/SLAM-Hive/slam_hive_results/mapping_results/1655/1141_orb-slam3-ros-stereo-inertial+MH_05_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/882fcee2-3a39-11ef-bc5f-0242ac110003/roslaunch-a417952e5c3a-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-inertial.launch
[1mstarted roslaunch server http://a417952e5c3a:41975/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Stereo_Inertial)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo-inertial.launch http://localhost:11311
[1msetting /run_id to 882fcee2-3a39-11ef-bc5f-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-Inertial

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: 174.768
- fy: 174.768
- cx: 146.124
- cy: 102.932
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 20
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 16.4862

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): 
[0.014865543, -0.99988091, 0.004140297, -0.021640146;
 0.99955726, 0.014967213, 0.02571553, -0.064676985;
 -0.025774436, 0.0037561883, 0.99966073, 0.0098107308;
 0, 0, 0, 1]

IMU frequency: 200 Hz
IMU gyro noise: 0.00017 rad/s/sqrt(Hz)
IMU gyro walk: 1.9393e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.002 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.003 m/s^3/sqrt(Hz)
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_05_difficult.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1720120444.547274704]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics...not IMU meas
First KF:0; Map init KF:0
New Map created with 81 points
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
start VIBA 1
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag 
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
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 = 1
mnInitialFrameId = 0
251 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:60; Map init KF:0
New Map created with 153 points
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag 
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
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 = 258
mnInitialFrameId = 252
408 Frames set to lost
not IMU meas
not enough acceleration
First KF:82; Map init KF:60
New Map created with 205 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
phi = 0.0080426229804785501 -0.024189454112433759    2.4546454169657621
BAD LOOP!!!
*Loop detected
phi =  0.012902087532109493 -0.022211191337146437    2.4243328272166491
BAD LOOP!!!
*Loop detected
phi = -0.010669915784017527 -0.025699267549085726    2.3958256601694612
BAD LOOP!!!
*Loop detected
phi =  -0.02018566700557288 -0.019130490602283577    2.3679812562782274
BAD LOOP!!!
*Loop detected
phi =  0.015657726911163971 -0.058408011537445619    1.7282914428788383
BAD LOOP!!!
*Loop detected
phi =  0.049445064801990977 -0.067633292128801301    1.5639042095698772
BAD LOOP!!!
*Loop detected
phi =  0.027247944283556067 -0.022881284816227171    1.4466691930947084
BAD LOOP!!!
*Loop detected
phi =   0.04153044772115972 -0.010248582913103092    1.2847192131343932
BAD LOOP!!!
*Loop detected
phi =  0.037840976581382968 -0.019781346977702896    1.2694311398249376
BAD LOOP!!!
*Loop detected
phi = 0.037182588138828222 -0.01929560760334401   1.0184721916243722
BAD LOOP!!!
*Loop detected
phi =  0.041548003265687278 -0.014084466639550371   0.98669653934009183
BAD LOOP!!!
*Loop detected
phi =  0.067004593898589176 -0.032080345993851171   0.99647020221903015
BAD LOOP!!!
*Loop detected
phi = 0.0075421258958682054 -0.014098827670539632   0.92003610075864906
BAD LOOP!!!
*Loop detected
phi = -0.031741307051231675 -0.038800869840860362    0.8555949788777808
BAD LOOP!!!
*Loop detected
phi =   0.03400381973259816 -0.018075607644296176   0.86203815454266353
BAD LOOP!!!
*Loop detected
phi =  0.035090150428743257 -0.038176168845549266   0.85788068372494719
BAD LOOP!!!
*Loop detected
phi =  0.021652647536188785 -0.035958170014923845   0.80157016906231493
BAD LOOP!!!
*Loop detected
phi = 0.022686334959210071 -0.04789994461887126  0.76853113798697381
BAD LOOP!!!
*Loop detected
phi = 0.0080540152268981195 -0.062614764906051737   0.75959574061850732
BAD LOOP!!!
*Loop detected
phi = 0.0048452115760382374  -0.11919686202031404   0.60238227118941567
BAD LOOP!!!
*Loop detected
phi =  0.025598223122077803 -0.030542000236766401   0.60313941661923731
BAD LOOP!!!
*Loop detected
phi = -0.016447993285647274 -0.053144639450259989   0.52084356689065314
BAD LOOP!!!
*Loop detected
phi =  0.020308466310530422 -0.016269763732027428   0.49955226926620683
BAD LOOP!!!
*Loop detected
phi =  0.023579998612469618 -0.026518108297361811   0.38552507595175933
BAD LOOP!!!
*Loop detected
phi = -0.01757464602290576 0.034338834692639743  0.59316325525940361
BAD LOOP!!!
*Loop detected
phi = -0.017185143230330283  0.032223157389397412   0.58660263893185915
BAD LOOP!!!
*Loop detected
phi = -0.041674556644291691  0.028457554915859738   0.59731394025055495
BAD LOOP!!!
*Loop detected
phi = -0.0043096666023541312 0.00035307236411664196    0.70973685238268647
BAD LOOP!!!
*Loop detected
phi =  0.0082655771606525569 -0.0040631476437767503    0.64489439465982956
BAD LOOP!!!
*Loop detected
phi = -0.03025289523927728  0.01793316300910245  0.70602783129763669
BAD LOOP!!!
*Loop detected
phi =  -0.040912313975766917 -0.0067987871519812962    0.64897245070368104
BAD LOOP!!!
*Loop detected
phi =  0.01208665228057587 0.022947647627532618  0.69406380015640423
BAD LOOP!!!
*Loop detected
phi =  -0.12825928034274942 -0.041862904360115617   0.48910887357261718
BAD LOOP!!!
*Loop detected
phi = -0.062450008735522804  0.014454001807322875   0.63490591435419319
BAD LOOP!!!
*Loop detected
phi = -0.018759337493972177  0.015269518922309809    0.6151258881060967
BAD LOOP!!!
*Loop detected

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720120565.108513496, 1403638632.913466141]: Shutdown request received.[0m
[33m[ WARN] [1720120565.109466373, 1403638632.913466141]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720120565.125823594, 1403638632.913466141]: Shutdown request received.[0m
[33m[ WARN] [1720120565.125852481, 1403638632.913466141]: 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!
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/882fcee2-3a39-11ef-bc5f-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [4689][0m
[31m[orb_node-2] process has died [pid 99, exit code -6, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Stereo_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml true /camera/left/image_raw:=/camera/left/image_raw /camera/right/image_raw:=/camera/right/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/882fcee2-3a39-11ef-bc5f-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/882fcee2-3a39-11ef-bc5f-0242ac110003/orb_node-2*.log[0m
