/SLAM-Hive/slam_hive_results/mapping_results/671/323_orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test_2-6.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/63d3d444-172f-11ef-8d4b-0242ac110005/roslaunch-95e331a00355-70.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://95e331a00355:41035/[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 63d3d444-172f-11ef-8d4b-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: 261.123
- fy: 261.123
- cx: 220.471
- cy: 151.321
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 20
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 6.42121

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] [1716267797.712543999]: 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.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 0.00 
not IMU meas
First KF:0; Map init KF:0
New Map created with 46 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 = 1
mnInitialFrameId = 0
1 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 = 1
mnInitialFrameId = 2
0 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:1; Map init KF:0
New Map created with 40 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 = 101
mnInitialFrameId = 48
3 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
First KF:2; Map init KF:1
New Map created with 39 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
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 = 130
mnInitialFrameId = 103
64 Frames set to lost
not IMU meas
First KF:20; Map init KF:2
New Map created with 75 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 = 192
mnInitialFrameId = 190
66 Frames set to lost
not IMU meas
First KF:21; Map init KF:20
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 = 195
mnInitialFrameId = 193
68 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 = 195
mnInitialFrameId = 196
67 Frames set to lost
not IMU meas
First KF:22; Map init KF:21
New Map created with 33 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 = 200
mnInitialFrameId = 198
69 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 = 200
mnInitialFrameId = 201
68 Frames set to lost
not IMU meas
First KF:23; Map init KF:22
New Map created with 80 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 = 205
mnInitialFrameId = 203
71 Frames set to lost
not IMU meas
First KF:24; Map init KF:23
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 = 208
mnInitialFrameId = 206
75 Frames set to lost
not IMU meas
First KF:25; Map init KF:24
New Map created with 116 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 = 213
mnInitialFrameId = 211
95 Frames set to lost
not IMU meas
First KF:29; Map init KF:25
New Map created with 82 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 = 235
mnInitialFrameId = 233
99 Frames set to lost
not IMU meas
not enough acceleration
First KF:31; Map init KF:29
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 = 241
mnInitialFrameId = 238
101 Frames set to lost
not IMU meas
First KF:33; Map init KF:31
New Map created with 66 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 = 244
mnInitialFrameId = 242
103 Frames set to lost
not IMU meas
First KF:34; Map init KF:33
New Map created with 88 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 = 247
mnInitialFrameId = 245
105 Frames set to lost
not IMU meas
First KF:35; Map init KF:34
New Map created with 74 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 = 250
mnInitialFrameId = 248
108 Frames set to lost
not IMU meas
First KF:36; Map init KF:35
New Map created with 75 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 = 254
mnInitialFrameId = 252
111 Frames set to lost
not IMU meas
First KF:37; Map init KF:36
New Map created with 119 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
120 Frames set to lost
not IMU meas
First KF:41; Map init KF:37
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 = 268
mnInitialFrameId = 266
123 Frames set to lost
not IMU meas
not enough acceleration
First KF:42; Map init KF:41
New Map created with 112 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 = 273
mnInitialFrameId = 270
134 Frames set to lost
not IMU meas
First KF:45; Map init KF:42
New Map created with 77 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:46; Map init KF:45
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 = 288
mnInitialFrameId = 286
138 Frames set to lost
not IMU meas
First KF:47; Map init KF:46
New Map created with 65 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 = 291
mnInitialFrameId = 289
140 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 = 294
mnInitialFrameId = 292
142 Frames set to lost
not IMU meas
First KF:49; Map init KF:48
New Map created with 74 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
144 Frames set to lost
not IMU meas
First KF:50; Map init KF:49
New Map created with 83 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 = 300
mnInitialFrameId = 298
146 Frames set to lost
not IMU meas
First KF:51; Map init KF:50
New Map created with 81 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 = 303
mnInitialFrameId = 301
148 Frames set to lost
not IMU meas
First KF:52; Map init KF:51
New Map created with 77 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 = 306
mnInitialFrameId = 304
152 Frames set to lost
not IMU meas
First KF:53; Map init KF:52
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 = 311
mnInitialFrameId = 309
154 Frames set to lost
not IMU meas
not enough acceleration
First KF:54; Map init KF:53
New Map created with 66 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 = 315
mnInitialFrameId = 312
156 Frames set to lost
not IMU meas
First KF:55; Map init KF:54
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 = 318
mnInitialFrameId = 316
158 Frames set to lost
not IMU meas
First KF:56; Map init KF:55
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 = 321
mnInitialFrameId = 319
160 Frames set to lost
not IMU meas
First KF:57; Map init KF:56
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...
mnFirstFrameId = 324
mnInitialFrameId = 322
162 Frames set to lost
not IMU meas
First KF:58; Map init KF:57
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 = 327
mnInitialFrameId = 325
164 Frames set to lost
not IMU meas
First KF:59; Map init KF:58
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 = 330
mnInitialFrameId = 328
165 Frames set to lost
not IMU meas
First KF:60; Map init KF:59
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 = 333
mnInitialFrameId = 331
167 Frames set to lost
not IMU meas
not enough acceleration
First KF:61; Map init KF:60
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 = 337
mnInitialFrameId = 334
168 Frames set to lost
not IMU meas
not enough acceleration
First KF:62; Map init KF:61
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 = 341
mnInitialFrameId = 338
169 Frames set to lost
not IMU meas
not enough acceleration
First KF:63; Map init KF:62
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 = 345
mnInitialFrameId = 342
170 Frames set to lost
not IMU meas
First KF:64; Map init KF:63
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 = 348
mnInitialFrameId = 346
171 Frames set to lost
not IMU meas
First KF:65; Map init KF:64
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 = 351
mnInitialFrameId = 349
172 Frames set to lost
not IMU meas
First KF:66; Map init KF:65
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 = 354
mnInitialFrameId = 352
174 Frames set to lost
not IMU meas
First KF:67; Map init KF:66
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 = 357
mnInitialFrameId = 355
175 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:68; Map init KF:67
New Map created with 35 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 362
mnInitialFrameId = 358
176 Frames set to lost
not IMU meas
not enough acceleration
First KF:69; Map init KF:68
New Map created with 43 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 366
mnInitialFrameId = 363
177 Frames set to lost
not IMU meas
First KF:70; Map init KF:69
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 = 369
mnInitialFrameId = 367
179 Frames set to lost
not IMU meas
First KF:71; Map init KF:70
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 = 372
mnInitialFrameId = 370
180 Frames set to lost
not IMU meas
First KF:72; Map init KF:71
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 = 375
mnInitialFrameId = 373
182 Frames set to lost
not IMU meas
First KF:73; Map init KF:72
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 = 378
mnInitialFrameId = 376
184 Frames set to lost
not IMU meas
First KF:75; Map init KF:73
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 = 381
mnInitialFrameId = 379
186 Frames set to lost
not IMU meas
First KF:76; Map init KF:75
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 = 384
mnInitialFrameId = 382
187 Frames set to lost
not IMU meas
First KF:77; Map init KF:76
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 = 387
mnInitialFrameId = 385
189 Frames set to lost
not IMU meas
not enough acceleration
First KF:78; Map init KF:77
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 = 391
mnInitialFrameId = 388
190 Frames set to lost
not IMU meas
not enough acceleration
First KF:79; Map init KF:78
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 = 395
mnInitialFrameId = 392
191 Frames set to lost
not IMU meas
First KF:80; Map init KF:79
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 = 398
mnInitialFrameId = 396
193 Frames set to lost
not IMU meas
First KF:81; Map init KF:80
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...
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 = 404
mnInitialFrameId = 402
197 Frames set to lost
not IMU meas
not enough acceleration
First KF:83; Map init KF:82
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 = 408
mnInitialFrameId = 405
199 Frames set to lost
not IMU meas
First KF:84; Map init KF:83
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 = 411
mnInitialFrameId = 409
200 Frames set to lost
not IMU meas
First KF:85; Map init KF:84
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 = 414
mnInitialFrameId = 412
201 Frames set to lost
not IMU meas
not enough acceleration
First KF:86; Map init KF:85
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 = 418
mnInitialFrameId = 415
203 Frames set to lost
not IMU meas
First KF:87; Map init KF:86
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 = 421
mnInitialFrameId = 419
205 Frames set to lost
not IMU meas
First KF:88; Map init KF:87
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 = 424
mnInitialFrameId = 422
207 Frames set to lost
not IMU meas
First KF:89; Map init KF:88
New Map created with 58 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 = 427
mnInitialFrameId = 425
209 Frames set to lost
not IMU meas
First KF:90; Map init KF:89
New Map created with 57 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 = 430
mnInitialFrameId = 428
211 Frames set to lost
not IMU meas
First KF:91; Map init KF:90
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...
mnFirstFrameId = 433
mnInitialFrameId = 431
213 Frames set to lost
not IMU meas
First KF:92; Map init KF:91
New Map created with 58 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 = 436
mnInitialFrameId = 434
215 Frames set to lost
not IMU meas
First KF:93; Map init KF:92
New Map created with 58 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 = 439
mnInitialFrameId = 437
217 Frames set to lost
not IMU meas
First KF:94; Map init KF:93
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 = 442
mnInitialFrameId = 440
219 Frames set to lost
not IMU meas
not enough acceleration
First KF:95; Map init KF:94
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 = 446
mnInitialFrameId = 443
221 Frames set to lost
not IMU meas
First KF:96; Map init KF:95
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 = 449
mnInitialFrameId = 447
223 Frames set to lost
not IMU meas
First KF:97; Map init KF:96
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 = 452
mnInitialFrameId = 450
225 Frames set to lost
not IMU meas
not enough acceleration
First KF:98; Map init KF:97
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 = 456
mnInitialFrameId = 453
226 Frames set to lost
not IMU meas
First KF:99; Map init KF:98
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 = 459
mnInitialFrameId = 457
227 Frames set to lost
not IMU meas
not enough acceleration
First KF:100; Map init KF:99
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 = 463
mnInitialFrameId = 460
228 Frames set to lost
not IMU meas
not enough acceleration
First KF:101; Map init KF:100
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 = 467
mnInitialFrameId = 464
229 Frames set to lost
not IMU meas
First KF:102; Map init KF:101
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 = 470
mnInitialFrameId = 468
230 Frames set to lost
not IMU meas
First KF:103; Map init KF:102
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 = 473
mnInitialFrameId = 471
232 Frames set to lost
not IMU meas
First KF:104; Map init KF:103
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 = 476
mnInitialFrameId = 474
234 Frames set to lost
not IMU meas
First KF:105; Map init KF:104
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...
mnFirstFrameId = 479
mnInitialFrameId = 477
236 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:106; Map init KF:105
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...
mnFirstFrameId = 485
mnInitialFrameId = 480
237 Frames set to lost
not IMU meas
First KF:107; Map init KF:106
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 = 488
mnInitialFrameId = 486
238 Frames set to lost
First KF:109; Map init KF:108
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 = 496
mnInitialFrameId = 494
240 Frames set to lost
not IMU meas
First KF:110; Map init KF:109
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 = 499
mnInitialFrameId = 497
241 Frames set to lost
not IMU meas
First KF:111; Map init KF:110
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 = 502
mnInitialFrameId = 500
242 Frames set to lost
not IMU meas
First KF:112; Map init KF:111
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 = 505
mnInitialFrameId = 503
243 Frames set to lost
not IMU meas
First KF:113; Map init KF:112
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 = 508
mnInitialFrameId = 506
244 Frames set to lost
not IMU meas
First KF:114; Map init KF:113
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 = 511
mnInitialFrameId = 509
245 Frames set to lost
not IMU meas
First KF:115; Map init KF:114
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...
mnFirstFrameId = 514
mnInitialFrameId = 512
247 Frames set to lost
not IMU meas
First KF:116; Map init KF:115
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 = 517
mnInitialFrameId = 515
248 Frames set to lost
not IMU meas
First KF:117; Map init KF:116
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 = 520
mnInitialFrameId = 518
250 Frames set to lost
not IMU meas
First KF:118; Map init KF:117
New Map created with 67 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 = 523
mnInitialFrameId = 521
252 Frames set to lost
not IMU meas
First KF:119; Map init KF:118
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 = 526
mnInitialFrameId = 524
254 Frames set to lost
not IMU meas
First KF:120; Map init KF:119
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 = 529
mnInitialFrameId = 527
256 Frames set to lost
not IMU meas
First KF:121; Map init KF:120
New Map created with 67 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:122; Map init KF:121
New Map created with 74 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 = 535
mnInitialFrameId = 533
260 Frames set to lost
not IMU meas
First KF:123; Map init KF:122
New Map created with 69 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 538
mnInitialFrameId = 536
261 Frames set to lost
not IMU meas
First KF:124; Map init KF:123
New Map created with 75 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 = 541
mnInitialFrameId = 539
263 Frames set to lost
not IMU meas
First KF:125; Map init KF:124
New Map created with 58 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 = 544
mnInitialFrameId = 542
265 Frames set to lost
not IMU meas
First KF:126; Map init KF:125
New Map created with 68 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 = 547
mnInitialFrameId = 545
267 Frames set to lost
not IMU meas
First KF:127; Map init KF:126
New Map created with 75 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 = 550
mnInitialFrameId = 548
269 Frames set to lost
not IMU meas
First KF:128; Map init KF:127
New Map created with 64 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 = 553
mnInitialFrameId = 551
271 Frames set to lost
not IMU meas
First KF:129; Map init KF:128
New Map created with 86 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 = 556
mnInitialFrameId = 554
273 Frames set to lost
not IMU meas
First KF:130; Map init KF:129
New Map created with 77 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 = 559
mnInitialFrameId = 557
275 Frames set to lost
not IMU meas
First KF:131; Map init KF:130
New Map created with 97 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 = 562
mnInitialFrameId = 560
278 Frames set to lost
not IMU meas
not enough acceleration
First KF:132; Map init KF:131
New Map created with 80 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 567
mnInitialFrameId = 564
279 Frames set to lost
not IMU meas
First KF:133; Map init KF:132
New Map created with 64 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
not enough acceleration
First KF:134; Map init KF:133
New Map created with 84 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 = 574
mnInitialFrameId = 571
283 Frames set to lost
not IMU meas
First KF:135; Map init KF:134
New Map created with 82 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 = 577
mnInitialFrameId = 575
285 Frames set to lost
not IMU meas
not enough acceleration
First KF:136; Map init KF:135
New Map created with 95 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 = 581
mnInitialFrameId = 578
288 Frames set to lost
not IMU meas
First KF:137; Map init KF:136
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 = 585
mnInitialFrameId = 583
290 Frames set to lost
not IMU meas
not enough acceleration
First KF:138; Map init KF:137
New Map created with 82 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 = 589
mnInitialFrameId = 586
292 Frames set to lost
not IMU meas
not enough acceleration
First KF:139; Map init KF:138
New Map created with 74 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 = 593
mnInitialFrameId = 590
294 Frames set to lost
not IMU meas
First KF:140; Map init KF:139
New Map created with 68 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 596
mnInitialFrameId = 594
295 Frames set to lost
not IMU meas
First KF:141; Map init KF:140
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...
mnFirstFrameId = 599
mnInitialFrameId = 597
297 Frames set to lost
not IMU meas
First KF:142; Map init KF:141
New Map created with 58 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 = 602
mnInitialFrameId = 600
299 Frames set to lost
not IMU meas
First KF:143; Map init KF:142
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 = 605
mnInitialFrameId = 603
301 Frames set to lost
not IMU meas
not enough acceleration
First KF:144; Map init KF:143
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 = 609
mnInitialFrameId = 606
303 Frames set to lost
not IMU meas
First KF:145; Map init KF:144
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 = 612
mnInitialFrameId = 610
305 Frames set to lost
not IMU meas
First KF:146; Map init KF:145
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 = 615
mnInitialFrameId = 613
307 Frames set to lost
not IMU meas
not enough acceleration
First KF:147; Map init KF:146
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 = 619
mnInitialFrameId = 616
309 Frames set to lost
not IMU meas
First KF:148; Map init KF:147
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 = 622
mnInitialFrameId = 620
311 Frames set to lost
not IMU meas
First KF:149; Map init KF:148
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 = 625
mnInitialFrameId = 623
313 Frames set to lost
not IMU meas
First KF:150; Map init KF:149
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...
mnFirstFrameId = 628
mnInitialFrameId = 626
315 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:151; Map init KF:150
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 = 634
mnInitialFrameId = 629
317 Frames set to lost
not IMU meas
First KF:152; Map init KF:151
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 = 637
mnInitialFrameId = 635
319 Frames set to lost
not IMU meas
First KF:153; Map init KF:152
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 = 640
mnInitialFrameId = 638
321 Frames set to lost
not IMU meas
not enough acceleration
First KF:154; Map init KF:153
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!!!
not IMU meas
First KF:155; Map init KF:154
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 = 647
mnInitialFrameId = 645
325 Frames set to lost
not IMU meas
not enough acceleration
First KF:156; Map init KF:155
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 = 651
mnInitialFrameId = 648
326 Frames set to lost
not IMU meas
First KF:157; Map init KF:156
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 = 654
mnInitialFrameId = 652
328 Frames set to lost
not IMU meas
First KF:158; Map init KF:157
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 = 657
mnInitialFrameId = 655
330 Frames set to lost
not IMU meas
First KF:159; Map init KF:158
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 = 660
mnInitialFrameId = 658
332 Frames set to lost
not IMU meas
First KF:160; Map init KF:159
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 = 663
mnInitialFrameId = 661
334 Frames set to lost
not IMU meas
First KF:161; Map init KF:160
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...
mnFirstFrameId = 666
mnInitialFrameId = 664
336 Frames set to lost
not IMU meas
not enough acceleration
First KF:162; Map init KF:161
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 = 670
mnInitialFrameId = 667
338 Frames set to lost
not IMU meas
First KF:163; Map init KF:162
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 = 673
mnInitialFrameId = 671
340 Frames set to lost
not IMU meas
First KF:164; Map init KF:163
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...
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, 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
342 Frames set to lost
not IMU meas
First KF:166; Map init KF:165
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 = 682
mnInitialFrameId = 680
344 Frames set to lost
not IMU meas
First KF:167; Map init KF:166
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 = 685
mnInitialFrameId = 683
345 Frames set to lost
not IMU meas
First KF:168; Map init KF:167
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 = 688
mnInitialFrameId = 686
346 Frames set to lost
not IMU meas
First KF:169; Map init KF:168
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 = 691
mnInitialFrameId = 689
347 Frames set to lost
not IMU meas
First KF:170; Map init KF:169
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 = 694
mnInitialFrameId = 692
348 Frames set to lost
not IMU meas
First KF:171; Map init KF:170
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 = 697
mnInitialFrameId = 695
349 Frames set to lost
not IMU meas
First KF:172; Map init KF:171
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 = 700
mnInitialFrameId = 698
350 Frames set to lost
not IMU meas
not enough acceleration
First KF:173; Map init KF:172
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 = 704
mnInitialFrameId = 701
351 Frames set to lost
not IMU meas
First KF:174; Map init KF:173
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 = 707
mnInitialFrameId = 705
352 Frames set to lost
not IMU meas
First KF:175; Map init KF:174
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 = 710
mnInitialFrameId = 708
353 Frames set to lost
not IMU meas
First KF:176; Map init KF:175
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 = 713
mnInitialFrameId = 711
354 Frames set to lost
not IMU meas
First KF:177; Map init KF:176
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 = 716
mnInitialFrameId = 714
356 Frames set to lost
not IMU meas
First KF:178; Map init KF:177
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 = 719
mnInitialFrameId = 717
357 Frames set to lost
not IMU meas
First KF:179; Map init KF:178
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 = 722
mnInitialFrameId = 720
359 Frames set to lost
not IMU meas
not enough acceleration
First KF:180; Map init KF:179
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 = 726
mnInitialFrameId = 723
361 Frames set to lost
not IMU meas
First KF:181; Map init KF:180
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 = 729
mnInitialFrameId = 727
362 Frames set to lost
not IMU meas
First KF:182; Map init KF:181
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 = 732
mnInitialFrameId = 730
364 Frames set to lost
not IMU meas
First KF:183; Map init KF:182
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 = 735
mnInitialFrameId = 733
366 Frames set to lost
not IMU meas
First KF:184; Map init KF:183
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 = 738
mnInitialFrameId = 736
368 Frames set to lost
not IMU meas
not enough acceleration
First KF:185; Map init KF:184
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 = 742
mnInitialFrameId = 739
370 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:186; Map init KF:185
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...
mnFirstFrameId = 748
mnInitialFrameId = 743
372 Frames set to lost
not IMU meas
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 = 751
mnInitialFrameId = 749
374 Frames set to lost
not IMU meas
not enough acceleration
First KF:188; Map init KF:187
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 = 755
mnInitialFrameId = 752
375 Frames set to lost
not IMU meas
First KF:189; Map init KF:188
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 = 758
mnInitialFrameId = 756
377 Frames set to lost
not IMU meas
not enough acceleration
First KF:190; Map init KF:189
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 = 762
mnInitialFrameId = 759
379 Frames set to lost
not IMU meas
not enough acceleration
First KF:191; Map init KF:190
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 = 766
mnInitialFrameId = 763
381 Frames set to lost
not IMU meas
First KF:192; Map init KF:191
New Map created with 58 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 = 769
mnInitialFrameId = 767
383 Frames set to lost
not IMU meas
First KF:193; Map init KF:192
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 = 772
mnInitialFrameId = 770
385 Frames set to lost
not IMU meas
First KF:194; Map init KF:193
New Map created with 67 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 = 775
mnInitialFrameId = 773
387 Frames set to lost
not IMU meas
First KF:195; Map init KF:194
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...
not IMU meas
First KF:196; Map init KF:195
New Map created with 70 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 = 781
mnInitialFrameId = 779
391 Frames set to lost
not IMU meas
First KF:197; Map init KF:196
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 = 784
mnInitialFrameId = 782
393 Frames set to lost
not IMU meas
First KF:198; Map init KF:197
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 = 787
mnInitialFrameId = 785
395 Frames set to lost
not IMU meas
First KF:199; Map init KF:198
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 = 790
mnInitialFrameId = 788
397 Frames set to lost
not IMU meas
not enough acceleration
First KF:200; Map init KF:199
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 = 794
mnInitialFrameId = 791
399 Frames set to lost
not IMU meas
First KF:201; Map init KF:200
New Map created with 60 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, 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
400 Frames set to lost
not IMU meas
not enough acceleration
First KF:202; Map init KF:201
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...
mnFirstFrameId = 801
mnInitialFrameId = 798
402 Frames set to lost
not IMU meas
First KF:203; Map init KF:202
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!!!
not IMU meas
First KF:204; Map init KF:203
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 = 807
mnInitialFrameId = 805
404 Frames set to lost
not IMU meas
not enough acceleration
First KF:205; Map init KF:204
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 = 811
mnInitialFrameId = 808
406 Frames set to lost
not IMU meas
First KF:206; Map init KF:205
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 = 814
mnInitialFrameId = 812
408 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:207; Map init KF:206
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...
mnFirstFrameId = 819
mnInitialFrameId = 815
410 Frames set to lost
not IMU meas
First KF:208; Map init KF:207
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 = 822
mnInitialFrameId = 820
412 Frames set to lost
not IMU meas
First KF:209; Map init KF:208
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 = 825
mnInitialFrameId = 823
414 Frames set to lost
not IMU meas
First KF:210; Map init KF:209
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 = 828
mnInitialFrameId = 826
415 Frames set to lost
not IMU meas
First KF:211; Map init KF:210
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 = 831
mnInitialFrameId = 829
417 Frames set to lost
not IMU meas
First KF:212; Map init KF:211
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 = 834
mnInitialFrameId = 832
418 Frames set to lost
not IMU meas
First KF:213; Map init KF:212
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 = 837
mnInitialFrameId = 835
419 Frames set to lost
not IMU meas
not enough acceleration
First KF:214; Map init KF:213
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 = 841
mnInitialFrameId = 838
420 Frames set to lost
not IMU meas
First KF:215; Map init KF:214
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 = 844
mnInitialFrameId = 842
421 Frames set to lost
not IMU meas
First KF:216; Map init KF:215
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 = 847
mnInitialFrameId = 845
422 Frames set to lost
not IMU meas
First KF:217; Map init KF:216
New Map created with 69 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 = 850
mnInitialFrameId = 848
424 Frames set to lost
not IMU meas
First KF:218; Map init KF:217
New Map created with 80 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 = 853
mnInitialFrameId = 851
426 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:219; Map init KF:218
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...
mnFirstFrameId = 858
mnInitialFrameId = 854
428 Frames set to lost
not IMU meas
First KF:220; Map init KF:219
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 = 861
mnInitialFrameId = 859
430 Frames set to lost
not IMU meas
First KF:221; Map init KF:220
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 = 864
mnInitialFrameId = 862
432 Frames set to lost
not IMU meas
First KF:222; Map init KF:221
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 = 867
mnInitialFrameId = 865
433 Frames set to lost
not IMU meas
not enough acceleration
First KF:223; Map init KF:222
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...
mnFirstFrameId = 871
mnInitialFrameId = 868
435 Frames set to lost
not IMU meas
not enough acceleration
First KF:224; Map init KF:223
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 = 875
mnInitialFrameId = 872
436 Frames set to lost
not IMU meas
not enough acceleration
First KF:225; Map init KF:224
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 = 879
mnInitialFrameId = 876
437 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:226; Map init KF:225
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...
mnFirstFrameId = 884
mnInitialFrameId = 880
439 Frames set to lost
not IMU meas
First KF:227; Map init KF:226
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 = 887
mnInitialFrameId = 885
440 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:228; Map init KF:227
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 = 892
mnInitialFrameId = 888
441 Frames set to lost
not IMU meas
First KF:229; Map init KF:228
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 = 895
mnInitialFrameId = 893
443 Frames set to lost
not IMU meas
First KF:230; Map init KF:229
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 = 898
mnInitialFrameId = 896
445 Frames set to lost
not IMU meas
First KF:231; Map init KF:230
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 = 901
mnInitialFrameId = 899
447 Frames set to lost
not IMU meas
not enough acceleration
First KF:232; Map init KF:231
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 = 905
mnInitialFrameId = 902
449 Frames set to lost
not IMU meas
First KF:233; Map init KF:232
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...
mnFirstFrameId = 908
mnInitialFrameId = 906
451 Frames set to lost
not IMU meas
First KF:234; Map init KF:233
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...
not IMU meas
First KF:235; Map init KF:234
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 = 914
mnInitialFrameId = 912
455 Frames set to lost
not IMU meas
First KF:236; Map init KF:235
New Map created with 64 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 = 917
mnInitialFrameId = 915
457 Frames set to lost
not IMU meas
First KF:237; Map init KF:236
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 = 920
mnInitialFrameId = 918
459 Frames set to lost
not IMU meas
First KF:238; Map init KF:237
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 = 923
mnInitialFrameId = 921
461 Frames set to lost
not IMU meas
not enough acceleration
First KF:239; Map init KF:238
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 = 927
mnInitialFrameId = 924
463 Frames set to lost
not IMU meas
First KF:240; Map init KF:239
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...
mnFirstFrameId = 930
mnInitialFrameId = 928
465 Frames set to lost
not IMU meas
First KF:241; Map init KF:240
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 = 933
mnInitialFrameId = 931
467 Frames set to lost
not IMU meas
not enough acceleration
First KF:242; Map init KF:241
New Map created with 66 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 = 937
mnInitialFrameId = 934
469 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:243; Map init KF:242
New Map created with 63 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 = 942
mnInitialFrameId = 938
471 Frames set to lost
not IMU meas
First KF:244; Map init KF:243
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 = 945
mnInitialFrameId = 943
473 Frames set to lost
not IMU meas
First KF:245; Map init KF:244
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 = 948
mnInitialFrameId = 946
475 Frames set to lost
not IMU meas
First KF:246; Map init KF:245
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 = 951
mnInitialFrameId = 949
477 Frames set to lost
not IMU meas
First KF:247; Map init KF:246
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...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 954
mnInitialFrameId = 952
478 Frames set to lost
not IMU meas
First KF:248; Map init KF:247
New Map created with 43 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 957
mnInitialFrameId = 955
480 Frames set to lost
not IMU meas
First KF:249; Map init KF:248
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!!!
not IMU meas
First KF:250; Map init KF:249
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 = 963
mnInitialFrameId = 961
484 Frames set to lost
not IMU meas
First KF:251; Map init KF:250
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 = 966
mnInitialFrameId = 964
486 Frames set to lost
not IMU meas
First KF:252; Map init KF:251
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!!!
not IMU meas
not enough acceleration
not enough acceleration
First KF:253; Map init KF:252
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!!!
not IMU meas
not enough acceleration
First KF:254; Map init KF:253
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...
mnFirstFrameId = 978
mnInitialFrameId = 975
491 Frames set to lost
not IMU meas
First KF:255; Map init KF:254
New Map created with 54 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 = 981
mnInitialFrameId = 979
493 Frames set to lost
not IMU meas
First KF:256; Map init KF:255
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 = 984
mnInitialFrameId = 982
494 Frames set to lost
not IMU meas
not enough acceleration
First KF:257; Map init KF:256
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 = 988
mnInitialFrameId = 985
496 Frames set to lost
not IMU meas
First KF:258; Map init KF:257
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 = 991
mnInitialFrameId = 989
498 Frames set to lost
not IMU meas
First KF:259; Map init KF:258
New Map created with 61 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 = 992
499 Frames set to lost
not IMU meas
First KF:260; Map init KF:259
New Map created with 64 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 = 997
mnInitialFrameId = 995
501 Frames set to lost
not IMU meas
First KF:261; Map init KF:260
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 = 1000
mnInitialFrameId = 998
503 Frames set to lost
not IMU meas
First KF:262; Map init KF:261
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 = 1003
mnInitialFrameId = 1001
505 Frames set to lost
not IMU meas
First KF:263; Map init KF:262
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 = 1006
mnInitialFrameId = 1004
507 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:264; Map init KF:263
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 = 1012
mnInitialFrameId = 1007
509 Frames set to lost
not IMU meas
First KF:265; Map init KF:264
New Map created with 58 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 = 1015
mnInitialFrameId = 1013
511 Frames set to lost
not IMU meas
First KF:266; Map init KF:265
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 = 1018
mnInitialFrameId = 1016
513 Frames set to lost
not IMU meas
First KF:267; Map init KF:266
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...
mnFirstFrameId = 1021
mnInitialFrameId = 1019
515 Frames set to lost
not IMU meas
First KF:268; Map init KF:267
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...
mnFirstFrameId = 1024
mnInitialFrameId = 1022
517 Frames set to lost
not IMU meas
First KF:269; Map init KF:268
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 = 1027
mnInitialFrameId = 1025
519 Frames set to lost
not IMU meas
First KF:270; Map init KF:269
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!!!
not IMU meas
First KF:271; Map init KF:270
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 = 1033
mnInitialFrameId = 1031
523 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:272; Map init KF:271
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 = 1038
mnInitialFrameId = 1034
525 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:273; Map init KF:272
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 = 1043
mnInitialFrameId = 1039
527 Frames set to lost
not IMU meas
First KF:274; Map init KF:273
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 = 1046
mnInitialFrameId = 1044
529 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:275; Map init KF:274
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 = 1051
mnInitialFrameId = 1047
531 Frames set to lost
not IMU meas
First KF:276; Map init KF:275
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 = 1054
mnInitialFrameId = 1052
533 Frames set to lost
not IMU meas
First KF:277; Map init KF:276
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 = 1057
mnInitialFrameId = 1055
535 Frames set to lost
not IMU meas
not enough acceleration
First KF:278; Map init KF:277
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 = 1061
mnInitialFrameId = 1058
536 Frames set to lost
not IMU meas
First KF:279; Map init KF:278
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 = 1064
mnInitialFrameId = 1062
537 Frames set to lost
not IMU meas
First KF:280; Map init KF:279
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...
mnFirstFrameId = 1067
mnInitialFrameId = 1065
539 Frames set to lost
not IMU meas
First KF:281; Map init KF:280
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
541 Frames set to lost
not IMU meas
First KF:282; Map init KF:281
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 = 1073
mnInitialFrameId = 1071
543 Frames set to lost
not IMU meas
First KF:283; Map init KF:282
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 = 1076
mnInitialFrameId = 1074
544 Frames set to lost
not IMU meas
First KF:284; Map init KF:283
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 = 1079
mnInitialFrameId = 1077
546 Frames set to lost
not IMU meas
First KF:285; Map init KF:284
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 = 1082
mnInitialFrameId = 1080
547 Frames set to lost
not IMU meas
First KF:286; Map init KF:285
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 = 1085
mnInitialFrameId = 1083
549 Frames set to lost
not IMU meas
First KF:287; Map init KF:286
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!!!
not IMU meas
First KF:288; Map init KF:287
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 = 1091
mnInitialFrameId = 1089
552 Frames set to lost
not IMU meas
First KF:289; Map init KF:288
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 = 1094
mnInitialFrameId = 1092
553 Frames set to lost
not IMU meas
First KF:290; Map init KF:289
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 = 1097
mnInitialFrameId = 1095
555 Frames set to lost
not IMU meas
First KF:291; Map init KF:290
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 = 1100
mnInitialFrameId = 1098
556 Frames set to lost
not IMU meas
First KF:292; Map init KF:291
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 = 1103
mnInitialFrameId = 1101
557 Frames set to lost
not IMU meas
First KF:293; Map init KF:292
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 = 1106
mnInitialFrameId = 1104
558 Frames set to lost
not IMU meas
First KF:294; Map init KF:293
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 = 1109
mnInitialFrameId = 1107
560 Frames set to lost
not IMU meas
First KF:295; Map init KF:294
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 = 1112
mnInitialFrameId = 1110
562 Frames set to lost
not IMU meas
First KF:296; Map init KF:295
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 = 1115
mnInitialFrameId = 1113
564 Frames set to lost
not IMU meas
First KF:297; Map init KF:296
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 = 1118
mnInitialFrameId = 1116
566 Frames set to lost
not IMU meas
not enough acceleration
First KF:298; Map init KF:297
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...
mnFirstFrameId = 1122
mnInitialFrameId = 1119
568 Frames set to lost
not IMU meas
First KF:299; Map init KF:298
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 = 1125
mnInitialFrameId = 1123
570 Frames set to lost
not IMU meas
First KF:300; Map init KF:299
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...
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
571 Frames set to lost
not IMU meas
not enough acceleration
First KF:301; Map init KF:300
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 = 1132
mnInitialFrameId = 1129
573 Frames set to lost
not IMU meas
not enough acceleration
First KF:302; Map init KF:301
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 = 1136
mnInitialFrameId = 1133
575 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:303; Map init KF:302
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 = 1142
mnInitialFrameId = 1137
577 Frames set to lost
not IMU meas
First KF:304; Map init KF:303
New Map created with 30 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 = 1145
mnInitialFrameId = 1143
579 Frames set to lost
not IMU meas
First KF:305; Map init KF:304
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 = 1148
mnInitialFrameId = 1146
580 Frames set to lost
not IMU meas
First KF:306; Map init KF:305
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 = 1151
mnInitialFrameId = 1149
582 Frames set to lost
not IMU meas
not enough acceleration
First KF:307; Map init KF:306
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 = 1155
mnInitialFrameId = 1152
584 Frames set to lost
not IMU meas
First KF:308; Map init KF:307
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...
mnFirstFrameId = 1158
mnInitialFrameId = 1156
586 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:309; Map init KF:308
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 = 1164
mnInitialFrameId = 1159
587 Frames set to lost
not IMU meas
First KF:310; Map init KF:309
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 = 1167
mnInitialFrameId = 1165
588 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:311; Map init KF:310
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 = 1172
mnInitialFrameId = 1168
590 Frames set to lost
not IMU meas
First KF:312; Map init KF:311
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 = 1175
mnInitialFrameId = 1173
592 Frames set to lost
not IMU meas
not enough acceleration
First KF:313; Map init KF:312
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 = 1179
mnInitialFrameId = 1176
593 Frames set to lost
not IMU meas
First KF:314; Map init KF:313
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 = 1182
mnInitialFrameId = 1180
595 Frames set to lost
not IMU meas
First KF:315; Map init KF:314
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 = 1185
mnInitialFrameId = 1183
597 Frames set to lost
not IMU meas
First KF:316; Map init KF:315
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 = 1188
mnInitialFrameId = 1186
598 Frames set to lost
not IMU meas
First KF:317; Map init KF:316
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 = 1191
mnInitialFrameId = 1189
600 Frames set to lost
not IMU meas
First KF:318; Map init KF:317
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 = 1194
mnInitialFrameId = 1192
602 Frames set to lost
not IMU meas
First KF:319; Map init KF:318
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 = 1197
mnInitialFrameId = 1195
603 Frames set to lost
not IMU meas
First KF:320; Map init KF:319
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 = 1200
mnInitialFrameId = 1198
604 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...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1203
mnInitialFrameId = 1201
605 Frames set to lost
not IMU meas
First KF:322; Map init KF:321
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 = 1206
mnInitialFrameId = 1204
606 Frames set to lost
not IMU meas
First KF:323; Map init KF:322
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!!!
not IMU meas
First KF:324; Map init KF:323
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 = 1212
mnInitialFrameId = 1210
608 Frames set to lost
not IMU meas
First KF:325; Map init KF:324
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 = 1215
mnInitialFrameId = 1213
609 Frames set to lost
not IMU meas
First KF:326; Map init KF:325
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 = 1218
mnInitialFrameId = 1216
610 Frames set to lost
not IMU meas
First KF:327; Map init KF:326
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 = 1221
mnInitialFrameId = 1219
611 Frames set to lost
not IMU meas
First KF:328; Map init KF:327
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!!!
not IMU meas
not enough acceleration
not enough acceleration
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 = 1229
mnInitialFrameId = 1225
613 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!!!
mnFirstFrameId = 1232
mnInitialFrameId = 1230
614 Frames set to lost
not IMU meas
not enough acceleration
First KF:331; Map init KF:330
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 = 1236
mnInitialFrameId = 1233
615 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:332; Map init KF:331
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 = 1241
mnInitialFrameId = 1237
616 Frames set to lost
not IMU meas
not enough acceleration
First KF:333; Map init KF:332
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 = 1245
mnInitialFrameId = 1242
617 Frames set to lost
not IMU meas
First KF:334; Map init KF:333
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 = 1248
mnInitialFrameId = 1246
618 Frames set to lost
not IMU meas
not enough acceleration
First KF:335; Map init KF:334
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!!!
not IMU meas
First KF:336; Map init KF:335
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 = 1255
mnInitialFrameId = 1253
620 Frames set to lost
not IMU meas
First KF:337; Map init KF:336
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 = 1258
mnInitialFrameId = 1256
621 Frames set to lost
not IMU meas
First KF:338; Map init KF:337
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 = 1261
mnInitialFrameId = 1259
622 Frames set to lost
not IMU meas
First KF:339; Map init KF:338
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 = 1264
mnInitialFrameId = 1262
623 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:340; Map init KF:339
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 = 1269
mnInitialFrameId = 1265
624 Frames set to lost
not IMU meas
First KF:341; Map init KF:340
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 = 1272
mnInitialFrameId = 1270
625 Frames set to lost
not IMU meas
First KF:342; Map init KF:341
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 = 1275
mnInitialFrameId = 1273
626 Frames set to lost
not IMU meas
First KF:343; Map init KF:342
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 = 1278
mnInitialFrameId = 1276
627 Frames set to lost
not IMU meas
not enough acceleration
First KF:344; Map init KF:343
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 = 1282
mnInitialFrameId = 1279
628 Frames set to lost
not IMU meas
First KF:345; Map init KF:344
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 = 1285
mnInitialFrameId = 1283
629 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...
630 Frames set to lost
not IMU meas
First KF:347; Map init KF:346
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 = 1291
mnInitialFrameId = 1289
631 Frames set to lost
not IMU meas
First KF:348; Map init KF:347
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 = 1294
mnInitialFrameId = 1292
632 Frames set to lost
not IMU meas
First KF:349; Map init KF:348
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...
mnFirstFrameId = 1297
mnInitialFrameId = 1295
633 Frames set to lost
not IMU meas
First KF:350; Map init KF:349
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 = 1300
mnInitialFrameId = 1298
634 Frames set to lost
not IMU meas
not enough acceleration
First KF:351; Map init KF:350
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 = 1304
mnInitialFrameId = 1301
635 Frames set to lost
not IMU meas
not enough acceleration
First KF:352; Map init KF:351
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 = 1308
mnInitialFrameId = 1305
636 Frames set to lost
not IMU meas
First KF:353; Map init KF:352
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 = 1311
mnInitialFrameId = 1309
637 Frames set to lost
not IMU meas
First KF:354; Map init KF:353
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 = 1314
mnInitialFrameId = 1312
638 Frames set to lost
not IMU meas
First KF:355; Map init KF:354
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 = 1317
mnInitialFrameId = 1315
639 Frames set to lost
not IMU meas
First KF:356; Map init KF:355
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 = 1320
mnInitialFrameId = 1318
640 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:357; Map init KF:356
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 = 1325
mnInitialFrameId = 1321
641 Frames set to lost
not IMU meas
First KF:358; Map init KF:357
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 = 1328
mnInitialFrameId = 1326
642 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:359; Map init KF:358
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 = 1335
mnInitialFrameId = 1329
643 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:360; Map init KF:359
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!!!
not IMU meas
First KF:361; Map init KF:360
New Map created with 64 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 = 1343
mnInitialFrameId = 1341
647 Frames set to lost
not IMU meas
First KF:362; Map init KF:361
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 = 1346
mnInitialFrameId = 1344
649 Frames set to lost
not IMU meas
First KF:363; Map init KF:362
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 = 1349
mnInitialFrameId = 1347
651 Frames set to lost
not IMU meas
not enough acceleration
First KF:364; Map init KF:363
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 = 1353
mnInitialFrameId = 1350
653 Frames set to lost
not IMU meas
First KF:365; Map init KF:364
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 = 1356
mnInitialFrameId = 1354
655 Frames set to lost
not IMU meas
First KF:366; Map init KF:365
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 = 1359
mnInitialFrameId = 1357
657 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:367; Map init KF:366
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 = 1364
mnInitialFrameId = 1360
659 Frames set to lost
not IMU meas
First KF:368; Map init KF:367
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 = 1367
mnInitialFrameId = 1365
660 Frames set to lost
not IMU meas
First KF:369; Map init KF:368
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...
mnFirstFrameId = 1370
mnInitialFrameId = 1368
662 Frames set to lost
not IMU meas
not enough acceleration
First KF:370; Map init KF:369
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 = 1374
mnInitialFrameId = 1371
663 Frames set to lost
not IMU meas
First KF:371; Map init KF:370
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:372; Map init KF:371
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 = 1380
mnInitialFrameId = 1378
665 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:373; Map init KF:372
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 = 1385
mnInitialFrameId = 1381
666 Frames set to lost
not IMU meas
First KF:374; Map init KF:373
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 = 1388
mnInitialFrameId = 1386
667 Frames set to lost
not IMU meas
First KF:375; Map init KF:374
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 = 1391
mnInitialFrameId = 1389
669 Frames set to lost
not IMU meas
First KF:376; Map init KF:375
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 = 1394
mnInitialFrameId = 1392
671 Frames set to lost
not IMU meas
First KF:377; Map init KF:376
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!!!
not IMU meas
First KF:378; Map init KF:377
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 = 1400
mnInitialFrameId = 1398
674 Frames set to lost
not IMU meas
First KF:379; Map init KF:378
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 = 1403
mnInitialFrameId = 1401
675 Frames set to lost
not IMU meas
First KF:380; Map init KF:379
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 = 1406
mnInitialFrameId = 1404
676 Frames set to lost
not IMU meas
First KF:381; Map init KF:380
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 = 1409
mnInitialFrameId = 1407
677 Frames set to lost
not IMU meas
not enough acceleration
First KF:382; Map init KF:381
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!!!
not IMU meas
First KF:383; Map init KF:382
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 = 1416
mnInitialFrameId = 1414
679 Frames set to lost
not IMU meas
First KF:384; Map init KF:383
New Map created with 25 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
not enough acceleration
First KF:385; Map init KF:384
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 = 1423
mnInitialFrameId = 1420
681 Frames set to lost
not IMU meas
First KF:386; Map init KF:385
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 = 1426
mnInitialFrameId = 1424
682 Frames set to lost
not IMU meas
not enough acceleration
First KF:387; Map init KF:386
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 = 1430
mnInitialFrameId = 1427
683 Frames set to lost
not IMU meas
First KF:388; Map init KF:387
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 = 1433
mnInitialFrameId = 1431
684 Frames set to lost
not IMU meas
First KF:389; Map init KF:388
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 = 1436
mnInitialFrameId = 1434
685 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:390; Map init KF:389
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...
not IMU meas
First KF:391; Map init KF:390
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 = 1445
mnInitialFrameId = 1443
688 Frames set to lost
not IMU meas
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!!!
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:393; Map init KF:392
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 = 1456
mnInitialFrameId = 1449
690 Frames set to lost
not IMU meas
First KF:394; Map init KF:393
New Map created with 57 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 = 1459
mnInitialFrameId = 1457
692 Frames set to lost
not IMU meas
First KF:395; Map init KF:394
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 = 1462
mnInitialFrameId = 1460
694 Frames set to lost
not IMU meas
First KF:396; Map init KF:395
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 = 1465
mnInitialFrameId = 1463
695 Frames set to lost
not IMU meas
First KF:397; Map init KF:396
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...
mnFirstFrameId = 1468
mnInitialFrameId = 1466
697 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:398; Map init KF:397
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 = 1473
mnInitialFrameId = 1469
699 Frames set to lost
not IMU meas
First KF:399; Map init KF:398
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 = 1476
mnInitialFrameId = 1474
701 Frames set to lost
not IMU meas
First KF:400; Map init KF:399
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 = 1479
mnInitialFrameId = 1477
703 Frames set to lost
not IMU meas
First KF:401; Map init KF:400
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 = 1482
mnInitialFrameId = 1480
704 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:402; Map init KF:401
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 = 1488
mnInitialFrameId = 1483
706 Frames set to lost
not IMU meas
First KF:403; Map init KF:402
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!!!
not IMU meas
First KF:404; Map init KF:403
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 = 1494
mnInitialFrameId = 1492
709 Frames set to lost
not IMU meas
First KF:405; Map init KF:404
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 = 1497
mnInitialFrameId = 1495
710 Frames set to lost
not IMU meas
First KF:406; Map init KF:405
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 = 1500
mnInitialFrameId = 1498
712 Frames set to lost
not IMU meas
First KF:407; Map init KF:406
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 = 1503
mnInitialFrameId = 1501
714 Frames set to lost
not IMU meas
First KF:408; Map init KF:407
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 = 1506
mnInitialFrameId = 1504
716 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:409; Map init KF:408
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 = 1511
mnInitialFrameId = 1507
718 Frames set to lost
not IMU meas
First KF:410; Map init KF:409
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 = 1514
mnInitialFrameId = 1512
719 Frames set to lost
not IMU meas
First KF:411; Map init KF:410
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 = 1517
mnInitialFrameId = 1515
721 Frames set to lost
not IMU meas
First KF:412; Map init KF:411
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 = 1520
mnInitialFrameId = 1518
723 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:413; Map init KF:412
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 = 1525
mnInitialFrameId = 1521
726 Frames set to lost
not IMU meas
First KF:414; Map init KF:413
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 = 1529
mnInitialFrameId = 1527
728 Frames set to lost
not IMU meas
First KF:415; Map init KF:414
New Map created with 57 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 = 1532
mnInitialFrameId = 1530
730 Frames set to lost
not IMU meas
First KF:416; Map init KF:415
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...
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:417; Map init KF:416
New Map created with 68 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 = 1538
mnInitialFrameId = 1536
735 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:418; Map init KF:417
New Map created with 74 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 = 1545
mnInitialFrameId = 1540
737 Frames set to lost
not IMU meas
First KF:419; Map init KF:418
New Map created with 72 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 = 1548
mnInitialFrameId = 1546
739 Frames set to lost
not IMU meas
First KF:420; Map init KF:419
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 = 1551
mnInitialFrameId = 1549
741 Frames set to lost
not IMU meas
not enough acceleration
First KF:421; Map init KF:420
New Map created with 82 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 = 1555
mnInitialFrameId = 1552
743 Frames set to lost
not IMU meas
not enough acceleration
First KF:422; Map init KF:421
New Map created with 95 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 = 1559
mnInitialFrameId = 1556
746 Frames set to lost
not IMU meas
First KF:423; Map init KF:422
New Map created with 98 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 = 1563
mnInitialFrameId = 1561
751 Frames set to lost
not IMU meas
First KF:425; Map init KF:423
New Map created with 97 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 = 1569
mnInitialFrameId = 1567
754 Frames set to lost
not IMU meas
First KF:426; Map init KF:425
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 = 1573
mnInitialFrameId = 1571
756 Frames set to lost
First KF:427; Map init KF:426
New Map created with 79 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 = 1576
mnInitialFrameId = 1574
758 Frames set to lost
not IMU meas
First KF:428; Map init KF:427
New Map created with 54 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 = 1579
mnInitialFrameId = 1577
760 Frames set to lost
not IMU meas
First KF:429; Map init KF:428
New Map created with 61 points

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1716267991.427571287, 1403636766.690368171]: Shutdown request received.[0m
[33m[ WARN] [1716267991.428688534, 1403636766.690368171]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1716267991.445302947, 1403636766.690368171]: Shutdown request received.[0m
[33m[ WARN] [1716267991.445361675, 1403636766.690368171]: 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 ...

Saving camera trajectory to FrameTrajectory_KITTI_Format.txt ...
Map Saving to Map.pcd
Map Saving Finished!
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/63d3d444-172f-11ef-8d4b-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [3333][0m
[31m[orb_node-2] process has died [pid 102, exit code -6, 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/63d3d444-172f-11ef-8d4b-0242ac110005/orb_node-2.log].
log file: /root/.ros/log/63d3d444-172f-11ef-8d4b-0242ac110005/orb_node-2*.log[0m
