/SLAM-Hive/slam_hive_results/mapping_results/1526/1186_orb-slam3-ros-stereo+MH_01_easy+Image_comb_test-25.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/0ae95df4-399e-11ef-ba99-0242ac110003/roslaunch-b34038fd612a-71.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/stereo.launch
[1mstarted roslaunch server http://b34038fd612a:37087/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Stereo)

auto-starting new master
[1mprocess[master]: started with pid [86][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to 0ae95df4-399e-11ef-ba99-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [97][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [103][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: Stereo

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: 

Camera Parameters: 
- Camera: Pinhole
- Image scale: 1
- fx: 349.097
- fy: 349.097
- cx: 291.749
- cy: 205.617
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 1
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 8.25584

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720053662.388753218]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics...First KF:0; Map init KF:0
New Map created with 471 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 0
mnInitialFrameId = 0
1 Frames set to lost
First KF:1; Map init KF:0
New Map created with 469 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()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 2
mnInitialFrameId = 1
6 Frames set to lost
First KF:4; Map init KF:1
New Map created with 395 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 8
mnInitialFrameId = 7
8 Frames set to lost
First KF:5; Map init KF:4
New Map created with 338 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 11
mnInitialFrameId = 10
9 Frames set to lost
First KF:6; Map init KF:5
New Map created with 307 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 13
mnInitialFrameId = 12
10 Frames set to lost
First KF:7; Map init KF:6
New Map created with 326 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 15
mnInitialFrameId = 14
11 Frames set to lost
First KF:8; Map init KF:7
New Map created with 360 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 17
mnInitialFrameId = 16
12 Frames set to lost
First KF:9; Map init KF:8
New Map created with 244 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:10; Map init KF:9
New Map created with 188 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 21
mnInitialFrameId = 20
42 Frames set to lost
First KF:14; Map init KF:10
Fail to track local map!
Relocalized!!
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 51
mnInitialFrameId = 50
47 Frames set to lost
New Map created with 654 points
Fail to track local map!
Relocalized!!
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!
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 = 57
mnInitialFrameId = 56
56 Frames set to lost
First KF:20; Map init KF:16
New Map created with 649 points
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
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 = 67
mnInitialFrameId = 66
62 Frames set to lost
First KF:22; Map init KF:20
New Map created with 640 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 74
mnInitialFrameId = 73
67 Frames set to lost
First KF:26; Map init KF:22
New Map created with 531 points
Fail to track local map!
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 = 80
mnInitialFrameId = 79
69 Frames set to lost
First KF:28; Map init KF:26
New Map created with 534 points
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
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 = 83
mnInitialFrameId = 82
76 Frames set to lost
First KF:31; Map init KF:28
New Map created with 614 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 91
mnInitialFrameId = 90
77 Frames set to lost
First KF:32; Map init KF:31
New Map created with 551 points
Fail to track local map!
Relocalized!!
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 93
mnInitialFrameId = 92
94 Frames set to lost
First KF:41; Map init KF:32
New Map created with 386 points
Fail to track local map!
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 = 111
mnInitialFrameId = 110
95 Frames set to lost
First KF:42; Map init KF:41
New Map created with 521 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()
Fail to track local map!
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 = 113
mnInitialFrameId = 112
103 Frames set to lost
First KF:47; Map init KF:42
New Map created with 632 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Creation of new map with id: 1
Stored map with ID: 0
Creation of new map with last KF id: 78
First KF:78; Map init KF:78

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720053856.185705329, 1403636766.693949462]: Shutdown request received.[0m
[33m[ WARN] [1720053856.186866828, 1403636766.693949462]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720053856.204962622, 1403636766.693949462]: Shutdown request received.[0m
[33m[ WARN] [1720053856.205000093, 1403636766.693949462]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_KITTI_Format.txt ...
Map Saving to Map.pcd
Map Saving Finished!
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/0ae95df4-399e-11ef-ba99-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/0ae95df4-399e-11ef-ba99-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [525][0m
