When I was running orb_slam2 with intel realsense d435i the generated track data was very little

[Liture Gogh]

hello I am running "roslaunch realsense2_camera rs_rgbd.launch" and" rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Problems with Examples/RGB-D/TUM1.yaml". The next ten lines of data in the KeyFrameTrajectory.txt file generated, and the camera trajectory displayed in the graphical window does not move (while my camera is moving)
my device information:
Linux ubuntu20 5.15.0-60-generic #66~20.04.1-Ubuntu SMP Wed Jan 25 09:41:30 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux
Name: Intel RealSense D435I, serial number: 134222076880, update serial number: 134523063031, firmware version: 05.13.00.50, USB type: 3.2
The processor model is AMD Ryzen 5 5600U with Radeon Graphics

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glc@ubuntu20:~/catkin_ws/ORB_SLAM2$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

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

Camera Parameters:

• fx: 517.306
• fy: 516.469
• cx: 318.643
• cy: 255.314
• k1: 0.262383
• k2: -0.953104
• k3: 1.16331
• p1: -0.005358
• p2: 0.002628
• fps: 30
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 3.09294
New map created with 967 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 997 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 971 points

Is it a lack of processor performance or something? I need your help,please.