/SLAM-Hive/slam_hive_results/mapping_results/689/341_orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test_2-29.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/897d7240-1739-11ef-b4ec-0242ac110005/roslaunch-600ef4e8b106-69.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://600ef4e8b106:46849/[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 [84][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo-inertial.launch http://localhost:11311
[1msetting /run_id to 897d7240-1739-11ef-b4ec-0242ac110005[0m
[1mprocess[rosout-1]: started with pid [95][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [101][0m

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo-Inertial

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

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

Camera Parameters: 
- Camera: Pinhole
- Image scale: 1
- fx: 348.164
- fy: 348.164
- cx: 293.961
- cy: 201.761
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 5
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 4.81591

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

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

IMU frequency: 100 Hz
IMU gyro noise: 0.00017 rad/s/sqrt(Hz)
IMU gyro walk: 1.9393e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.002 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.003 m/s^3/sqrt(Hz)
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1716272156.485646963]: 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 71 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, 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
First KF:1; Map init KF:0
New Map created with 33 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 = 4
mnInitialFrameId = 2
2 Frames set to lost
not IMU meas
First KF:2; Map init KF:1
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 = 7
mnInitialFrameId = 5
3 Frames set to lost
not IMU meas
First KF:3; Map init KF:2
New Map created with 48 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 10
mnInitialFrameId = 8
4 Frames set to lost
not IMU meas
First KF:4; Map init KF:3
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 = 13
mnInitialFrameId = 11
5 Frames set to lost
not IMU meas
First KF:5; Map init KF:4
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 = 16
mnInitialFrameId = 14
6 Frames set to lost
not IMU meas
First KF:6; Map init KF:5
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 = 19
mnInitialFrameId = 17
7 Frames set to lost
not IMU meas
First KF:7; Map init KF:6
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 = 22
mnInitialFrameId = 20
9 Frames set to lost
not IMU meas
First KF:8; Map init KF:7
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 = 25
mnInitialFrameId = 23
11 Frames set to lost
not IMU meas
First KF:9; Map init KF:8
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 = 28
mnInitialFrameId = 26
13 Frames set to lost
not IMU meas
First KF:10; Map init KF:9
New Map created with 52 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 31
mnInitialFrameId = 29
14 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
First KF:11; Map init KF:10
New Map created with 77 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 40
mnInitialFrameId = 32
15 Frames set to lost
not IMU meas
not enough acceleration
First KF:12; Map init KF:11
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 = 44
mnInitialFrameId = 41
16 Frames set to lost
not IMU meas
First KF:13; Map init KF:12
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 = 47
mnInitialFrameId = 45
17 Frames set to lost
not IMU meas
First KF:14; Map init KF:13
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 = 50
mnInitialFrameId = 48
18 Frames set to lost
not IMU meas
First KF:15; Map init KF:14
New Map created with 57 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 53
mnInitialFrameId = 51
19 Frames set to lost
not IMU meas
First KF:16; Map init KF:15
New Map created with 70 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 56
mnInitialFrameId = 54
20 Frames set to lost
not IMU meas
First KF:17; Map init KF:16
New Map created with 58 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 59
mnInitialFrameId = 57
21 Frames set to lost
not IMU meas
First KF:18; Map init KF:17
New Map created with 58 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 62
mnInitialFrameId = 60
22 Frames set to lost
not IMU meas
First KF:19; Map init KF:18
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 = 65
mnInitialFrameId = 63
23 Frames set to lost
not IMU meas
First KF:20; Map init KF:19
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 = 68
mnInitialFrameId = 66
25 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
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:21; Map init KF:20
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!!!
not IMU meas
First KF:22; Map init KF:21
New Map created with 36 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 159
mnInitialFrameId = 157
27 Frames set to lost
not IMU meas
First KF:23; Map init KF:22
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 = 162
mnInitialFrameId = 160
28 Frames set to lost
not IMU meas
First KF:24; Map init KF:23
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 = 165
mnInitialFrameId = 163
29 Frames set to lost
not IMU meas
First KF:25; Map init KF:24
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...
First KF:26; Map init KF:25
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 = 171
mnInitialFrameId = 169
31 Frames set to lost
not IMU meas
First KF:27; Map init KF:26
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 = 174
mnInitialFrameId = 172
32 Frames set to lost
not IMU meas
First KF:28; Map init KF:27
New Map created with 10 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 177
mnInitialFrameId = 175
33 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:29; Map init KF:28
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 = 184
mnInitialFrameId = 178
34 Frames set to lost
not IMU meas
First KF:30; Map init KF:29
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 = 187
mnInitialFrameId = 185
35 Frames set to lost
not IMU meas
First KF:31; Map init KF:30
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 = 190
mnInitialFrameId = 188
36 Frames set to lost
not IMU meas
not enough acceleration
First KF:32; Map init KF:31
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 = 194
mnInitialFrameId = 191
38 Frames set to lost
not IMU meas
First KF:33; Map init KF:32
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 = 197
mnInitialFrameId = 195
39 Frames set to lost
not IMU meas
not enough acceleration
First KF:34; Map init KF:33
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 = 201
mnInitialFrameId = 198
40 Frames set to lost
not IMU meas
First KF:35; Map init KF:34
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 = 204
mnInitialFrameId = 202
41 Frames set to lost
not IMU meas
First KF:36; Map init KF:35
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 = 207
mnInitialFrameId = 205
42 Frames set to lost
not IMU meas
First KF:37; Map init KF:36
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 = 210
mnInitialFrameId = 208
43 Frames set to lost
not IMU meas
First KF:38; Map init KF:37
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 = 213
mnInitialFrameId = 211
44 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:39; Map init KF:38
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 = 218
mnInitialFrameId = 214
45 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:40; Map init KF:39
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 = 223
mnInitialFrameId = 219
46 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:41; Map init KF:40
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 = 228
mnInitialFrameId = 224
47 Frames set to lost
not IMU meas
First KF:42; Map init KF:41
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 = 231
mnInitialFrameId = 229
48 Frames set to lost
not IMU meas
First KF:43; Map init KF:42
New Map created with 28 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
not IMU meas
First KF:44; Map init KF:43
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 = 237
mnInitialFrameId = 235
50 Frames set to lost
not IMU meas
not enough acceleration
First KF:45; Map init KF:44
New Map created with 27 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 = 241
mnInitialFrameId = 238
51 Frames set to lost
not IMU meas
not enough acceleration
First KF:46; Map init KF:45
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 = 245
mnInitialFrameId = 242
52 Frames set to lost
not IMU meas
First KF:47; Map init KF:46
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 = 248
mnInitialFrameId = 246
53 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:48; Map init KF:47
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 = 253
mnInitialFrameId = 249
54 Frames set to lost
not IMU meas
First KF:49; Map init KF:48
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 = 256
mnInitialFrameId = 254
55 Frames set to lost
not IMU meas
First KF:50; Map init KF:49
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 = 259
mnInitialFrameId = 257
56 Frames set to lost
not IMU meas
First KF:51; Map init KF:50
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 = 262
mnInitialFrameId = 260
57 Frames set to lost
not IMU meas
First KF:52; Map init KF:51
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 = 265
mnInitialFrameId = 263
58 Frames set to lost
not IMU meas
First KF:53; Map init KF:52
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 = 268
mnInitialFrameId = 266
59 Frames set to lost
not IMU meas
not enough acceleration
First KF:54; Map init KF:53
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 = 272
mnInitialFrameId = 269
60 Frames set to lost
not IMU meas
First KF:55; Map init KF:54
New Map created with 56 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 275
mnInitialFrameId = 273
61 Frames set to lost
not IMU meas
not enough acceleration
First KF:56; Map init KF:55
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 = 279
mnInitialFrameId = 276
62 Frames set to lost
not IMU meas
not enough acceleration
First KF:57; Map init KF:56
New Map created with 52 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 283
mnInitialFrameId = 280
63 Frames set to lost
not IMU meas
not enough acceleration
First KF:58; Map init KF:57
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 = 287
mnInitialFrameId = 284
64 Frames set to lost
not IMU meas
not enough acceleration
First KF:59; Map init KF:58
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 = 291
mnInitialFrameId = 288
65 Frames set to lost
not IMU meas
First KF:60; Map init KF:59
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...
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
67 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:62; Map init KF:60
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 = 300
mnInitialFrameId = 295
70 Frames set to lost
not IMU meas
First KF:64; Map init KF:62
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 = 304
mnInitialFrameId = 302
72 Frames set to lost
not IMU meas
First KF:65; Map init KF:64
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 = 307
mnInitialFrameId = 305
73 Frames set to lost
not IMU meas
First KF:66; Map init KF:65
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 = 310
mnInitialFrameId = 308
74 Frames set to lost
not IMU meas
First KF:67; Map init KF:66
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 = 313
mnInitialFrameId = 311
75 Frames set to lost
not IMU meas
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 316
mnInitialFrameId = 314
76 Frames set to lost
not IMU meas
First KF:69; Map init KF:68
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 = 319
mnInitialFrameId = 317
77 Frames set to lost
not IMU meas
First KF:70; Map init KF:69
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 = 322
mnInitialFrameId = 320
78 Frames set to lost
not IMU meas
First KF:71; Map init KF:70
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 = 325
mnInitialFrameId = 323
79 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:72; Map init KF:71
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 = 330
mnInitialFrameId = 326
80 Frames set to lost
not IMU meas
First KF:73; Map init KF:72
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 = 333
mnInitialFrameId = 331
81 Frames set to lost
not IMU meas
First KF:74; Map init KF:73
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 = 336
mnInitialFrameId = 334
82 Frames set to lost
not IMU meas
First KF:75; Map init KF:74
New Map created with 47 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 = 339
mnInitialFrameId = 337
83 Frames set to lost
not IMU meas
First KF:76; Map init KF:75
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 = 342
mnInitialFrameId = 340
84 Frames set to lost
not IMU meas
First KF:77; Map init KF:76
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 = 345
mnInitialFrameId = 343
85 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:78; Map init KF:77
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 = 350
mnInitialFrameId = 346
86 Frames set to lost
not IMU meas
not enough acceleration
First KF:79; Map init KF:78
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 = 354
mnInitialFrameId = 351
87 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:80; Map init KF:79
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 = 359
mnInitialFrameId = 355
88 Frames set to lost
not IMU meas
not enough acceleration
First KF:81; Map init KF:80
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 = 363
mnInitialFrameId = 360
89 Frames set to lost
not IMU meas
First KF:82; Map init KF:81
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 = 366
mnInitialFrameId = 364
90 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 = 366
mnInitialFrameId = 367
89 Frames set to lost
not IMU meas
First KF:83; Map init KF:82
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
First KF:84; Map init KF:83
New Map created with 48 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 374
mnInitialFrameId = 372
92 Frames set to lost
not IMU meas
First KF:85; Map init KF:84
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 = 377
mnInitialFrameId = 375
93 Frames set to lost
not IMU meas
not enough acceleration
First KF:86; Map init KF:85
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 = 381
mnInitialFrameId = 378
94 Frames set to lost
not IMU meas
First KF:87; Map init KF:86
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 = 384
mnInitialFrameId = 382
95 Frames set to lost
not IMU meas
First KF:88; Map init KF:87
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 = 387
mnInitialFrameId = 385
96 Frames set to lost
not IMU meas
First KF:89; Map init KF:88
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 = 390
mnInitialFrameId = 388
97 Frames set to lost
not IMU meas
First KF:90; Map init KF:89
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 = 393
mnInitialFrameId = 391
99 Frames set to lost
not IMU meas
First KF:91; Map init KF:90
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 = 396
mnInitialFrameId = 394
100 Frames set to lost
not IMU meas
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 = 396
mnInitialFrameId = 397
99 Frames set to lost
not IMU meas
First KF:92; Map init KF:91
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 = 403
mnInitialFrameId = 401
101 Frames set to lost
not IMU meas
not enough acceleration
First KF:93; Map init KF:92
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 = 407
mnInitialFrameId = 404
102 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:94; Map init KF:93
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 = 413
mnInitialFrameId = 408
103 Frames set to lost
not IMU meas
not enough acceleration
First KF:95; Map init KF:94
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 = 417
mnInitialFrameId = 414
104 Frames set to lost
not IMU meas
First KF:96; Map init KF:95
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 = 420
mnInitialFrameId = 418
105 Frames set to lost
not IMU meas
First KF:97; Map init KF:96
New Map created with 34 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 423
mnInitialFrameId = 421
106 Frames set to lost
not IMU meas
First KF:98; Map init KF:97
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 = 426
mnInitialFrameId = 424
107 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:99; Map init KF:98
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 = 431
mnInitialFrameId = 427
108 Frames set to lost
not IMU meas
First KF:100; Map init KF:99
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 = 434
mnInitialFrameId = 432
109 Frames set to lost
not IMU meas
First KF:101; Map init KF:100
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 = 437
mnInitialFrameId = 435
110 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:102; Map init KF:101
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 = 443
mnInitialFrameId = 438
111 Frames set to lost
not IMU meas
not enough acceleration
First KF:103; Map init KF:102
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 = 447
mnInitialFrameId = 444
112 Frames set to lost
not IMU meas
First KF:104; Map init KF:103
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 = 450
mnInitialFrameId = 448
113 Frames set to lost
not IMU meas
not enough acceleration
First KF:105; Map init KF:104
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 = 454
mnInitialFrameId = 451
114 Frames set to lost
not IMU meas
First KF:106; Map init KF:105
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 = 457
mnInitialFrameId = 455
115 Frames set to lost
not IMU meas
First KF:107; Map init KF:106
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 = 460
mnInitialFrameId = 458
116 Frames set to lost
not IMU meas
First KF:108; Map init KF:107
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 = 463
mnInitialFrameId = 461
118 Frames set to lost
not IMU meas
First KF:109; Map init KF:108
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 = 466
mnInitialFrameId = 464
119 Frames set to lost
not IMU meas
not enough acceleration
First KF:110; Map init KF:109
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 = 470
mnInitialFrameId = 467
120 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 = 473
mnInitialFrameId = 471
121 Frames set to lost
not IMU meas
not enough acceleration
First KF:112; Map init KF:111
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 = 477
mnInitialFrameId = 474
122 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:113; Map init KF:112
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 = 483
mnInitialFrameId = 478
125 Frames set to lost
not IMU meas
not enough acceleration
First KF:115; Map init KF:113
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 = 488
mnInitialFrameId = 485
126 Frames set to lost
not IMU meas
not enough acceleration
First KF:116; Map init KF:115
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 = 492
mnInitialFrameId = 489
127 Frames set to lost
not IMU meas
First KF:117; Map init KF:116
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 = 495
mnInitialFrameId = 493
128 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:118; Map init KF:117
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 = 500
mnInitialFrameId = 496
129 Frames set to lost
not IMU meas
First KF:119; Map init KF:118
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 = 503
mnInitialFrameId = 501
130 Frames set to lost
not IMU meas
First KF:120; Map init KF:119
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 = 506
mnInitialFrameId = 504
131 Frames set to lost
not IMU meas
not enough acceleration
First KF:121; Map init KF:120
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 = 510
mnInitialFrameId = 507
132 Frames set to lost
not IMU meas
First KF:122; Map init KF:121
New Map created with 21 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 513
mnInitialFrameId = 511
133 Frames set to lost
not IMU meas
First KF:123; Map init KF:122
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 = 516
mnInitialFrameId = 514
134 Frames set to lost
not IMU meas
First KF:124; Map init KF:123
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 = 519
mnInitialFrameId = 517
135 Frames set to lost
not IMU meas
First KF:125; Map init KF:124
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 = 522
mnInitialFrameId = 520
136 Frames set to lost
not IMU meas
not enough acceleration
First KF:126; Map init KF:125
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 = 526
mnInitialFrameId = 523
137 Frames set to lost
not IMU meas
First KF:127; Map init KF:126
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 = 529
mnInitialFrameId = 527
138 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:128; Map init KF:127
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 = 534
mnInitialFrameId = 530
139 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:129; Map init KF:128
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 = 540
mnInitialFrameId = 535
140 Frames set to lost
not IMU meas
First KF:130; Map init KF:129
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 = 543
mnInitialFrameId = 541
141 Frames set to lost
not IMU meas
First KF:131; Map init KF:130
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 = 546
mnInitialFrameId = 544
142 Frames set to lost
not IMU meas
First KF:132; Map init KF:131
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 = 549
mnInitialFrameId = 547
143 Frames set to lost
not IMU meas
First KF:133; Map init KF:132
New Map created with 7 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 552
mnInitialFrameId = 550
144 Frames set to lost
not IMU meas
First KF:134; Map init KF:133
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 = 555
mnInitialFrameId = 553
145 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:135; Map init KF:134
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 = 560
mnInitialFrameId = 556
146 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:136; Map init KF:135
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 = 567
mnInitialFrameId = 561
147 Frames set to lost
not IMU meas
First KF:137; Map init KF:136
New Map created with 34 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 570
mnInitialFrameId = 568
148 Frames set to lost
not IMU meas
First KF:138; Map init KF:137
New Map created with 19 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 573
mnInitialFrameId = 571
149 Frames set to lost
not IMU meas
First KF:139; Map init KF:138
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 = 576
mnInitialFrameId = 574
150 Frames set to lost
not IMU meas
First KF:140; Map init KF:139
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 = 579
mnInitialFrameId = 577
151 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:141; Map init KF:140
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 = 585
mnInitialFrameId = 580
152 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
First KF:142; Map init KF:141
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 = 595
mnInitialFrameId = 586
153 Frames set to lost
not IMU meas
not enough acceleration
First KF:143; Map init KF:142
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 = 599
mnInitialFrameId = 596
154 Frames set to lost
not IMU meas
First KF:144; Map init KF:143
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 = 602
mnInitialFrameId = 600
155 Frames set to lost
not IMU meas
not enough acceleration
First KF:145; Map init KF:144
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 = 606
mnInitialFrameId = 603
156 Frames set to lost
not IMU meas
not enough acceleration
First KF:146; Map init KF:145
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 = 610
mnInitialFrameId = 607
157 Frames set to lost
not IMU meas
First KF:147; Map init KF:146
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 = 613
mnInitialFrameId = 611
158 Frames set to lost
not IMU meas
not enough acceleration
First KF:148; Map init KF:147
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 = 617
mnInitialFrameId = 614
159 Frames set to lost
not IMU meas
First KF:149; Map init KF:148
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 = 620
mnInitialFrameId = 618
160 Frames set to lost
not IMU meas
First KF:150; Map init KF:149
New Map created with 52 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 623
mnInitialFrameId = 621
161 Frames set to lost
not IMU meas
First KF:151; Map init KF:150
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 = 626
mnInitialFrameId = 624
162 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1716272350.136146557, 1403636766.694596097]: Shutdown request received.[0m
[33m[ WARN] [1716272350.137257463, 1403636766.694596097]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1716272350.154755573, 1403636766.694596097]: Shutdown request received.[0m
[33m[ WARN] [1716272350.154803492, 1403636766.694596097]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_TUM_Format.txt ...
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/897d7240-1739-11ef-b4ec-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1416][0m
[31m[orb_node-2] process has died [pid 101, exit code -11, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Stereo_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml true /camera/left/image_raw:=/camera/left/image_raw /camera/right/image_raw:=/camera/right/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/897d7240-1739-11ef-b4ec-0242ac110005/orb_node-2.log].
log file: /root/.ros/log/897d7240-1739-11ef-b4ec-0242ac110005/orb_node-2*.log[0m
