/SLAM-Hive/slam_hive_results/mapping_results/1566/1226_orb-slam3-ros-stereo+MH_03_medium+Image_comb_test-13.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/b34d0942-39b1-11ef-84fc-0242ac110003/roslaunch-be992dd3aee1-70.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/stereo.launch
[1mstarted roslaunch server http://be992dd3aee1:35073/[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 [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to b34d0942-39b1-11ef-84fc-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [99][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: 5
- 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_03_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720062105.318211603]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 0.00 
First KF:0; Map init KF:0
New Map created with 209 points
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!
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!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Relocalized!!
Fail to track local map!
Relocalized!!
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!
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!
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!
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: 52
First KF:52; Map init KF:52
New Map created with 640 points
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:58; Map init KF:52
*Merge detected
Local Mapping STOP
Change to map with id: 0
Local Mapping RELEASE
Local Mapping RELEASE
Merge finished!
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!
Fail to track local map!
Fail to track local map!
Relocalized!!
PR: Loop detected with Reffine Sim3
Fail to track local map!
Relocalized!!
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!
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!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Relocalized!!
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
Fail to track local map!
Relocalized!!
Fail to track local map!
Relocalized!!
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
Relocalized!!
Fail to track local map!
Fail to track local map!
Relocalized!!
PR: Loop detected with Reffine Sim3
*Loop detected
Local Mapping RELEASE
Local Mapping STOP

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720062247.201521386, 1403637266.458795926]: Shutdown request received.[0m
[33m[ WARN] [1720062247.202425546, 1403637266.458795926]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720062247.220715692, 1403637266.458795926]: Shutdown request received.[0m
[33m[ WARN] [1720062247.220752717, 1403637266.458795926]: 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/b34d0942-39b1-11ef-84fc-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/b34d0942-39b1-11ef-84fc-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1505][0m
