/SLAM-Hive/slam_hive_results/mapping_results/1154/808_orb-slam3-ros-mono-inertial+left_camera+MH_01_easy+exploration_experiment_3-14.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/b29ec0e6-245b-11ef-b3df-0242ac110004/roslaunch-31ccc2f20507-69.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://31ccc2f20507:44831/[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 [84][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono-inertial.launch http://localhost:11311
[1msetting /run_id to b29ec0e6-245b-11ef-b3df-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [95][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [101][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: 50
	-Features per image: 2000
	-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_03_medium.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1717716193.071756765]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics...First KF:0; Map init KF:0
New Map created with 272 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 = 0
4 Frames set to lost
First KF:3; Map init KF:0
New Map created with 613 points
start VIBA 1
end VIBA 1
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag 
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 = 33
mnInitialFrameId = 31
75 Frames set to lost
First KF:29; Map init KF:3
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 = 201
mnInitialFrameId = 104
79 Frames set to lost
First KF:32; Map init KF:29
New Map created with 649 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:38; Map init KF:32
New Map created with 476 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 = 222
mnInitialFrameId = 219
110 Frames set to lost
First KF:45; Map init KF:38
New Map created with 425 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:52; Map init KF:45
New Map created with 1067 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:58; Map init KF:52
New Map created with 521 points
scale too small
scale too small
scale too small
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()
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:71; Map init KF:58
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:77; Map init KF:71
New Map created with 415 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
phi = 0.0053187306360893138  0.017367170945855478  0.041337310471709486
BAD LOOP!!!
*Loop detected
phi = 0.0048071400670697938  0.020826701856487134  0.014899681331900613
BAD LOOP!!!
*Loop detected
phi =   0.01230254985591607   0.02772001421532222 0.0075818223128541213
BAD LOOP!!!
*Loop detected
phi =  0.029617925039579492  0.021071931933898926 0.0020600367370408341
BAD LOOP!!!
*Loop detected
phi =    0.021995138794474279 -0.00039969431119230833   -0.018537857508875676
BAD LOOP!!!
*Loop detected
phi =     0.01232704414557898 -0.00029408896926678182   -0.019942149711828755
BAD LOOP!!!
*Loop detected
phi = 0.0079448748071638681  0.019089213343084617  0.013667411792803652
BAD LOOP!!!
*Loop detected
phi = 0.013351496356464704 0.016158802479627879 0.004882814577884264
BAD LOOP!!!
*Loop detected
phi = 0.010960591387151055 0.021279747452822326 0.014460670541891233
BAD LOOP!!!
*Loop detected
phi = 0.0068227468772298185  0.015231059003257524  0.016844864092179421
BAD LOOP!!!
*Loop detected
phi = 0.0089842617405045781  0.020538501973039486  0.015210739622027514
BAD LOOP!!!
*Loop detected
phi = 0.0070620818515457996  0.017588040048915055   0.01448006226805908
BAD LOOP!!!
*Loop detected
phi = 0.0078052640708147075  0.012562549640576967  0.018333530741777633
BAD LOOP!!!
*Loop detected
phi =   0.0088474234806239557 -0.00072331983942180501    -0.01279274009773174
BAD LOOP!!!
*Loop detected
phi = 0.0048692622709049426  0.013565594284661276 0.0057611484040771006
BAD LOOP!!!
*Loop detected
phi =  0.0052734000509885998 -0.0095255599002643104  -0.016323608085948051
BAD LOOP!!!
*Loop detected
phi =  0.0080706699151990077   0.016013253582547304 -0.0088109174242500914
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717716334.722888124, 1403637266.460328475]: Shutdown request received.[0m
[33m[ WARN] [1717716334.723891453, 1403637266.460328475]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717716334.740379871, 1403637266.460328475]: Shutdown request received.[0m
[33m[ WARN] [1717716334.740413954, 1403637266.460328475]: 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/b29ec0e6-245b-11ef-b3df-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [388][0m
[31m[orb_node-2] process has died [pid 101, 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/b29ec0e6-245b-11ef-b3df-0242ac110004/orb_node-2.log].
log file: /root/.ros/log/b29ec0e6-245b-11ef-b3df-0242ac110004/orb_node-2*.log[0m
