrameId = 1596
592 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1716267749.855172078, 1403636766.689648503]: Shutdown request received.[0m
[33m[ WARN] [1716267749.856221572, 1403636766.689648503]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1716267749.875310616, 1403636766.689648503]: Shutdown request received.[0m
[33m[ WARN] [1716267749.875349625, 1403636766.689648503]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_TUM_Format.txt ...
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/d3d3ad7e-172e-11ef-bfd5-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [3365][0m
[31m[orb_node-2] process has died [pid 102, exit code -11, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Stereo_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml true /camera/left/image_raw:=/camera/left/image_raw /camera/right/image_raw:=/camera/right/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/d3d3ad7e-172e-11ef-bfd5-0242ac110005/orb_node-2.log].
log file: /root/.ros/log/d3d3ad7e-172e-11ef-bfd5-0242ac110005/orb_node-2*.log[0m
