/SLAM-Hive/slam_hive_results/mapping_results/1656/1145_orb-slam3-ros-stereo-inertial+MH_05_difficult+Image_comb_test-10.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/eea7ac9e-3a39-11ef-b11d-0242ac110003/roslaunch-b63190ecb921-70.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://b63190ecb921:33171/[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 eea7ac9e-3a39-11ef-b11d-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-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: 10
- 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] [1720120616.447260055]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 0.00 
not IMU meas
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:0; Map init KF:0
New Map created with 91 points
end VIBA 1
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...
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...
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...
mnFirstFrameId = 40
mnInitialFrameId = 0
169 Frames set to lost
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:69; Map init KF:0
New Map created with 599 points
Fail to track local map!
IMU is not or recently initialized. Reseting active 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 = 216
mnInitialFrameId = 209
199 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
First KF:79; Map init KF:69
New Map created with 630 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
phi = -0.0012972988622045902 -3.458772797781573e-05   -0.86088977104042241
BAD LOOP!!!
*Loop detected
phi = 0.0074728235388502361  0.016616198213783424  -0.85409346007665454
BAD LOOP!!!
*Loop detected
phi = 0.0082085690467619682 0.0046239662746828218  -0.87212232164424508
BAD LOOP!!!
*Loop detected
phi = -0.0034989825499821669 -0.0028331075931010015   -0.88726239671849383
BAD LOOP!!!
*Loop detected
phi = -0.0048715041548936132 -0.0051459669500376545   -0.88407842374005119
BAD LOOP!!!
*Loop detected
phi =    0.0103603707881431 -0.032192302204362151  -0.94414015368880577
BAD LOOP!!!
*Loop detected
phi =  0.011928095789086941 -0.068853729454192783  -0.98370702847732616
BAD LOOP!!!
*Loop detected
phi = 0.00094740138026175248  -0.035382817071410493    -1.0298077472857163
BAD LOOP!!!
*Loop detected
phi =  0.031385493325567254 -0.014889683980467167   -1.0629165768774353
BAD LOOP!!!
*Loop detected
phi =  0.015934107527054601 0.0003470646352923676    -1.077602900634528
BAD LOOP!!!
*Loop detected
phi =  0.016601688006087956 0.0012675453746122359   -1.0862116283123233
BAD LOOP!!!
*Loop detected
phi =   0.014225518165216045 -0.0019391933019320916     -1.092602396134343
BAD LOOP!!!
*Loop detected
phi =   0.016532161016386264 -0.0041969039789641156    -1.1005217601190487
BAD LOOP!!!
*Loop detected
phi =  0.013760816358932029 -0.013041698192933202   -1.1088152753800011
BAD LOOP!!!
*Loop detected
phi =  0.0064395169564785849 -0.0032570968465907291    -1.1174387481584453
BAD LOOP!!!
*Loop detected
phi =  0.016221917290452362 -0.012600089157560324    -1.124001694174992
BAD LOOP!!!
*Loop detected
phi =    0.012426118376524294 -0.00031723758427203153     -1.1511461714977596
BAD LOOP!!!
*Loop detected
phi = -0.0029345510431267843   -0.02045556253728021    -1.1271688560239637
BAD LOOP!!!
*Loop detected
phi =  0.091003741556648782 -0.058116863185088755    -1.262501831997344
BAD LOOP!!!
*Loop detected
phi =   0.032022210738429445 -0.0041421898485287543    -1.1969141753192578
BAD LOOP!!!
*Loop detected
phi =  0.026634395456473878 0.0021581626698699134   -1.1847918786985963
BAD LOOP!!!
*Loop detected
phi =   0.030136842236870357 -0.0055048196623939984    -1.2050051254839573
BAD LOOP!!!
*Loop detected
phi =  0.028481749034795212 -0.016278086986205174   -1.2215033919706135
BAD LOOP!!!
*Loop detected
phi =  0.019298410762679383 0.0090863281326807269   -1.2059282749721811
BAD LOOP!!!
*Loop detected
phi =   0.017709348321451469 -0.0037968692551715558    -1.2298311389609355
BAD LOOP!!!
*Loop detected
phi =  0.023025857640108775 -0.023307636563986302   -1.2474693575946523
BAD LOOP!!!
*Loop detected
phi =   0.011868726459607728 -0.0044267161549033079    -1.2721834995394787
BAD LOOP!!!
*Loop detected
phi = 0.0034876708822467657 -0.034081136401397309   -1.3025058184287714
BAD LOOP!!!
*Loop detected
phi =   0.020838049255126008 -0.0027705992786562399    -1.3023802111594884
BAD LOOP!!!
*Loop detected
phi =   0.021141922679915656 -0.0019326457948506703    -1.3085487819020882
BAD LOOP!!!
*Loop detected
phi =  0.020103853169727678 -0.001540786624973227   -1.3199932450621963
BAD LOOP!!!
*Loop detected
phi =   0.024397949739475039 0.00037606399848285385     -1.333062247097772
BAD LOOP!!!
*Loop detected
phi =  0.015195271277741283 0.0059021562053670077   -1.3332811273415213
BAD LOOP!!!
*Loop detected
phi =   0.05955619563090573 -0.013687107275998433   -1.3598636479793447
BAD LOOP!!!
*Loop detected
phi =   0.061374025466642348 -0.0091445309376302856    -1.3652519103432113
BAD LOOP!!!
*Loop detected
phi =  0.054978518753609845 -0.022381459540009193   -1.4223400772160844
BAD LOOP!!!
*Loop detected
phi = -0.04444322240897345 0.014058020686492964  -1.3737731459585074
BAD LOOP!!!
*Loop detected
phi =  -0.034182049873647979 -0.0090615304433411675    -1.3665812250094178
BAD LOOP!!!
*Loop detected
phi = -0.024480937693032206  -0.02087191978868495   -1.3459271036161189
BAD LOOP!!!
*Loop detected
phi = -0.018253496714970594  0.051278514891542483   -1.3131099480525363
BAD LOOP!!!
*Loop detected
phi =  -0.01771620329919836 -0.016711228256866443   -1.3349664295332244
BAD LOOP!!!
*Loop detected
phi = -0.023833443079568025 -0.022131073440052666    -1.338011880853277
BAD LOOP!!!
*Loop detected
phi = 0.0017908686975043678  0.064327184235235313   -1.3081686511833961
BAD LOOP!!!
*Loop detected
phi = -0.020249949659395184 -0.010732121572061474    -1.360962419271381
BAD LOOP!!!
*Loop detected
phi = -0.0061404914870505168  -0.039101864551763413    -1.3242438594343784
BAD LOOP!!!
*Loop detected
phi =  -0.0161188131497573 -0.03143402154713875  -1.3532326904595122
BAD LOOP!!!
*Loop detected
phi = 0.0075403948796779648  0.024747253855952386   -1.3819816733052286
BAD LOOP!!!
*Loop detected
phi =  0.013627276130005772 0.0025589464849096783   -1.3631202470587285
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720120737.177106558, 1403638632.912531689]: Shutdown request received.[0m
[33m[ WARN] [1720120737.178082307, 1403638632.912531689]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720120737.194544982, 1403638632.912531689]: Shutdown request received.[0m
[33m[ WARN] [1720120737.194577346, 1403638632.912531689]: 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/eea7ac9e-3a39-11ef-b11d-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [2421][0m
[31m[orb_node-2] process has died [pid 102, 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/eea7ac9e-3a39-11ef-b11d-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/eea7ac9e-3a39-11ef-b11d-0242ac110003/orb_node-2*.log[0m
