/SLAM-Hive/slam_hive_results/mapping_results/693/345_orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test_2-33.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c5684a08-173b-11ef-a202-0242ac110005/roslaunch-396096623c8d-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://396096623c8d:38369/[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 c5684a08-173b-11ef-a202-0242ac110005[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [102][0m

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

Input sensor was set to: Stereo-Inertial

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

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

Camera Parameters: 
- Camera: Pinhole
- Image scale: 1
- fx: 348.164
- fy: 348.164
- cx: 293.961
- cy: 201.761
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 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: 50 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] [1716273115.399569285]: 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: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 4
mnInitialFrameId = 2
2 Frames set to lost
not IMU meas
First KF:2; Map init KF:1
New Map created with 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
First KF:12; Map init KF:11
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 = 43
mnInitialFrameId = 41
17 Frames set to lost
not IMU meas
First KF:13; Map init KF:12
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 = 46
mnInitialFrameId = 44
18 Frames set to lost
not IMU meas
First KF:14; Map init KF:13
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 = 49
mnInitialFrameId = 47
19 Frames set to lost
not IMU meas
First KF:15; Map init KF:14
New Map created with 51 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 52
mnInitialFrameId = 50
20 Frames set to lost
not IMU meas
First KF:16; Map init KF:15
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 = 55
mnInitialFrameId = 53
21 Frames set to lost
not IMU meas
First KF:17; Map init KF:16
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 = 58
mnInitialFrameId = 56
22 Frames set to lost
not IMU meas
First KF:18; Map init KF:17
New Map created with 63 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 61
mnInitialFrameId = 59
23 Frames set to lost
not IMU meas
First KF:19; Map init KF:18
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 = 64
mnInitialFrameId = 62
24 Frames set to lost
not IMU meas
First KF:20; Map init KF:19
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 = 67
mnInitialFrameId = 65
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
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...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
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...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 168
mnInitialFrameId = 166
30 Frames set to lost
not IMU meas
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
not enough acceleration
First KF:27; Map init KF:26
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 = 175
mnInitialFrameId = 172
32 Frames set to lost
not IMU meas
First KF:28; Map init KF:27
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 = 178
mnInitialFrameId = 176
33 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:29; Map init KF:28
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 = 183
mnInitialFrameId = 179
34 Frames set to lost
not IMU meas
First KF:30; Map init KF:29
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 = 186
mnInitialFrameId = 184
35 Frames set to lost
not IMU meas
First KF:31; Map init KF:30
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 = 189
mnInitialFrameId = 187
36 Frames set to lost
not IMU meas
First KF:32; Map init KF:31
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 = 192
mnInitialFrameId = 190
37 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 = 195
mnInitialFrameId = 193
38 Frames set to lost
not IMU meas
First KF:34; Map init KF:33
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 = 198
mnInitialFrameId = 196
40 Frames set to lost
not IMU meas
First KF:35; Map init KF:34
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 = 199
41 Frames set to lost
not IMU meas
First KF:36; Map init KF:35
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
42 Frames set to lost
not IMU meas
First KF:37; Map init KF:36
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
43 Frames set to lost
not IMU meas
First KF:38; Map init KF:37
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 = 210
mnInitialFrameId = 208
44 Frames set to lost
not IMU meas
First KF:39; Map init KF:38
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
45 Frames set to lost
not IMU meas
First KF:40; Map init KF:39
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 = 216
mnInitialFrameId = 214
46 Frames set to lost
not IMU meas
not enough acceleration
First KF:41; Map init KF:40
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 = 220
mnInitialFrameId = 217
47 Frames set to lost
not IMU meas
not enough acceleration
First KF:42; Map init KF:41
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 = 224
mnInitialFrameId = 221
48 Frames set to lost
not IMU meas
not enough acceleration
First KF:43; Map init KF:42
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 = 225
49 Frames set to lost
not IMU meas
First KF:44; Map init KF:43
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
50 Frames set to lost
not IMU meas
First KF:45; Map init KF:44
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 = 234
mnInitialFrameId = 232
51 Frames set to lost
not IMU meas
First KF:46; Map init KF:45
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
52 Frames set to lost
not IMU meas
First KF:47; Map init KF:46
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 = 240
mnInitialFrameId = 238
53 Frames set to lost
not IMU meas
First KF:48; Map init KF:47
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 = 243
mnInitialFrameId = 241
54 Frames set to lost
not IMU meas
First KF:49; Map init KF:48
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 = 246
mnInitialFrameId = 244
55 Frames set to lost
not enough acceleration
First KF:50; Map init KF:49
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 = 250
mnInitialFrameId = 247
56 Frames set to lost
not IMU meas
First KF:51; Map init KF:50
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 = 251
57 Frames set to lost
not IMU meas
First KF:52; Map init KF:51
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
58 Frames set to lost
not IMU meas
First KF:53; Map init KF:52
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
59 Frames set to lost
not IMU meas
First KF:54; Map init KF:53
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
60 Frames set to lost
not IMU meas
First KF:55; Map init KF:54
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
61 Frames set to lost
not IMU meas
First KF:56; Map init KF:55
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
62 Frames set to lost
not IMU meas
not enough acceleration
First KF:57; Map init KF:56
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
63 Frames set to lost
not IMU meas
First KF:58; Map init KF:57
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
64 Frames set to lost
not IMU meas
not enough acceleration
First KF:59; Map init KF:58
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
65 Frames set to lost
not IMU meas
not enough acceleration
First KF:60; Map init KF:59
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
66 Frames set to lost
not IMU meas
First KF:61; Map init KF:60
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 = 286
mnInitialFrameId = 284
67 Frames set to lost
not IMU meas
First KF:62; Map init KF:61
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 = 289
mnInitialFrameId = 287
69 Frames set to lost
not IMU meas
not enough acceleration
First KF:63; Map init KF:62
New Map created with 62 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 293
mnInitialFrameId = 290
70 Frames set to lost
not IMU meas
First KF:64; Map init KF:63
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 = 296
mnInitialFrameId = 294
72 Frames set to lost
not IMU meas
First KF:65; Map init KF:64
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 = 299
mnInitialFrameId = 297
73 Frames set to lost
not IMU meas
First KF:66; Map init KF:65
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 = 302
mnInitialFrameId = 300
74 Frames set to lost
not IMU meas
First KF:67; Map init KF:66
New Map created with 53 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 305
mnInitialFrameId = 303
75 Frames set to lost
not IMU meas
First KF:68; Map init KF:67
New Map created with 49 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 308
mnInitialFrameId = 306
76 Frames set to lost
not IMU meas
First KF:69; Map init KF:68
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 = 311
mnInitialFrameId = 309
77 Frames set to lost
not IMU meas
First KF:70; Map init KF:69
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!!!
not IMU meas
First KF:71; Map init KF:70
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 = 317
mnInitialFrameId = 315
79 Frames set to lost
First KF:72; Map init KF:71
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 = 320
mnInitialFrameId = 318
80 Frames set to lost
not IMU meas
First KF:73; Map init KF:72
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 = 323
mnInitialFrameId = 321
81 Frames set to lost
not IMU meas
not enough acceleration
First KF:74; Map init KF:73
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 = 327
mnInitialFrameId = 324
82 Frames set to lost
not IMU meas
First KF:75; Map init KF:74
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 = 328
83 Frames set to lost
not IMU meas
First KF:76; Map init KF:75
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
84 Frames set to lost
not IMU meas
First KF:77; Map init KF:76
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 = 336
mnInitialFrameId = 334
85 Frames set to lost
not IMU meas
First KF:78; Map init KF:77
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
86 Frames set to lost
not IMU meas
First KF:79; Map init KF:78
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
87 Frames set to lost
not IMU meas
not enough acceleration
First KF:80; Map init KF:79
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 = 346
mnInitialFrameId = 343
88 Frames set to lost
not IMU meas
First KF:81; Map init KF:80
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 = 349
mnInitialFrameId = 347
89 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:82; Map init KF:81
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 = 350
90 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:83; Map init KF:82
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
91 Frames set to lost
not IMU meas
not enough acceleration
First KF:84; Map init KF:83
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
92 Frames set to lost
not IMU meas
First KF:85; Map init KF:84
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
93 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
92 Frames set to lost
not IMU meas
First KF:86; Map init KF:85
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:87; Map init KF:86
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
95 Frames set to lost
not IMU meas
First KF:88; Map init KF:87
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
96 Frames set to lost
not IMU meas
First KF:89; Map init KF:88
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...
mnFirstFrameId = 380
mnInitialFrameId = 378
97 Frames set to lost
not IMU meas
First KF:90; Map init KF:89
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 = 383
mnInitialFrameId = 381
98 Frames set to lost
not IMU meas
First KF:91; Map init KF:90
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 = 386
mnInitialFrameId = 384
99 Frames set to lost
not IMU meas
First KF:92; Map init KF:91
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...
not IMU meas
First KF:93; Map init KF:92
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 = 392
mnInitialFrameId = 390
101 Frames set to lost
not IMU meas
First KF:94; Map init KF:93
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 = 395
mnInitialFrameId = 393
102 Frames set to lost
not IMU meas
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 = 398
mnInitialFrameId = 396
103 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 = 398
mnInitialFrameId = 399
102 Frames set to lost
not IMU meas
First KF:96; Map init KF:95
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
104 Frames set to lost
not IMU meas
not enough acceleration
First KF:97; Map init KF:96
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
105 Frames set to lost
not IMU meas
First KF:98; Map init KF:97
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 = 410
mnInitialFrameId = 408
106 Frames set to lost
not IMU meas
First KF:99; Map init KF:98
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 = 411
107 Frames set to lost
not IMU meas
not enough acceleration
First KF:100; Map init KF:99
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
108 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...
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
109 Frames set to lost
not IMU meas
First KF:102; Map init KF:101
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
110 Frames set to lost
not IMU meas
First KF:103; Map init KF:102
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
111 Frames set to lost
not IMU meas
First KF:104; Map init KF:103
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
not IMU meas
First KF:105; Map init KF:104
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 = 432
mnInitialFrameId = 430
113 Frames set to lost
not IMU meas
First KF:106; Map init KF:105
New Map created with 33 points
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 435
mnInitialFrameId = 433
114 Frames set to lost
not IMU meas
First KF:107; Map init KF:106
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 = 438
mnInitialFrameId = 436
115 Frames set to lost
not IMU meas
First KF:108; Map init KF:107
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 = 441
mnInitialFrameId = 439
116 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...
not IMU meas
First KF:110; Map init KF:109
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 = 445
118 Frames set to lost
not IMU meas
First KF:111; Map init KF:110
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
119 Frames set to lost
not IMU meas
not enough acceleration
First KF:112; Map init KF:111
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
120 Frames set to lost
not IMU meas
First KF:113; Map init KF:112
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
121 Frames set to lost
not IMU meas
First KF:114; Map init KF:113
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
122 Frames set to lost
not IMU meas
First KF:115; Map init KF:114
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
124 Frames set to lost
not IMU meas
First KF:116; Map init KF:115
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
125 Frames set to lost
not IMU meas
First KF:117; Map init KF:116
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 = 469
mnInitialFrameId = 467
126 Frames set to lost
not IMU meas
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 = 472
mnInitialFrameId = 470
127 Frames set to lost
not IMU meas
First KF:119; Map init KF:118
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 = 475
mnInitialFrameId = 473
128 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:120; Map init KF:119
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 = 480
mnInitialFrameId = 476
129 Frames set to lost
not IMU meas
First KF:121; Map init KF:120
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...
mnFirstFrameId = 483
mnInitialFrameId = 481
131 Frames set to lost
not IMU meas
First KF:122; Map init KF:121
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...
not IMU meas
First KF:123; Map init KF:122
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 = 489
mnInitialFrameId = 487
133 Frames set to lost
not IMU meas
First KF:124; Map init KF:123
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 = 490
134 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:125; Map init KF:124
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 = 497
mnInitialFrameId = 493
135 Frames set to lost
not IMU meas
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...
mnFirstFrameId = 500
mnInitialFrameId = 498
136 Frames set to lost
not IMU meas
First KF:127; Map init KF:126
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
137 Frames set to lost
not IMU meas
First KF:128; Map init KF:127
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
138 Frames set to lost
not IMU meas
First KF:129; Map init KF:128
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 = 509
mnInitialFrameId = 507
139 Frames set to lost
not IMU meas
not enough acceleration
First KF:130; Map init KF:129
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 = 510
140 Frames set to lost
not IMU meas
First KF:131; Map init KF:130
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
141 Frames set to lost
not IMU meas
First KF:132; Map init KF:131
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
142 Frames set to lost
not IMU meas
First KF:133; Map init KF:132
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
143 Frames set to lost
not IMU meas
First KF:134; Map init KF:133
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 = 525
mnInitialFrameId = 523
144 Frames set to lost
not IMU meas
First KF:135; Map init KF:134
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 528
mnInitialFrameId = 526
145 Frames set to lost
not IMU meas
First KF:136; Map init KF:135
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...
not IMU meas
First KF:137; Map init KF:136
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 = 532
147 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:138; Map init KF:137
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
148 Frames set to lost
not IMU meas
not enough acceleration
First KF:139; Map init KF:138
New Map created with 14 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 544
mnInitialFrameId = 541
149 Frames set to lost
not IMU meas
not enough acceleration
First KF:140; Map init KF:139
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 = 548
mnInitialFrameId = 545
150 Frames set to lost
not IMU meas
First KF:141; Map init KF:140
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 = 551
mnInitialFrameId = 549
151 Frames set to lost
not IMU meas
First KF:142; Map init KF:141
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 = 554
mnInitialFrameId = 552
152 Frames set to lost
not IMU meas
not enough acceleration
First KF:143; Map init KF:142
New Map created with 14 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 558
mnInitialFrameId = 555
153 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:144; Map init KF:143
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 = 563
mnInitialFrameId = 559
154 Frames set to lost
not IMU meas
First KF:145; Map init KF:144
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 = 566
mnInitialFrameId = 564
155 Frames set to lost
not IMU meas
First KF:146; Map init KF:145
New Map created with 27 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 569
mnInitialFrameId = 567
156 Frames set to lost
not IMU meas
not enough acceleration
First KF:147; Map init KF:146
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 = 570
157 Frames set to lost
not IMU meas
First KF:148; Map init KF:147
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
158 Frames set to lost
not IMU meas
First KF:149; Map init KF:148
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
159 Frames set to lost
not IMU meas
First KF:150; Map init KF:149
New Map created with 15 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 582
mnInitialFrameId = 580
160 Frames set to lost
not IMU meas
First KF:151; Map init KF:150
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 = 583
161 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:152; Map init KF:151
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 = 592
mnInitialFrameId = 586
162 Frames set to lost
not IMU meas
First KF:153; Map init KF:152
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 = 593
163 Frames set to lost
not IMU meas
not enough acceleration
First KF:154; Map init KF:153
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...
First KF:155; Map init KF:154
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
165 Frames set to lost
not IMU meas
not enough acceleration
First KF:156; Map init KF:155
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
166 Frames set to lost
not IMU meas
not enough acceleration
First KF:157; Map init KF:156
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
167 Frames set to lost
not IMU meas
First KF:158; Map init KF:157
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
168 Frames set to lost
not IMU meas
not enough acceleration
First KF:159; Map init KF:158
New Map created with 26 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
not IMU meas
not enough acceleration
First KF:160; Map init KF:159
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 = 621
mnInitialFrameId = 618
170 Frames set to lost
not IMU meas
not enough acceleration
First KF:161; Map init KF:160
New Map created with 46 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 625
mnInitialFrameId = 622
171 Frames set to lost
not IMU meas
First KF:162; Map init KF:161
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 = 628
mnInitialFrameId = 626
173 Frames set to lost
not IMU meas

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1716273309.044365607, 1403636766.694109831]: Shutdown request received.[0m
[33m[ WARN] [1716273309.045422611, 1403636766.694109831]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1716273309.065540700, 1403636766.694109831]: Shutdown request received.[0m
[33m[ WARN] [1716273309.065573284, 1403636766.694109831]: 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/c5684a08-173b-11ef-a202-0242ac110005/rosout-1*.log[0m
[31m[orb_node-2] process has died [pid 102, exit code -11, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Stereo_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml true /camera/left/image_raw:=/camera/left/image_raw /camera/right/image_raw:=/camera/right/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/c5684a08-173b-11ef-a202-0242ac110005/orb_node-2.log].
log file: /root/.ros/log/c5684a08-173b-11ef-a202-0242ac110005/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1417][0m
