/SLAM-Hive/slam_hive_results/mapping_results/653/304_orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test-1.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/94107f40-147d-11ef-afa8-0242ac110003/roslaunch-99b08c6a395f-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-inertial.launch
[1mstarted roslaunch server http://99b08c6a395f:46161/[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 [86][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo-inertial.launch http://localhost:11311
[1msetting /run_id to 94107f40-147d-11ef-afa8-0242ac110003[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-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: 217.602
- fy: 217.602
- cx: 183.726
- cy: 126.1
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 20
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 7.70545

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_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1715971526.050421710]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 0.00 
not IMU meas
First KF:0; Map init KF:0
New Map created with 521 points
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
end VIBA 1
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 = 1
mnInitialFrameId = 0
223 Frames set to lost
not IMU meas
First KF:106; Map init KF:0
New Map created with 414 points
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 = 225
mnInitialFrameId = 223
279 Frames set to lost
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
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not enough acceleration
not enough acceleration
First KF:123; Map init KF:106
New Map created with 231 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...
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 = 425
mnInitialFrameId = 281
353 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
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not enough acceleration
not enough acceleration
First KF:138; Map init KF:123
New Map created with 252 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
*Loop detected
phi =  0.045073025778055942  -0.03479984471544937 -0.008069759427730484
BAD LOOP!!!
phi =   0.043637041033039947  -0.037868334335959451 -0.0058728710627116449
BAD LOOP!!!
*Loop detected
phi =  0.046681536035934577 -0.043277946881021816 -0.011825988715443849
BAD LOOP!!!
*Loop detected
phi =   0.029819638689872318  -0.030038624233379871 -0.0059268557859012772
BAD LOOP!!!
*Loop detected
phi =   0.039354469795536112  -0.042594025258235343 -0.0085755608034871218
BAD LOOP!!!
*Loop detected
phi =   0.044389685684750053  -0.046357436630583129 -0.0069304461155139212
BAD LOOP!!!
*Loop detected
phi =  0.048550762945383741 -0.031713091765466647 -0.005544783514664654
BAD LOOP!!!
*Loop detected
phi =  0.045272712789770221 -0.044382981357223163  -0.01162841117657625
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1715971719.662442182, 1403636766.688756906]: Shutdown request received.[0m
[33m[ WARN] [1715971719.663491215, 1403636766.688756906]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715971719.680105528, 1403636766.688756906]: Shutdown request received.[0m
[33m[ WARN] [1715971719.680147815, 1403636766.688756906]: 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/94107f40-147d-11ef-afa8-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [5172][0m
[31m[orb_node-2] process has died [pid 103, 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/94107f40-147d-11ef-afa8-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/94107f40-147d-11ef-afa8-0242ac110003/orb_node-2*.log[0m
