/SLAM-Hive/slam_hive_results/mapping_results/2418/1401_orb-slam3-ros-mono-inertial+MH_05_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/2c5409a8-3c00-11ef-bc7c-0242ac110003/roslaunch-6944a7fc41aa-69.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-inertial.launch
[1mstarted roslaunch server http://6944a7fc41aa:40681/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Mono_Inertial)

auto-starting new master
[1mprocess[master]: started with pid [84][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono-inertial.launch http://localhost:11311
[1msetting /run_id to 2c5409a8-3c00-11ef-bc7c-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [95][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [101][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-Inertial
Loading settings from /slamhive/mappingtask.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
	-Loaded image info
IMU.InsertKFsWhenLost optional parameter does not exist...
	-Loaded IMU calibration
	-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): [ 183.462 182.918 146.886 99.35 ]
	-Camera 1 distortion parameters: [  -0.283408 0.0739591 0.00019359 1.76187e-05 ]
	-Original image size: [ 300 , 192 ]
	-Current image size: [ 240 , 140 ]
	-Camera 1 parameters after resize: [  146.769 133.378 117.509 72.4427 ]
	-Sequence FPS: 20
	-Gyro noise: 0.00017
	-Accelerometer noise: 0.002
	-Gyro walk: 1.9393e-05
	-Accelerometer walk: 0.003
	-IMU frequency: 200
	-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_05_difficult.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1720315711.415777094]: 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.
First KF:0; Map init KF:0
New Map created with 99 points
Fail to track local map!
IMU is not or recently initialized. Reseting active 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 = 91
mnInitialFrameId = 0
26 Frames set to lost
First KF:7; Map init KF:0
New Map created with 107 points
Fail to track local map!
IMU is not or recently initialized. Reseting active 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 = 154
mnInitialFrameId = 116
30 Frames set to lost
First KF:9; Map init KF:7
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
phi = 0.037537362350341698  0.02089222539138837  0.97744776148170576
BAD LOOP!!!
*Loop detected
phi = 0.012597074105160271 0.045417604501117571  0.97182030318489454
BAD LOOP!!!
*Loop detected
phi =   0.019763350245868418 0.00066400337501569323     1.0202676488280011
BAD LOOP!!!
*Loop detected
phi =  0.018604538089362393 0.0031558554151147832   0.99203732344552076
BAD LOOP!!!
*Loop detected
phi =  0.0051486331340937896 -0.0014563455406720318    0.97501509737677783
BAD LOOP!!!
*Loop detected
phi =  0.030178631648587154 0.0033491232301225541   0.97728831017439044
BAD LOOP!!!
*Loop detected
phi =   0.022289229570488314 -0.0076953372790220693    0.97200977195005134
BAD LOOP!!!
*Loop detected
phi =   0.020491494737862291 -0.0049925568965404074     1.0101294943719921
BAD LOOP!!!
*Loop detected
phi =  0.0091979908005086625 -0.0051089907686151081     1.0183394876621228
BAD LOOP!!!
*Loop detected
phi =  0.017062996004788614 0.0026563294384549688    1.0123290430651282
BAD LOOP!!!
*Loop detected
phi =   0.034500585688841512 -0.0085001178080672396     1.0060447783952282
BAD LOOP!!!
*Loop detected
phi =   0.019267310450638224 -0.0050566515289899826     1.0168864450339006
BAD LOOP!!!
*Loop detected
phi =  0.026340840584040497 -0.017451022622871768    1.0129323537681389
BAD LOOP!!!
*Loop detected
phi =   0.024310852110394469 -0.0058449856797752678     1.0154813843448363
BAD LOOP!!!
*Loop detected
phi =   0.015510252564825659 -0.0016694792820033035     1.0146980783662298
BAD LOOP!!!
*Loop detected
phi = 0.022050719110196005 0.023573970119675988   1.0150803733580638
BAD LOOP!!!
*Loop detected
phi = 0.022889891473111525 0.020660163410332621   1.0219888415994456
BAD LOOP!!!
*Loop detected
phi =    0.01666037771859552 -0.0080506506316707638     1.0499563600260906
BAD LOOP!!!
*Loop detected
phi = 0.030684345376009562 0.019971584274326552   1.0381918468268441
BAD LOOP!!!
*Loop detected
phi = 0.013186632776004674 0.035011257160595895   1.0222329752712662
BAD LOOP!!!
*Loop detected
phi = -0.006050137294546897  0.063888420685017655     1.003533707309813
BAD LOOP!!!
*Loop detected
phi = -0.015384219313589423   0.01735174407145975    1.0538833195089283
BAD LOOP!!!
*Loop detected
phi = -0.053832176227097045  0.042171197781942546     1.019970055538918
BAD LOOP!!!
*Loop detected
phi = -0.034431896801164055   0.06479222196086272    1.0150517484224322
BAD LOOP!!!
*Loop detected
phi = -0.029022596066120655  0.082087678558771096   0.98166948764231421
BAD LOOP!!!
*Loop detected
phi = -0.017042430623302959  0.085775641051609688   0.99562402574515485
BAD LOOP!!!
*Loop detected
phi =  0.027815894390281901 -0.017825777566852469    1.0913382353225094
BAD LOOP!!!
*Loop detected
phi = 0.0095139816677399566  0.052774611408843028    1.0239855728839902
BAD LOOP!!!
*Loop detected
phi =   0.02506657496100903 -0.018626403591118692    1.1015924191250299
BAD LOOP!!!
*Loop detected
phi =  0.018242619302704374 -0.017864935780751583    1.0956084602076037
BAD LOOP!!!
*Loop detected
phi =  0.013503945725139525 -0.018129181097294861    1.1013203900251753
BAD LOOP!!!
*Loop detected
phi =   0.024952931392763011 -0.0097438167244646313     1.0918409703503869
BAD LOOP!!!
*Loop detected
phi = 0.040904499094027734 0.010690090662184617   1.0502453324761809
BAD LOOP!!!
*Loop detected
phi =   0.024010851413833956 -0.0015523109455245468     1.0845870468800913
BAD LOOP!!!
*Loop detected
phi =  0.018208886649757373 -0.046389632298802871    1.1529649414662237
BAD LOOP!!!
*Loop detected
phi =  0.022119661604411457 -0.037930294797294838    1.1543065753399859
BAD LOOP!!!
*Loop detected
phi =  0.026935857068261081 -0.026522369928810005    1.1274015442098981
BAD LOOP!!!
*Loop detected
phi =   0.01825519582076637 -0.017037137289569855    1.1309452213601658
BAD LOOP!!!
*Loop detected
phi = 0.0098782541533461304 -0.011158322377254374    1.1407653901516452
BAD LOOP!!!
*Loop detected
phi =  0.013374671470358474 -0.029431005961247401    1.1382887427964685
BAD LOOP!!!
*Loop detected
phi = 0.0096788868629316543 -0.021686996497305773    1.1488583596447444
BAD LOOP!!!
*Loop detected
phi = 0.0074823939509311059 -0.023368554159531277    1.1568654488450054
BAD LOOP!!!
*Loop detected
phi =  0.011817849595597656 -0.033422037846308483    1.1465368436844563
BAD LOOP!!!
*Loop detected
phi =  0.015718781788258758 -0.029242173061933364    1.1564133457961947
BAD LOOP!!!
*Loop detected
phi = -0.0067719705790515346  -0.012344031701101894     1.2093229758120496
BAD LOOP!!!
*Loop detected
phi = 0.0008153536458513803 -0.022723040245206865    1.1482448632359927
BAD LOOP!!!
*Loop detected
phi =   0.001063762708319085 -0.0025533791602075423      1.153167556945262
BAD LOOP!!!
*Loop detected
phi =  0.001160550660933838 0.0015179551702078707    1.1870765297508614
BAD LOOP!!!
*Loop detected
*Loop detected
phi =  -0.027297016021757815 -0.0062088626580323143     1.2106560872544974
BAD LOOP!!!
*Loop detected
phi =  -0.0018840672671783134 -0.00032067553191099602      1.2038782457109911
BAD LOOP!!!
*Loop detected
phi = -0.044952475124578485  0.019858728903972049    1.3228298647258461
BAD LOOP!!!
*Loop detected
phi =  -0.026416899221010266 0.00021678213263633114      1.342469528008484
BAD LOOP!!!
*Loop detected
phi = -0.054746044510519135  0.026387982882547595    1.2729445478510404
BAD LOOP!!!
*Loop detected
phi = -0.056340904453357779  0.020138645085077417    1.4075256869792294
BAD LOOP!!!
*Loop detected
phi = 0.029454966092563237  0.11354830280219937   1.0886989542598564
BAD LOOP!!!
*Loop detected
phi = 0.023698042362879788 0.034126696478893451   1.0788933487467189
BAD LOOP!!!
*Loop detected
phi = 0.035944611608012808 0.056705272044608609   1.0641490254571349
BAD LOOP!!!
*Loop detected
phi = 0.018770914720246876 0.028712403080591635   1.0513348530858111
BAD LOOP!!!
*Loop detected
phi = 0.020135186172553513 0.049083494514830087   1.0798707034799657
BAD LOOP!!!
*Loop detected
phi = 0.012738954538619387 0.079305646506952154   1.1019463158448615
BAD LOOP!!!
*Loop detected
phi = 0.015763974230606242 0.043786429874636226   1.0651092353423723
BAD LOOP!!!
*Loop detected
phi = -0.0062379042290517592   0.050351893127357314     1.1105533189812868
BAD LOOP!!!
*Loop detected
phi = 0.0028378638534385129  0.077899877861974554    1.1327636293325647
BAD LOOP!!!
*Loop detected
phi = -0.011352465458028756  0.044879641101485637    1.1165227920236356
BAD LOOP!!!
*Loop detected
phi = -0.018279817429522081  0.027898011820570355       1.1290616384842
BAD LOOP!!!
*Loop detected
phi = -0.0029541508638762982   0.022932079040211814     1.0904581973022329
BAD LOOP!!!
*Loop detected
*Loop detected
phi = -0.0062386517606747216   0.036171111215574606        1.1070860072091
BAD LOOP!!!
*Loop detected
phi = -0.013784056802835922  0.032890062790455379    1.1337146218235363
BAD LOOP!!!
*Loop detected
phi = -0.01470860149470315 0.044866364815603639   1.1458882734137239
BAD LOOP!!!
*Loop detected
phi = -0.012110921549012613  0.039891604468276734    1.1264262685628974
BAD LOOP!!!
*Loop detected
phi = -0.0063500320251964719   0.064181114906680395     1.1303775106354033
BAD LOOP!!!
*Loop detected
phi = -0.014043273773855872  0.017978918379261917    1.1437143960523766
BAD LOOP!!!
*Loop detected
phi = -0.008095692079922525  0.040369706571724742    1.1459805504847196
BAD LOOP!!!
*Loop detected
phi = -0.013441193285101878  0.043405462288987812    1.1283331722565833
BAD LOOP!!!
*Loop detected
phi = -0.0045671932783000642    0.04130709333949148     1.1454456644715274
BAD LOOP!!!
*Loop detected
phi = -0.031298364696149057  0.020049851806257318    1.1897855566003195
BAD LOOP!!!
*Loop detected
phi = 0.010642423142152276  0.07105491798940923   1.1497158186786776
BAD LOOP!!!
*Loop detected
phi = 0.0013013967270675603  0.079669847791840137    1.1689037436383483
BAD LOOP!!!
*Loop detected
phi = -0.0067605152539424391   0.051026345006352822     1.1542387167583987
BAD LOOP!!!
*Loop detected
phi = -0.0019117182338356841   0.044854201764302902     1.1605072109540482
BAD LOOP!!!
*Loop detected
phi = -0.0030333453740206198    0.05954318085403041     1.1537588710816611
BAD LOOP!!!
*Loop detected
phi = 0.0016790114767083915  0.040714333404399131    1.1418692780086419
BAD LOOP!!!
*Loop detected
phi =  0.00791111378566056 0.039386892397729655   1.1497814443319432
BAD LOOP!!!
*Loop detected
phi = -0.0011228855147432778   0.055686266469112636     1.1746772433800463
BAD LOOP!!!
*Loop detected
phi =  0.013395899153456839 -0.064895695572403184    1.8863631226697577
BAD LOOP!!!
*Loop detected
phi = -0.0037683593021142834   -0.06214636535241775     1.8992743960844969
BAD LOOP!!!
*Loop detected
phi =  0.017830558913944347 -0.042498739986433783     1.897164515031071
BAD LOOP!!!
*Loop detected
phi = 0.0061358305258664434  -0.04855449358371916    1.9094042055974196
BAD LOOP!!!
*Loop detected
phi =   0.01375994300080838 -0.040615748429366993    1.9130859459699741
BAD LOOP!!!
*Loop detected
phi = 0.0085738073027794917 -0.046321241571993625    1.9142334736479876
BAD LOOP!!!
*Loop detected
phi =  0.012340249449581685 -0.037092184094830276    1.9298299976033506
BAD LOOP!!!
*Loop detected
phi = -0.00015955232348404088   -0.032427769383764106      1.9295013578100819
BAD LOOP!!!
*Loop detected
phi = 0.0054891276821331103 -0.028320924766005846     1.926689888313267
BAD LOOP!!!
*Loop detected
phi = 0.0067580218884114723 -0.033406545751236513    1.9268977208928848
BAD LOOP!!!
*Loop detected
phi = 0.0058314167473675202 -0.025014466188733986    1.9314573818835137
BAD LOOP!!!
*Loop detected
phi = 0.0040750055077053635 -0.030739531031628489    1.9453557131057462
BAD LOOP!!!
*Loop detected
phi = -0.02998947505174096 -0.01444491702955421   2.1793420994701123
BAD LOOP!!!
*Loop detected
phi = -0.043937251747141172 -0.021535193579276937    2.1833344331371727
BAD LOOP!!!
*Loop detected
phi =  -0.023479371343701896 -0.0048464592437741849      2.196180868502315
BAD LOOP!!!
*Loop detected
phi = -0.0012005458778781614  -0.043601516419026647       1.93980039079039
BAD LOOP!!!
*Loop detected
phi = -0.0015219910554487744 -0.0051254905933883254     1.9520317362657607
BAD LOOP!!!
*Loop detected
phi =  0.016374900723494443 0.0084690996532490338    1.9294033378386322
BAD LOOP!!!
*Loop detected
phi = -0.0030237602496378398 -0.0080494207910105676     2.0205275540223973
BAD LOOP!!!
*Loop detected
phi = 0.0050151822442557267 -0.017954037511212221    1.9543194690046559
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720315832.272680141, 1403638632.911510364]: Shutdown request received.[0m
[33m[ WARN] [1720315832.273603297, 1403638632.911510364]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720315832.290504653, 1403638632.911510364]: Shutdown request received.[0m
[33m[ WARN] [1720315832.290534384, 1403638632.911510364]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory.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/2c5409a8-3c00-11ef-bc7c-0242ac110003/rosout-1*.log[0m
[31m[orb_node-2] process has died [pid 101, exit code -6, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Mono_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml /camera/image_raw:=/camera/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/2c5409a8-3c00-11ef-bc7c-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/2c5409a8-3c00-11ef-bc7c-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [366][0m
