{"action":"created","issue":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM/issues/71","labels_url":"https://api.github.com/repos/raulmur/ORB_SLAM/issues/71/labels{/name}","comments_url":"https://api.github.com/repos/raulmur/ORB_SLAM/issues/71/comments","events_url":"https://api.github.com/repos/raulmur/ORB_SLAM/issues/71/events","html_url":"https://github.com/raulmur/ORB_SLAM/issues/71","id":111388265,"number":71,"title":"Stops somewhere in the middle","user":{"login":"mojovski","id":90824,"avatar_url":"https://avatars.githubusercontent.com/u/90824?v=3","gravatar_id":"","url":"https://api.github.com/users/mojovski","html_url":"https://github.com/mojovski","followers_url":"https://api.github.com/users/mojovski/followers","following_url":"https://api.github.com/users/mojovski/following{/other_user}","gists_url":"https://api.github.com/users/mojovski/gists{/gist_id}","starred_url":"https://api.github.com/users/mojovski/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mojovski/subscriptions","organizations_url":"https://api.github.com/users/mojovski/orgs","repos_url":"https://api.github.com/users/mojovski/repos","events_url":"https://api.github.com/users/mojovski/events{/privacy}","received_events_url":"https://api.github.com/users/mojovski/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-10-14T12:33:09Z","updated_at":"2015-10-14T12:38:13Z","closed_at":null,"body":"When I run ORB slam on this dataset\r\nbag file: https://copy.com/ceBhVUN4vEgh9NtW\r\nsettings: https://copy.com/hYOBws1Y3lHq4k9t\r\n\r\nthe systems stops somewhere in the middle and does not continue.\r\nI guess the reason is a fast rotation while walking.\r\n\r\nIs there a way to debug this (I am new to ROS, sorry)?\r\n\r\n\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM/issues/comments/148036725","html_url":"https://github.com/raulmur/ORB_SLAM/issues/71#issuecomment-148036725","issue_url":"https://api.github.com/repos/raulmur/ORB_SLAM/issues/71","id":148036725,"user":{"login":"mojovski","id":90824,"avatar_url":"https://avatars.githubusercontent.com/u/90824?v=3","gravatar_id":"","url":"https://api.github.com/users/mojovski","html_url":"https://github.com/mojovski","followers_url":"https://api.github.com/users/mojovski/followers","following_url":"https://api.github.com/users/mojovski/following{/other_user}","gists_url":"https://api.github.com/users/mojovski/gists{/gist_id}","starred_url":"https://api.github.com/users/mojovski/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mojovski/subscriptions","organizations_url":"https://api.github.com/users/mojovski/orgs","repos_url":"https://api.github.com/users/mojovski/repos","events_url":"https://api.github.com/users/mojovski/events{/privacy}","received_events_url":"https://api.github.com/users/mojovski/received_events","type":"User","site_admin":false},"created_at":"2015-10-14T12:38:13Z","updated_at":"2015-10-14T12:38:13Z","body":"by the way, the console output is:\r\n```\r\nCamera Parameters: \r\n- fx: 387.275\r\n- fy: 387.275\r\n- cx: 347.957\r\n- cy: 273.672\r\n- k1: 0\r\n- k2: 0\r\n- p1: 0\r\n- p2: 0\r\n- fps: 10\r\n- color order: RGB (ignored if grayscale)\r\n\r\nORB Extractor Parameters: \r\n- Number of Features: 1000\r\n- Scale Levels: 8\r\n- Scale Factor: 1.2\r\n- Fast Threshold: 20\r\n- Score: FAST\r\n\r\nMotion Model: Enabled\r\n\r\n[ INFO] [1444825669.810379986]: New Map created with 78 points\r\n[ INFO] [1444825669.813781254]: Wrong initialization, reseting...\r\n[ INFO] [1444825670.208485079]: New Map created with 95 points\r\n[ INFO] [1444825670.212561223]: Wrong initialization, reseting...\r\n[ INFO] [1444825670.619745405]: New Map created with 94 points\r\n[ INFO] [1444825670.623258352]: Wrong initialization, reseting...\r\n[ INFO] [1444825671.021509974]: New Map created with 118 points\r\n\r\n```\r\n\r\nand then nothing more. From the code, it might be a infinite mutex wait..."}}