/SLAM-Hive/slam_hive_results/mapping_results/1591/1251_orb-slam3-ros-stereo+MH_04_difficult+Image_comb_test-12.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/45588a00-39bc-11ef-b1cc-0242ac110003/roslaunch-36f6e418fc36-70.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://36f6e418fc36:33185/[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 45588a00-39bc-11ef-b1cc-0242ac110003[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: 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: 436.244
- fy: 436.244
- cx: 364.441
- cy: 256.952
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 5
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 6.60467

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_04_difficult.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720066645.328765034]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 0.00 
First KF:0; Map init KF:0
New Map created with 123 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!
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: 196
First KF:196; Map init KF:196
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...
mnFirstFrameId = 0
mnInitialFrameId = 383
10 Frames set to lost
First KF:205; Map init KF:196
New Map created with 52 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 0
mnInitialFrameId = 394
0 Frames set to lost
First KF:206; Map init KF:205
New Map created with 144 points
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 0
mnInitialFrameId = 396
First KF:207; Map init KF:206
New Map created with 462 points
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 0
mnInitialFrameId = 398
0 Frames set to lost
First KF:208; Map init KF:207
New Map created with 110 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 = 0
mnInitialFrameId = 400
0 Frames set to lost
First KF:209; Map init KF:208
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
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: 2
Stored map with ID: 1
Creation of new map with last KF id: 229
First KF:229; Map init KF:229
New Map created with 370 points
*Merge detected
Local Mapping STOP
Change to map with id: 0
Local Mapping RELEASE
Local Mapping RELEASE
Merge finished!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720066753.941814615, 1403638229.903363758]: Shutdown request received.[0m
[33m[ WARN] [1720066753.942715199, 1403638229.903363758]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720066753.961579282, 1403638229.903363758]: Shutdown request received.[0m
[33m[ WARN] [1720066753.961618752, 1403638229.903363758]: 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/45588a00-39bc-11ef-b1cc-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [1170][0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/45588a00-39bc-11ef-b1cc-0242ac110003/orb_node-2*.log[0m
