/SLAM-Hive/slam_hive_results/mapping_results/1603/1263_orb-slam3-ros-stereo+MH_04_difficult+Image_comb_test-24.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/b422c258-39c0-11ef-ae33-0242ac110003/roslaunch-7fae6e187954-71.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://7fae6e187954:40289/[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 b422c258-39c0-11ef-ae33-0242ac110003[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: 436.244
- fy: 436.244
- cx: 364.441
- cy: 256.952
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 1
- 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] [1720068549.094649230]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics...First KF:0; Map init KF:0
New Map created with 133 points
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:1; Map init KF:0
New Map created with 646 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:1
New Map created with 25 points
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 480 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 = 30
mnInitialFrameId = 29
29 Frames set to lost
First KF:14; Map init KF:12
New Map created with 484 points
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 515 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 270 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:19; Map init KF:18
New Map created with 264 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:20; Map init KF:19
New Map created with 549 points
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:22; Map init KF:20
New Map created with 89 points
TRACK_REF_KF: Less than 15 matches!!LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:23; Map init KF:22
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:24; Map init KF:23
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:26; Map init KF:24
New Map created with 524 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:27; Map init KF:26
New Map created with 267 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 = 64
mnInitialFrameId = 63
58 Frames set to lost
First KF:34; Map init KF:27
New Map created with 41 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:35; Map init KF:34
New Map created with 26 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
60 Frames set to lost
First KF:36; Map init KF:35
New Map created with 194 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 76
mnInitialFrameId = 75
61 Frames set to lost
First KF:37; Map init KF:36
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...
First KF:38; Map init KF:37
New Map created with 568 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:38
New Map created with 467 points
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:41; Map init KF:40
New Map created with 276 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:41
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()

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720068657.717330234, 1403638229.902883717]: Shutdown request received.[0m
[33m[ WARN] [1720068657.718268641, 1403638229.902883717]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720068657.734628083, 1403638229.902883717]: Shutdown request received.[0m
[33m[ WARN] [1720068657.734654684, 1403638229.902883717]: 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/b422c258-39c0-11ef-ae33-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/b422c258-39c0-11ef-ae33-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [355][0m
