/SLAM-Hive/slam_hive_results/mapping_results/1957/1517_orb-slam3-ros-mono+MH_04_difficult+Image_comb_test-18.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1eafc870-3ac8-11ef-b5b6-0242ac110003/roslaunch-513bedc95ac2-70.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/mono.launch
[1mstarted roslaunch server http://513bedc95ac2:41035/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Mono)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono.launch http://localhost:11311
[1msetting /run_id to 1eafc870-3ac8-11ef-b5b6-0242ac110003[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: Monocular
Loading settings from /slamhive/mappingtask.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
	-Loaded image info
	-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
	-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
	-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
	-Loaded misc parameters
----------------------------------
SLAM settings: 
	-Camera 1 parameters (Pinhole): [ 458.654 457.296 367.215 248.375 ]
	-Camera 1 distortion parameters: [  -0.283408 0.0739591 0.00019359 1.76187e-05 ]
	-Original image size: [ 752 , 480 ]
	-Current image size: [ 600 , 350 ]
	-Camera 1 parameters after resize: [  365.947 333.445 292.991 181.107 ]
	-Sequence FPS: 2
	-Features per image: 1000
	-ORB scale factor: 1.2
	-ORB number of scales: 8
	-Initial FAST threshold: 20
	-Min FAST threshold: 7


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: 
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_04_difficult.bag /cam0/image_raw:=/camera/image_raw --clock 
[0m[ INFO] [1720181685.553220060]: 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.
First KF:0; Map init KF:0
New Map created with 295 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!
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: 19
First KF:19; Map init KF:19
New Map created with 201 points
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!
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: 37
First KF:37; Map init KF:37
New Map created with 295 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 6
mnInitialFrameId = 85
0 Frames set to lost
First KF:42; Map init KF:37
New Map created with 177 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!
Fail to track local map!
Fail to track local map!
Fail to track local map!
First KF:55; Map init KF:55
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
SYSTEM-> Reseting active map in monocular case
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 = 6
mnInitialFrameId = 117
0 Frames set to lost
First KF:64; Map init KF:55
New Map created with 165 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 6
mnInitialFrameId = 146
0 Frames set to lost
First KF:68; Map init KF:64
New Map created with 125 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()
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 6
mnInitialFrameId = 157
0 Frames set to lost
First KF:78; Map init KF:68
New Map created with 192 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] [1720181793.873584382, 1403638229.911205525]: Shutdown request received.[0m
[33m[ WARN] [1720181793.874576151, 1403638229.911205525]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720181793.891559445, 1403638229.911205525]: Shutdown request received.[0m
[33m[ WARN] [1720181793.891603356, 1403638229.911205525]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory.txt ...
Map Saving to Map.pcd
Map Saving Finished!
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/1eafc870-3ac8-11ef-b5b6-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/1eafc870-3ac8-11ef-b5b6-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [188][0m
