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uzh-rpg / rpg_ultimate_slam_open

Open source code for "Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios" RA-L 2018
GNU General Public License v3.0
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Drift badly on Jetson using sample bag #22

Open agelamin opened 1 year ago

agelamin commented 1 year ago

I installed uslam on Jetson Xavier; however it drifts crazy (check the image) using the sample bags, and of course the same using actual event camera.

uslam

I tried different platforms it works fine on all but not Jetson. Any help will be highly appreciated!

agelamin commented 1 year ago

The terminal output:

roslaunch ze_vio_ceres ijrr17.launch bag_filename:=dynamic_6dof.bag

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.

SUMMARY

PARAMETERS

NODES / visualisation (rviz/rviz) ze_vio_ceres (ze_vio_ceres/ze_vio_ceres_node)

auto-starting new master process[master]: started with pid [6026] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 509291c4-4da7-11ee-9e50-28d0ea88c9c6 process[rosout-1]: started with pid [6044] started core service [/rosout] process[ze_vio_ceres-2]: started with pid [6060] process[visualisation-3]: started with pid [6066] I0907 13:52:32.539445 6060 camera_rig.cpp:78] Camera rig contains a DVS camera I0907 13:52:32.555637 6060 camera_rig.cpp:127] Ignoring cam distortion for camera with label: dvs and type: PinholeRadialTangential I0907 13:52:32.556655 6060 camera_rig.cpp:177] Original camera intrinsics: [199.3714346727882, 0, 133.7543807159082; 0, 199.7078674353677, 113.9921699502763; 0, 0, 1] I0907 13:52:32.556823 6060 camera_rig.cpp:178] Rescaled camera intrinsics: [170.47705078125, 0, 137.3570083929808; 0, 179.7189636230469, 117.7374151858621; 0, 0, 1] [ INFO] [1694109152.960084448]: rviz version 1.13.24 [ INFO] [1694109152.960278688]: compiled against Qt version 5.9.5 [ INFO] [1694109152.960326720]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1694109152.980509792]: Forcing OpenGl version 0. I0907 13:52:33.209282 6060 data_provider_factory.cpp:116] FLAGS_data_source = 1 I0907 13:52:33.309429 6060 camera_imu_synchronizer_base.cpp:68] t_cam = t_imu - 2400000 [ns] W0907 13:52:33.312405 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.312544 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.312618 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.312701 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.312781 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.312831 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.312880 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.312950 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313017 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313067 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313112 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313163 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313213 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313268 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313328 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313374 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313650 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313707 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313763 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313818 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313868 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313916 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.313988 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314034 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314083 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314138 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314194 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314294 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314368 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314457 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314524 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314616 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314663 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314739 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314805 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314893 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.314949 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315009 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315063 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315112 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315166 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315228 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315279 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315332 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315377 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315423 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315470 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315515 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315582 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315661 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.315924 6060 camera_imu_synchronizer_base.cpp:317] Oldest IMU measurement is newer than image timestamp. W0907 13:52:33.317657 6060 nframe_table.hpp:157] Accessing nframe that is not valid. W0907 13:52:33.317727 6060 nframe_table.hpp:157] Accessing nframe that is not valid. W0907 13:52:33.318919 6060 nframe_table.hpp:157] Accessing nframe that is not valid. W0907 13:52:33.318975 6060 frontend_base.cpp:794] Initialize T_Bk_W to identity. W0907 13:52:33.319018 6060 nframe_table.hpp:157] Accessing nframe that is not valid. W0907 13:52:33.319054 6060 frontend_vio.cpp:79] Stage = AttitudeEstimation I0907 13:52:33.319437 6060 estimator.cpp:986] Initializing biases: I0907 13:52:33.319471 6060 estimator.cpp:987] Gyro: 0.0274653 -0.0121954 0.039267 I0907 13:52:33.319584 6060 estimator.cpp:988] Acc: 0.000270426 -0.0307101 -0.0192125 W0907 13:52:33.322230 6060 nframe_table.hpp:157] Accessing nframe that is not valid. W0907 13:52:33.322307 6060 nframe_table.hpp:157] Accessing nframe that is not valid. W0907 13:52:33.323452 6060 frontend_vio.cpp:79] Stage = AttitudeEstimation W0907 13:52:33.328621 6060 frontend_vio.cpp:90] Stage = Initializing [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:33.336637 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 0 features, < 20) W0907 13:52:33.348090 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.348249 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.348366 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.348455 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.348529 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.348593 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.354931 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:33.425894 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:33.433152 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:33.479828 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) E0907 13:52:33.480983 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 70106 W0907 13:52:33.481050 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.481118 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 80107 W0907 13:52:33.481166 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.617545 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 80107 W0907 13:52:33.617681 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.617771 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 90108 W0907 13:52:33.617877 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.637125 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 90108 W0907 13:52:33.637300 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.637363 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = a0109 W0907 13:52:33.637478 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.637753 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 90108 W0907 13:52:33.637820 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.637874 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = a0109 W0907 13:52:33.637933 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.638146 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 90108 W0907 13:52:33.638211 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.638279 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = a0109 W0907 13:52:33.638360 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.638692 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 90108 W0907 13:52:33.638751 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.638833 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = a0109 W0907 13:52:33.638886 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.654438 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) E0907 13:52:33.697247 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = a0109 W0907 13:52:33.697777 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.697963 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = b010a W0907 13:52:33.698117 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.698438 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = a0109 W0907 13:52:33.698832 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.699016 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = b010a W0907 13:52:33.699167 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.699558 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = a0109 W0907 13:52:33.699999 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:33.700070 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = b010a W0907 13:52:33.700219 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:33.901795 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) [ INFO] [1694109153.948670592]: Stereo is NOT SUPPORTED [ INFO] [1694109153.949976832]: OpenGL device: NVIDIA Tegra Xavier (nvgpu)/integrated [ INFO] [1694109153.950111904]: OpenGl version: 4.6 (GLSL 4.6). E0907 13:52:34.007423 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 120110 W0907 13:52:34.007520 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:34.007566 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 130111 W0907 13:52:34.007616 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:36.445761 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) E0907 13:52:37.046869 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 360210 W0907 13:52:37.046983 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:37.047029 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 370213 W0907 13:52:37.047067 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:37.073746 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 370213 W0907 13:52:37.073832 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:37.227936 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:37.478183 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:37.522799 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:37.594976 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:37.615921 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:37.668826 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:37.731015 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:37.819746 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:38.562891 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.563066 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.570441 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.570657 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584120 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584231 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584285 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584367 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584420 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584512 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584575 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584668 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584722 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584776 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584853 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.584954 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585033 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585098 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585155 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585209 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585260 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585311 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585394 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.585459 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.593780 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.593910 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594013 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594075 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594130 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594223 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594282 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594341 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594456 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594524 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594635 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594709 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594763 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594818 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594870 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594933 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.594990 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.595038 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.595110 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.595160 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.603518 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.603621 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.603739 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.603798 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.603848 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.603904 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.603952 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604005 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604077 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604128 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604233 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604315 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604403 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604451 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604522 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604569 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604615 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604660 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604723 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. W0907 13:52:38.604774 6060 landmark_triangulation.cpp:200] Reference frame not stored anymore. [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:39.072481 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:39.180761 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:39.297209 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:39.451401 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:39.501382 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) E0907 13:52:39.502491 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = ee0700 W0907 13:52:39.502562 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:39.502595 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = ef0612 W0907 13:52:39.502624 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:39.502674 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = f10702 W0907 13:52:39.502699 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:39.511027 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:39.530615 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:39.543424 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:39.553010 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:39.564769 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:39.572124 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:39.591101 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:39.599539 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:39.606978 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:39.617848 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:39.627971 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:39.638648 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) E0907 13:52:39.639863 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 103070d W0907 13:52:39.639948 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:39.639995 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 104070e W0907 13:52:39.640024 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:39.646687 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:39.661332 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:39.668570 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:39.681573 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:39.691627 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:39.708359 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:39.720515 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:39.732138 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:39.743872 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:39.754994 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) E0907 13:52:39.937824 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 114080a W0907 13:52:39.937947 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:39.937994 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 115080b W0907 13:52:39.938027 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:40.317341 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 118080e W0907 13:52:40.317481 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:40.317544 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 119080f W0907 13:52:40.317603 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:40.317698 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 11a0810 W0907 13:52:40.317754 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:40.485368 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 11c0812 W0907 13:52:40.485551 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:40.485620 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 11d0813 W0907 13:52:40.485672 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:40.485711 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 11e0900 W0907 13:52:40.485764 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:41.098136 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) E0907 13:52:41.100355 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 1200902 W0907 13:52:41.100440 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:41.100507 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 1210903 W0907 13:52:41.101694 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:41.101838 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 1230905 W0907 13:52:41.101899 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:41.102078 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 1240904 W0907 13:52:41.102468 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:41.310638 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:41.416112 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:41.814226 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:42.027782 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:42.494086 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) W0907 13:52:42.502772 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:43.491824 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 4 features, < 20) W0907 13:52:43.531002 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:43.635753 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:43.717957 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:43.785401 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:43.949558 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 4 features, < 20) E0907 13:52:43.990835 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2371010 W0907 13:52:43.990943 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:44.005656 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2371010 W0907 13:52:44.005738 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:44.005776 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2381011 W0907 13:52:44.005810 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:44.208331 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:44.341166 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:44.361357 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:44.372318 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:44.382342 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:44.393100 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:44.403000 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:44.415032 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:44.423157 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:44.434176 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:44.442139 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:44.453725 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:44.486397 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:44.497519 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:44.506217 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:44.518097 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:44.526124 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:44.537158 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:45.078778 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:45.295267 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:45.312716 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! E0907 13:52:45.602557 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2c1130a W0907 13:52:45.602643 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:45.602699 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2c2140b W0907 13:52:45.602733 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:45.602777 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2c6140d W0907 13:52:45.602811 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:45.602841 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2ca140e W0907 13:52:45.602869 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:45.603091 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2c1130a W0907 13:52:45.603156 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:45.603222 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2c2140b W0907 13:52:45.603250 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:45.603291 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2c6140d W0907 13:52:45.603327 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! E0907 13:52:45.603360 6060 estimator_impl.hpp:81] Tried to add observation for frame that is either already marginalized out or not yet added to the state. ID = 2ca140e W0907 13:52:45.603389 6060 vio_ceres_backend_interface.cpp:441] Failed to add an observation! W0907 13:52:45.713743 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:45.802202 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:45.865976 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:45.915596 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:45.928867 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:45.943262 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:46.110966 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:46.298156 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) W0907 13:52:46.310873 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:46.440173 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:46.539868 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.550580 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.561127 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.575661 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.597182 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 4 features, < 20) W0907 13:52:46.606591 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:46.654057 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:46.666569 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:46.750764 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:46.761245 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:46.770457 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.781214 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.790956 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.802839 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) W0907 13:52:46.811244 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:46.823454 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.844544 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 2 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.859649 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) W0907 13:52:46.880084 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:46.891845 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) W0907 13:52:46.902980 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:46.915566 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:46.932360 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:46.946285 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:46.979842 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:46.992734 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.004901 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:47.016913 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) W0907 13:52:47.032217 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) W0907 13:52:47.059093 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 3 features, < 20) W0907 13:52:47.069279 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.085361 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.108247 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 3 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.117249 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.145154 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 2 features, < 20) W0907 13:52:47.146492 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146610 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146644 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146674 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146705 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146739 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146776 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146812 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146868 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146899 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146930 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146961 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.146992 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147023 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147053 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147084 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147116 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147146 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147177 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147208 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147239 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147270 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147301 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147332 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147359 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147389 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147449 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147487 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147519 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147578 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147614 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147646 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.147763 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.148458 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.148783 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.151376 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.151821 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.153192 6166 imu_error.cpp:169] gyr saturation [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.158610 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) W0907 13:52:47.159536 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.159607 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.159651 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.159770 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.159802 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.159832 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.159875 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.159919 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.160502 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.163159 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.163434 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.164772 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.165051 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.172315 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:47.183125 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:47.194240 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.202425 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:47.211830 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:47.223197 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:47.261782 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:47.332762 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:47.345486 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.360875 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 4 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.370793 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.385016 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:47.395819 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:47.408179 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:47.419744 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:47.434834 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:47.446972 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:47.457342 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.468520 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:47.479753 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:47.490320 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.503306 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:47.513906 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:47.525151 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:47.537784 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:47.552022 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:47.563999 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.577255 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:47.589895 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:47.601701 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:47.611296 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:47.623586 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:47.634730 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:47.648494 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.670313 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.682549 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:47.737059 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:47.738425 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.752363 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:47.753458 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753535 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753580 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753620 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753651 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753687 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753731 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753767 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753799 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753827 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753860 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753893 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753929 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753964 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.753989 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754027 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754055 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754091 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754127 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754190 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754226 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754266 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754328 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754370 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754400 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754429 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754487 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754524 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754570 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754601 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754638 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754678 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754716 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754746 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754778 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754810 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754841 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754875 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754907 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754938 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.754971 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.755007 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.755040 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.755072 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.755117 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.755151 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.755178 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.755209 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.756268 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.756474 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.756646 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.759442 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.759768 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.766403 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:47.768116 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.768182 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.768225 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.768263 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.768293 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.768319 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.768343 6060 imu_error.cpp:400] gyr saturation W0907 13:52:47.771296 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.771955 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.772203 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.772938 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.773473 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.773766 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.784680 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.784909 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.785156 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.786083 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.786275 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.797083 6166 imu_error.cpp:169] gyr saturation W0907 13:52:47.851264 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:47.873137 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:47.881875 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:47.902590 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:47.935333 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:47.945230 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:48.014628 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:48.039250 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:48.051537 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.071552 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:48.081841 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:48.093645 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:48.103780 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.118450 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:48.140828 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.151055 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.197239 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:48.210455 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:48.277698 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:48.288714 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.334337 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.380815 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.607192 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:48.619956 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:48.630338 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:48.645440 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:48.655589 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.667747 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:48.675209 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.690760 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.701525 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.718951 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.729625 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:48.740697 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:48.752089 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:48.762850 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:48.775386 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:48.785612 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:48.797346 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:48.808015 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) W0907 13:52:48.817060 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:48.831094 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.842376 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.853658 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.866945 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) W0907 13:52:48.875924 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:48.888878 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:48.946108 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) W0907 13:52:48.958123 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.969091 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:48.980167 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:48.988981 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:49.003214 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:49.013590 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:49.026170 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:49.036921 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:49.054392 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:49.063356 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) W0907 13:52:49.074790 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:49.088872 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:49.100320 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:49.110369 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:49.112087 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112164 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112206 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112294 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112335 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112382 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112448 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112481 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112516 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112557 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112588 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112620 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.112651 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.113480 6166 imu_error.cpp:169] gyr saturation [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:49.135601 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) W0907 13:52:49.136631 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136687 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136749 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136781 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136818 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136853 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136898 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136929 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136968 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.136998 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137029 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137068 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137100 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137135 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137166 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137195 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137225 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137253 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137282 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137321 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137355 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137385 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137418 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137449 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137478 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137508 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137574 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137604 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137645 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137674 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137732 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137771 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137811 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137888 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137928 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137957 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.137993 6060 imu_error.cpp:400] gyr saturation W0907 13:52:49.138715 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.138892 6166 imu_error.cpp:169] gyr saturation [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:49.146533 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:49.150900 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.151116 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.155378 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.161798 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:49.166553 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.166829 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.168104 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.168411 6166 imu_error.cpp:169] gyr saturation W0907 13:52:49.171870 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:49.183961 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:49.194015 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:49.217722 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:49.229949 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:49.242547 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:49.257670 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:49.267546 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:49.401397 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:49.412379 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:49.433842 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:49.506189 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:49.537830 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:49.553093 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:49.564220 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:49.593330 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:49.604396 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:49.657007 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:49.721158 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:49.816485 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:49.830792 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:49.840648 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:49.859460 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:49.890749 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:49.968634 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:50.001024 6060 frontend_base.cpp:1147] Motion Type: INVALID (inlier ratio = 58.8235%) W0907 13:52:50.011124 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:50.049249 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:50.098888 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:50.129700 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.144356 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.153956 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.167097 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.179643 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.190462 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:50.201699 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:50.212810 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:50.228440 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.242580 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) W0907 13:52:50.253173 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:50.266032 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:50.273773 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:50.287257 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:50.296047 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:50.358371 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.369166 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.381407 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.391284 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.402510 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:50.426093 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:50.461115 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:50.476286 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:50.489053 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:50.516330 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:50.527585 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:50.536748 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:50.596560 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:50.611238 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:50.623466 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:50.633093 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:50.647519 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:50.656390 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:50.678722 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:50.691542 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:50.699879 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:50.713153 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.727020 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.738605 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.754447 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.767258 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:50.778776 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:50.793500 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) W0907 13:52:50.804594 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:50.818981 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:50.831383 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) W0907 13:52:50.844934 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:50.855379 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:50.867120 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:50.881211 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) W0907 13:52:50.892933 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:50.904700 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:50.915855 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:50.927019 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:50.937907 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) W0907 13:52:50.946787 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:50.957571 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) W0907 13:52:50.964872 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:50.977653 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:50.987557 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.002847 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.019218 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.031173 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.045967 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.056489 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.071154 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.087152 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.099073 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) W0907 13:52:51.112906 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.121695 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 4 features, < 20) W0907 13:52:51.130244 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.140192 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.150104 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.164939 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.175448 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:51.209069 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:51.221932 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:51.232271 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:51.244354 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:51.256104 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:51.266981 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:51.280220 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:51.291561 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:51.327756 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:51.338199 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:51.358790 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:51.368774 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 16 features, < 20) W0907 13:52:51.377986 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.388684 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) W0907 13:52:51.397954 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.412220 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.423974 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) W0907 13:52:51.433955 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:51.448076 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.459546 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.473871 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.484414 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 5 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.497694 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.507138 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:51.516857 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 11 features, < 20) W0907 13:52:51.527251 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:51.542116 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:51.557515 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:51.567840 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:51.580956 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:51.593797 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) W0907 13:52:51.606037 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) W0907 13:52:51.621034 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 7 features, < 20) W0907 13:52:51.631934 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:51.654891 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:51.665649 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:51.679746 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:51.724385 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 17 features, < 20) W0907 13:52:51.736685 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:51.748884 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.761857 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 9 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.777958 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:51.790647 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 18 features, < 20) W0907 13:52:51.803563 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:51.814889 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:51.828675 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:51.840344 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) W0907 13:52:51.852109 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 15 features, < 20) W0907 13:52:51.863526 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:51.874718 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:51.886487 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:51.897131 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 13 features, < 20) W0907 13:52:51.914211 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) W0907 13:52:51.925971 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 19 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.940184 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.949919 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.963234 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) W0907 13:52:51.978569 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 14 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:51.989756 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 8 features, < 20) W0907 13:52:52.003021 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 12 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 1! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:52.013413 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 10 features, < 20) [sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0! [sm::RandomSampleConsensus::computeModel] No samples could be selected! W0907 13:52:52.027849 6060 frontend_base.cpp:1137] Motion Type: INVALID (tracking 6 features, < 20) ================================================================================REQUIRED process [ze_vio_ceres-2] has died! process has finished cleanly log file: /home/sotiaero/.ros/log/509291c4-4da7-11ee-9e50-28d0ea88c9c6/ze_vio_ceres-2*.log Initiating shutdown!

[visualisation-3] killing on exit [ze_vio_ceres-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

paumarquez commented 1 year ago

Hello,

I don't know about your issue concretely, but I had a similar issue because of the Eigen version. When the Eigen version is 4, it completely diverged. Therefore, you can try to downgrade it to Eigen 3.

Hope that helps someone.

Best, Pau

AmsterdamKKK commented 1 year ago

Hello,

I don't know about your issue concretely, but I had a similar issue because of the Eigen version. When the Eigen version is 4, it completely diverged. Therefore, you can try to downgrade it to Eigen 3.

Hope that helps someone.

Best, Pau

Hi, I got the exact same issue, but my Eigen version is 3.4.0. The info indicates that the imu output is much more faster than the image output, so i guess this problem is caused by synchronizing or something with the calibration.

msh003 commented 1 year ago

Hello,

I don't know about your issue concretely, but I had a similar issue because of the Eigen version. When the Eigen version is 4, it completely diverged. Therefore, you can try to downgrade it to Eigen 3.

Hope that helps someone.

Best, Pau

Hello, I downgraded the Eigen from 3.4.0 to 3.3.9 and the problem has not been solved.