/SLAM-Hive/slam_hive_results/mapping_results/1088/742_orb-slam3-ros-mono-inertial+right_camera+MH_01_easy+exploration_experiment_2-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/77398aec-243b-11ef-979c-0242ac110004/roslaunch-28a5575489e0-70.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/mono-inertial.launch
[1mstarted roslaunch server http://28a5575489e0:41415/[0m

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True

NODES
  /
    orb_node (ORB_SLAM3/Mono_Inertial)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono-inertial.launch http://localhost:11311
[1msetting /run_id to 77398aec-243b-11ef-979c-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [102][0m

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

Input sensor was set to: Monocular-Inertial
Loading settings from /slamhive/mappingtask.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
	-Loaded image info
IMU.InsertKFsWhenLost optional parameter does not exist...
	-Loaded IMU calibration
	-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
	-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
	-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
	-Loaded misc parameters
----------------------------------
SLAM settings: 
	-Camera 1 parameters (Pinhole): [ 458.654 457.296 367.215 248.375 ]
	-Camera 1 distortion parameters: [  -0.283408 0.0739591 0.00019359 1.76187e-05 ]
	-Original image size: [ 752 , 480 ]
	-Current image size: [ 600 , 350 ]
	-Camera 1 parameters after resize: [  365.947 333.445 292.991 181.107 ]
	-Sequence FPS: 10
	-Gyro noise: 0.00017
	-Accelerometer noise: 0.002
	-Gyro walk: 1.9393e-05
	-Accelerometer walk: 0.003
	-IMU frequency: 200
	-Features per image: 1000
	-ORB scale factor: 1.2
	-ORB number of scales: 8
	-Initial FAST threshold: 20
	-Min FAST threshold: 7


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

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_02_easy.bag /cam1/image_raw:=/camera/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1717702349.485397510]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
First KF:0; Map init KF:0
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1
mnInitialFrameId = 0
2 Frames set to lost
First KF:2; Map init KF:0
New Map created with 109 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 7
mnInitialFrameId = 2
4 Frames set to lost
First KF:4; Map init KF:2
New Map created with 138 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 12
mnInitialFrameId = 8
14 Frames set to lost
First KF:9; Map init KF:4
New Map created with 199 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 28
mnInitialFrameId = 21
21 Frames set to lost
First KF:13; Map init KF:9
New Map created with 197 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 39
mnInitialFrameId = 34
23 Frames set to lost
First KF:15; Map init KF:13
New Map created with 323 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 42
mnInitialFrameId = 40
34 Frames set to lost
First KF:20; Map init KF:15
New Map created with 81 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 55
mnInitialFrameId = 52
36 Frames set to lost
First KF:22; Map init KF:20
New Map created with 145 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 58
mnInitialFrameId = 56
39 Frames set to lost
First KF:24; Map init KF:22
New Map created with 248 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
First KF:27; Map init KF:24
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 69
mnInitialFrameId = 67
46 Frames set to lost
First KF:29; Map init KF:27
New Map created with 284 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 72
mnInitialFrameId = 70
70 Frames set to lost
First KF:38; Map init KF:29
New Map created with 420 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 97
mnInitialFrameId = 95
90 Frames set to lost
First KF:46; Map init KF:38
New Map created with 505 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 125
mnInitialFrameId = 116
97 Frames set to lost
First KF:50; Map init KF:46
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 138
mnInitialFrameId = 131
107 Frames set to lost
First KF:55; Map init KF:50
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 153
mnInitialFrameId = 147
113 Frames set to lost
First KF:58; Map init KF:55
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 203
mnInitialFrameId = 158
120 Frames set to lost
First KF:62; Map init KF:58
New Map created with 102 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:64; Map init KF:62
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:66; Map init KF:64
New Map created with 206 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 228
mnInitialFrameId = 221
127 Frames set to lost
First KF:68; Map init KF:66
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag 
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 246
mnInitialFrameId = 229
177 Frames set to lost
First KF:83; Map init KF:68
New Map created with 116 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 392
mnInitialFrameId = 296
180 Frames set to lost
First KF:85; Map init KF:83
New Map created with 246 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:88; Map init KF:85
New Map created with 435 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:91; Map init KF:88
New Map created with 263 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
mnFirstFrameId = 411
mnInitialFrameId = 406
197 Frames set to lost
First KF:95; Map init KF:91
New Map created with 348 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 422
mnInitialFrameId = 418
208 Frames set to lost
First KF:100; Map init KF:95
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 435
mnInitialFrameId = 432
225 Frames set to lost
First KF:107; Map init KF:100
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:112; Map init KF:107
New Map created with 339 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 467
mnInitialFrameId = 464
259 Frames set to lost
First KF:121; Map init KF:112
New Map created with 305 points
scale too small
scale too small
scale too small
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:135; Map init KF:121
New Map created with 201 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 527
mnInitialFrameId = 525
296 Frames set to lost
First KF:137; Map init KF:135
New Map created with 352 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:141; Map init KF:137
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset, Done!!!
First KF:146; Map init KF:141
New Map created with 371 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:151; Map init KF:146
New Map created with 323 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 565
mnInitialFrameId = 563
340 Frames set to lost
First KF:157; Map init KF:151
New Map created with 201 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:159; Map init KF:157
New Map created with 285 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717702509.273186670, 1403637010.630565448]: Shutdown request received.[0m
[33m[ WARN] [1717702509.274235685, 1403637010.630565448]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717702509.293475368, 1403637010.630565448]: Shutdown request received.[0m
[33m[ WARN] [1717702509.293513081, 1403637010.630565448]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory.txt ...
Map Saving to Map.pcd
Map Saving Finished!
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/77398aec-243b-11ef-979c-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [525][0m
[31m[orb_node-2] process has died [pid 102, exit code -6, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Mono_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml /camera/image_raw:=/camera/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/77398aec-243b-11ef-979c-0242ac110004/orb_node-2.log].
log file: /root/.ros/log/77398aec-243b-11ef-979c-0242ac110004/orb_node-2*.log[0m
