/SLAM-Hive/slam_hive_results/mapping_results/1579/1239_orb-slam3-ros-stereo+MH_03_medium+Image_comb_test-26.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/827419c2-39b7-11ef-9390-0242ac110003/roslaunch-7e648742032b-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/stereo.launch
[1mstarted roslaunch server http://7e648742032b:40503/[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 [84][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to 827419c2-39b7-11ef-9390-0242ac110003[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: 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: 261.913
- fy: 261.913
- cx: 218.811
- cy: 154.266
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 1
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 11.0078

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] [1720064600.349276988]: 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 237 points
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!
Relocalized!!
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:6; Map init KF:0
New Map created with 760 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...
First KF:8; Map init KF:6
New Map created with 669 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
First KF:9; Map init KF:8
New Map created with 675 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!!!
First KF:10; Map init KF:9
New Map created with 781 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:11; Map init KF:10
New Map created with 574 points
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:12; Map init KF:11
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
New Map created with 697 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:15; Map init KF:14
New Map created with 710 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:18; Map init KF:15
New Map created with 722 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!!!
First KF:20; Map init KF:18
New Map created with 691 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:21; Map init KF:20
New Map created with 693 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:27; Map init KF:21
New Map created with 731 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:28; Map init KF:27
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!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:34; Map init KF:28
New Map created with 676 points
Fail to track local map!
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...
First KF:37; Map init KF:34
New Map created with 756 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 = 102
mnInitialFrameId = 101
93 Frames set to lost
First KF:39; Map init KF:37
New Map created with 751 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:40; Map init KF:39
New Map created with 790 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:42; Map init KF:40
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:43; Map init KF:42
New Map created with 705 points
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
First KF:45; Map init KF:43
New Map created with 669 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...
First KF:47; Map init KF:45
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...
First KF:51; Map init KF:47
New Map created with 510 points

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720064742.449695397, 1403637266.453704224]: Shutdown request received.[0m
[33m[ WARN] [1720064742.450924839, 1403637266.453704224]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720064742.470289606, 1403637266.453704224]: Shutdown request received.[0m
[33m[ WARN] [1720064742.470322921, 1403637266.453704224]: 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/827419c2-39b7-11ef-9390-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/827419c2-39b7-11ef-9390-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [423][0m
