/SLAM-Hive/slam_hive_results/mapping_results/2403/1323_orb-slam3-ros-mono-inertial+MH_02_easy+Image_comb_test-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/848d1e9a-3bf9-11ef-b377-0242ac110003/roslaunch-ed7704dc084f-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-inertial.launch
[1mstarted roslaunch server http://ed7704dc084f:41967/[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 [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono-inertial.launch http://localhost:11311
[1msetting /run_id to 848d1e9a-3bf9-11ef-b377-0242ac110003[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: 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_02_easy.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1720312853.005907176]: 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 70 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...
mnFirstFrameId = 20
mnInitialFrameId = 0
3 Frames set to lost
First KF:2; Map init KF:0
New Map created with 197 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...
mnFirstFrameId = 27
mnInitialFrameId = 22
15 Frames set to lost
First KF:6; Map init KF:2
New Map created with 240 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 = 45
mnInitialFrameId = 38
22 Frames set to lost
First KF:9; Map init KF:6
New Map created with 306 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 = 53
mnInitialFrameId = 51
37 Frames set to lost
First KF:13; Map init KF:9
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 = 70
mnInitialFrameId = 67
48 Frames set to lost
First KF:17; Map init KF:13
New Map created with 194 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 = 83
mnInitialFrameId = 80
68 Frames set to lost
First KF:22; Map init KF:17
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 = 104
mnInitialFrameId = 102
73 Frames set to lost
First KF:24; Map init KF:22
New Map created with 238 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 = 110
mnInitialFrameId = 108
78 Frames set to lost
First KF:26; Map init KF:24
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 = 119
mnInitialFrameId = 114
92 Frames set to lost
First KF:30; Map init KF:26
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 = 135
mnInitialFrameId = 132
102 Frames set to lost
First KF:33; Map init KF:30
New Map created with 284 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 146
mnInitialFrameId = 144
110 Frames set to lost
First KF:36; Map init KF:33
New Map created with 363 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 = 156
mnInitialFrameId = 153
116 Frames set to lost
First KF:39; Map init KF:36
New Map created with 215 points
scale too small
scale too small
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 = 165
mnInitialFrameId = 161
164 Frames set to lost
First KF:50; Map init KF:39
New Map created with 201 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...
mnFirstFrameId = 229
mnInitialFrameId = 212
169 Frames set to lost
First KF:52; Map init KF:50
New Map created with 107 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
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...
mnFirstFrameId = 236
mnInitialFrameId = 233
202 Frames set to lost
New Map created with 275 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...
mnFirstFrameId = 281
mnInitialFrameId = 268
213 Frames set to lost
First KF:64; Map init KF:60
New Map created with 110 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...
mnFirstFrameId = 300
mnInitialFrameId = 291
235 Frames set to lost
First KF:70; Map init KF:64
New Map created with 144 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...
mnFirstFrameId = 333
mnInitialFrameId = 321
244 Frames set to lost
First KF:73; Map init KF:70
New Map created with 141 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 = 343
mnInitialFrameId = 341
246 Frames set to lost
First KF:75; Map init KF:73
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
mnFirstFrameId = 353
mnInitialFrameId = 344
252 Frames set to lost
First KF:78; Map init KF:75
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 362
mnInitialFrameId = 358
257 Frames set to lost
First KF:80; Map init KF:78
New Map created with 125 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!!!
First KF:82; Map init KF:80
New Map created with 323 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 = 383
mnInitialFrameId = 381
269 Frames set to lost
First KF:85; Map init KF:82
New Map created with 102 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...
First KF:87; Map init KF:85
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 = 409
mnInitialFrameId = 407
278 Frames set to lost
First KF:89; Map init KF:87
New Map created with 132 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 427
mnInitialFrameId = 413
287 Frames set to lost
First KF:92; Map init KF:89
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 = 437
mnInitialFrameId = 435
291 Frames set to lost
First KF:94; Map init KF:92
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
mnFirstFrameId = 442
mnInitialFrameId = 440
297 Frames set to lost
First KF:97; Map init KF:94
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
First KF:100; Map init KF:97
New Map created with 322 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!!!
First KF:102; Map init KF:100
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 470
mnInitialFrameId = 468
329 Frames set to lost
First KF:108; Map init KF:102
New Map created with 80 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
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 497
mnInitialFrameId = 490
374 Frames set to lost
First KF:119; Map init KF:108
New Map created with 94 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 = 790
mnInitialFrameId = 542
385 Frames set to lost
First KF:123; Map init KF:119
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 802
mnInitialFrameId = 800
428 Frames set to lost
First KF:135; Map init KF:123
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720313012.574814293, 1403637010.635583224]: Shutdown request received.[0m
[33m[ WARN] [1720313012.575889326, 1403637010.635583224]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720313012.595132989, 1403637010.635583224]: Shutdown request received.[0m
[33m[ WARN] [1720313012.595167565, 1403637010.635583224]: 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/848d1e9a-3bf9-11ef-b377-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [833][0m
[31m[orb_node-2] process has died [pid 102, 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/848d1e9a-3bf9-11ef-b377-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/848d1e9a-3bf9-11ef-b377-0242ac110003/orb_node-2*.log[0m
