/SLAM-Hive/slam_hive_results/mapping_results/1552/1212_orb-slam3-ros-stereo+MH_02_easy+Image_comb_test-25.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/3217483e-39ab-11ef-98c3-0242ac110003/roslaunch-331c68b6d257-70.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.launch
[1mstarted roslaunch server http://331c68b6d257:36787/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Stereo)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to 3217483e-39ab-11ef-98c3-0242ac110003[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

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: 349.097
- fy: 349.097
- cx: 291.749
- cy: 205.617
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 1
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 8.25584

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_02_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720059311.572144656]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics...First KF:0; Map init KF:0
New Map created with 139 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local 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 = 0
mnInitialFrameId = 0
3 Frames set to lost
First KF:3; Map init KF:0
New Map created with 358 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!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:5; Map init KF:3
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:6; Map init KF:5
New Map created with 311 points
Fail to track local map!
Fail to track local map!
Relocalized!!
TRACK_REF_KF: Less than 15 matches!!
Fail to track local 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 = 9
mnInitialFrameId = 8
12 Frames set to lost
First KF:9; Map init KF:6
New Map created with 366 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local 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 = 16
mnInitialFrameId = 15
13 Frames set to lost
First KF:10; Map init KF:9
New Map created with 434 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 18
mnInitialFrameId = 17
14 Frames set to lost
First KF:11; Map init KF:10
New Map created with 329 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 20
mnInitialFrameId = 19
15 Frames set to lost
First KF:12; Map init KF:11
New Map created with 380 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local 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 = 22
mnInitialFrameId = 21
16 Frames set to lost
First KF:13; Map init KF:12
New Map created with 312 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local 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 = 24
mnInitialFrameId = 23
17 Frames set to lost
First KF:14; Map init KF:13
New Map created with 180 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local 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 = 26
mnInitialFrameId = 25
31 Frames set to lost
First KF:16; Map init KF:14
New Map created with 485 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!
Creation of new map with id: 1
Stored map with ID: 0
Creation of new map with last KF id: 27
First KF:27; Map init KF:27
New Map created with 633 points
Fail to track local map!
Relocalized!!
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:32; Map init KF:27
New Map created with 629 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:37; Map init KF:32
New Map created with 548 points
Fail to track local map!
Relocalized!!
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!
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 = 41
mnInitialFrameId = 85
20 Frames set to lost
First KF:44; Map init KF:37
New Map created with 646 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!
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 = 41
mnInitialFrameId = 102
12 Frames set to lost
First KF:49; Map init KF:44
New Map created with 416 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!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:52; Map init KF:49
New Map created with 639 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!
LM: Active map reset recieved
LM: Active map reset, waiting...
First KF:62; Map init KF:52
New Map created with 605 points
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720059471.349529477, 1403637010.632170088]: Shutdown request received.[0m
[33m[ WARN] [1720059471.350503455, 1403637010.632170088]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720059471.367372752, 1403637010.632170088]: Shutdown request received.[0m
[33m[ WARN] [1720059471.367420245, 1403637010.632170088]: 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!
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/3217483e-39ab-11ef-98c3-0242ac110003/orb_node-2*.log[0m
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/3217483e-39ab-11ef-98c3-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [458][0m
