LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 8982 mnInitialFrameId = 8980 8786 Frames set to lost not IMU meas Map point vector is empty! First KF:679; Map init KF:668 New Map created with 849 points Not enough motion for initializing. Reseting... TRACK: Reset map because local mapper set the bad imu flag

[Flee-postgra]

when i use roslaunch orb_slam3_ros rs_d435i_rgbd_inertial.launch
it will report this issue, and repeat initiate。
Can you tell me the reason why it cannot be run directly due to repeated initialization?

TRACK: Reset map because local mapper set the bad imu flag
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 8982
mnInitialFrameId = 8980
8786 Frames set to lost
not IMU meas
Map point vector is empty!
First KF:679; Map init KF:668
New Map created with 849 points
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 9140
mnInitialFrameId = 9138
8936 Frames set to lost
not IMU meas
Map point vector is empty!
First KF:690; Map init KF:679
New Map created with 892 points
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 9292
mnInitialFrameId = 9290
9087 Frames set to lost
not IMU meas
Map point vector is empty!
First KF:701; Map init KF:690
New Map created with 888 points
^CNot enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag

[IamRam3]

I am also facing the same issue!
Did you find any solution ? @Flee-postgra

[Flee-postgra]

i have use realsense d435i , and then I recalibrated it, and when moving, just walk forward without rotating too much on the spot, and found that it can be used. I don’t know if it’s due to the way it moves. I hope it can be helpful to you.

[Filippo-Steffenel]

Hello @IamRam3 @Flee-postgra , I'm having the same problem.
I'm running with my own ros bag but it keeps repeatedly initializing.

Do you think the only problem may be the calibration and camera rotation? (I have a realsense d435i too)
Or do you change something else?

[HEEJUN-SHIN]

any solutions??