/SLAM-Hive/slam_hive_results/mapping_results/3083/2291_vins-fusion-stereo+MH_05_difficult+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720512508.228156988]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720512508.230931608]: init begins[0m
[31m[ERROR] [1720512508.232081363]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6c60f4fe-3dca-11ef-883c-0242ac110005/roslaunch-9c9a657d2545-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://9c9a657d2545:36245/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://9c9a657d2545:11311/[0m
]2;roscore http://9c9a657d2545:11311/
[1msetting /run_id to 6c60f4fe-3dca-11ef-883c-0242ac110005[0m
[0m[ INFO] [1720512509.383618072]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720512509.388503028]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720512509.394490091]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720512509.394682918]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720512509.394706688]: ROW: 96 COL: 150 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720512509.394977943]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720512509.395178859]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
config_file: /slamhive/mappingtask.yaml
[33m[ WARN] [1720512509.395364668]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [222][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720512518.394643734]: 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.

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316874000.46 
feature tracking not enough, please slowly move you device! 
time: 1403638520.177830, t: -0.000412 -0.000212 0.002839 q: 1.000000 -0.000033 -0.000028 -0.000231 
feature tracking not enough, please slowly move you device! 
time: 1403638520.577830, t: 0.000042 0.000017 -0.000262 q: 1.000000 -0.000008 -0.000011 -0.000017 
feature tracking not enough, please slowly move you device! 
time: 1403638520.777829, t: 0.000042 0.000017 -0.000262 q: 1.000000 -0.000008 -0.000011 -0.000017 
time: 1403638520.977829, t: 0.000042 0.000017 -0.000262 q: 1.000000 -0.000008 -0.000011 -0.000017 
time: 1403638521.177830, t: 0.000042 0.000017 -0.000262 q: 1.000000 -0.000008 -0.000011 -0.000017 
time: 1403638521.377830, t: -0.000486 -0.000834 0.000449 q: 1.000000 0.000002 0.000051 -0.000102 
time: 1403638521.577830, t: 0.004279 -0.001408 0.004060 q: 0.999998 0.000427 0.000470 0.001965 
time: 1403638521.777829, t: 0.000507 -0.000036 0.001847 q: 1.000000 -0.000283 0.000139 0.000064 
time: 1403638521.977829, t: 0.001119 0.000128 0.004004 q: 0.999993 0.002454 0.002728 0.001175 
time: 1403638522.177830, t: 0.453134 -0.225724 0.011665 q: 0.999711 -0.007649 -0.022777 0.000038 
feature tracking not enough, please slowly move you device! 
time: 1403638522.377830, t: 0.834382 -4.216095 0.693641 q: 0.992429 -0.105694 -0.009350 0.061862 
feature tracking not enough, please slowly move you device! 
time: 1403638522.577830, t: 0.834382 -4.216095 0.693641 q: 0.992429 -0.105694 -0.009350 0.061862 
time: 1403638522.777829, t: 0.834382 -4.216095 0.693641 q: 0.992429 -0.105694 -0.009350 0.061862 
time: 1403638522.977829, t: 0.757020 -3.981605 0.234976 q: 0.994166 -0.067316 0.028614 0.079268 
time: 1403638523.177830, t: 0.817506 -3.965935 0.184915 q: 0.994108 -0.067519 0.034730 0.077362 
time: 1403638523.377830, t: 0.769614 -3.954090 0.214717 q: 0.993272 -0.079700 0.038699 0.074569 
time: 1403638523.577830, t: 0.679892 -3.935318 0.250632 q: 0.994306 -0.083263 0.016192 0.064505 
time: 1403638523.777829, t: 0.524102 -3.704775 0.220299 q: 0.995191 -0.079243 -0.009023 0.056869 
feature tracking not enough, please slowly move you device! 
time: 1403638523.977829, t: 0.524102 -3.704775 0.220299 q: 0.995191 -0.079243 -0.009023 0.056869 
feature tracking not enough, please slowly move you device! 
time: 1403638524.177830, t: 0.524102 -3.704775 0.220299 q: 0.995191 -0.079243 -0.009023 0.056869 
feature tracking not enough, please slowly move you device! 
time: 1403638524.377830, t: 0.524102 -3.704775 0.220299 q: 0.995191 -0.079243 -0.009023 0.056869 
time: 1403638524.577830, t: 1.470256 -2.712469 0.643181 q: 0.996659 -0.063912 -0.011129 0.049613 
unstable tracking...
time: 1403638524.777829, t: 5.299071 1.270902 8.146826 q: -0.418472 -0.386107 0.810842 -0.135420 
unstable tracking...
time: 1403638524.977829, t: 5.897664 0.351426 7.570644 q: -0.454691 -0.283502 0.833849 -0.132585 
unstable tracking...
time: 1403638525.177830, t: 2.829858 -0.736101 6.391375 q: -0.496200 -0.170000 0.847652 -0.079817 
unstable tracking...
unstable tracking...
time: 1403638525.577830, t: 1.807997 -7.054523 5.304764 q: 0.538164 -0.118330 -0.834389 -0.013133 
unstable tracking...
time: 1403638525.777829, t: 0.608018 -6.260410 5.272839 q: 0.543718 -0.099040 -0.832883 -0.029462 
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638526.377830, t: 1.532905 -8.429350 16.972029 q: -0.162421 -0.161656 0.955323 0.186666 
unstable tracking...
time: 1403638526.577830, t: 1.493166 -8.294219 17.105538 q: -0.183777 -0.149629 0.952460 0.191459 
unstable tracking...
time: 1403638526.777829, t: 1.441566 -8.190459 17.147845 q: -0.201263 -0.144910 0.946625 0.205903 
unstable tracking...
time: 1403638526.977829, t: 1.504839 -7.855799 17.319001 q: -0.202869 -0.144207 0.945223 0.211193 
unstable tracking...
unstable tracking...
time: 1403638527.377830, t: 1.392772 -7.840202 17.307362 q: -0.210382 -0.112234 0.931634 0.274228 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638527.977829, t: 1.405061 -7.958184 17.198121 q: -0.207277 -0.117465 0.938155 0.251203 
unstable tracking...
time: 1403638528.177830, t: 1.400053 -8.038503 17.210707 q: -0.204424 -0.126770 0.942935 0.230247 
time: 1403638528.377830, t: 1.401634 -8.148887 17.063845 q: -0.201251 -0.134189 0.947320 0.209942 
time: 1403638528.577830, t: 1.353869 -8.177018 17.012286 q: -0.199258 -0.133654 0.946885 0.214106 
time: 1403638528.777829, t: 1.302423 -8.166292 17.010414 q: -0.198605 -0.123985 0.946742 0.221051 
time: 1403638528.977829, t: 1.249527 -8.233013 16.957953 q: -0.202488 -0.108922 0.947575 0.221895 
time: 1403638529.177830, t: 1.296107 -8.297063 16.958127 q: -0.200590 -0.119047 0.943021 0.237284 
time: 1403638529.377830, t: 1.378145 -8.308170 16.964261 q: -0.187680 -0.132411 0.940801 0.249273 
time: 1403638529.577830, t: 1.317898 -8.523358 16.916113 q: -0.144548 -0.122613 0.947317 0.258192 
time: 1403638529.777829, t: 1.392575 -8.400423 16.989951 q: -0.143187 -0.130150 0.948009 0.252659 
time: 1403638529.977829, t: 1.359772 -8.743777 16.683557 q: -0.160450 -0.121897 0.942302 0.267327 
time: 1403638530.177830, t: 1.595768 -8.645257 16.506441 q: -0.172552 -0.103574 0.943255 0.264136 
time: 1403638530.377830, t: 1.419965 -8.619040 16.719032 q: -0.153996 -0.094064 0.946609 0.267148 
time: 1403638530.577830, t: 1.410316 -8.644125 16.761005 q: -0.148916 -0.082301 0.948114 0.268570 
time: 1403638530.777829, t: 1.367693 -8.757883 16.781108 q: -0.130473 -0.070590 0.949554 0.276300 
time: 1403638530.977829, t: 1.413541 -8.574262 16.696676 q: -0.135391 -0.063280 0.953836 0.260503 
time: 1403638531.177830, t: 1.420181 -8.611918 16.764530 q: -0.140807 -0.067360 0.952886 0.260084 
time: 1403638531.377830, t: 1.409111 -8.624621 16.712016 q: -0.143773 -0.071556 0.951389 0.262808 
time: 1403638531.577830, t: 1.420436 -8.522257 16.722084 q: -0.150669 -0.071051 0.951835 0.257412 
time: 1403638531.777829, t: 1.423840 -8.529562 16.751588 q: -0.148758 -0.070872 0.952118 0.257526 
time: 1403638531.977829, t: 1.425085 -8.531240 16.758892 q: -0.148685 -0.069942 0.952165 0.257648 
time: 1403638532.177830, t: 1.421375 -8.525918 16.732178 q: -0.150844 -0.071247 0.951820 0.257312 
time: 1403638532.377830, t: 1.421268 -8.525787 16.732143 q: -0.150714 -0.070834 0.951984 0.256893 
time: 1403638532.577830, t: 1.420477 -8.524971 16.726717 q: -0.150880 -0.071064 0.951777 0.257501 
time: 1403638532.777829, t: 1.420355 -8.524721 16.724904 q: -0.150895 -0.071193 0.951703 0.257728 
time: 1403638533.177830, t: 1.419656 -8.522962 16.717180 q: -0.151665 -0.070669 0.951685 0.257486 
time: 1403638533.377830, t: 1.419584 -8.522977 16.717208 q: -0.151425 -0.070683 0.951728 0.257467 
time: 1403638533.577830, t: 1.419600 -8.522848 16.717217 q: -0.151265 -0.070283 0.951840 0.257256 
time: 1403638533.777829, t: 1.419313 -8.523041 16.717687 q: -0.150766 -0.070664 0.951837 0.257455 
time: 1403638533.977829, t: 1.419145 -8.522655 16.718211 q: -0.150612 -0.070011 0.951990 0.257155 
time: 1403638534.177830, t: 1.419378 -8.522590 16.717844 q: -0.151105 -0.069542 0.951988 0.257003 
time: 1403638534.377830, t: 1.419211 -8.522353 16.719919 q: -0.150305 -0.069849 0.952083 0.257037 
time: 1403638534.577830, t: 1.417878 -8.524476 16.713509 q: -0.149828 -0.070839 0.951819 0.258019 
time: 1403638534.777829, t: 1.418330 -8.523709 16.715992 q: -0.149725 -0.070694 0.951947 0.257647 
time: 1403638534.977829, t: 1.418504 -8.523298 16.716922 q: -0.150104 -0.070654 0.951830 0.257871 
time: 1403638535.177830, t: 1.418582 -8.523367 16.716167 q: -0.150268 -0.070524 0.951874 0.257646 
time: 1403638535.377830, t: 1.418550 -8.523335 16.716383 q: -0.150153 -0.070743 0.951894 0.257578 
time: 1403638535.577830, t: 1.418547 -8.523455 16.716201 q: -0.150187 -0.070893 0.951844 0.257705 
time: 1403638535.777829, t: 1.418503 -8.523534 16.716261 q: -0.150165 -0.071031 0.951815 0.257784 
time: 1403638535.977829, t: 1.418637 -8.523369 16.717140 q: -0.150260 -0.071195 0.951840 0.257592 
time: 1403638536.177830, t: 1.418701 -8.523266 16.717166 q: -0.150481 -0.071158 0.951777 0.257705 
time: 1403638536.377830, t: 1.418680 -8.523367 16.716948 q: -0.150358 -0.071257 0.951756 0.257830 
time: 1403638536.777829, t: 1.418681 -8.523323 16.716973 q: -0.150257 -0.071188 0.951798 0.257750 
time: 1403638536.977829, t: 1.418795 -8.523288 16.716890 q: -0.150708 -0.071062 0.951788 0.257560 
time: 1403638537.177830, t: 1.418793 -8.523278 16.716860 q: -0.150865 -0.071120 0.951749 0.257594 
time: 1403638537.377830, t: 1.418816 -8.523281 16.716841 q: -0.150924 -0.071159 0.951728 0.257628 
time: 1403638537.577830, t: 1.418856 -8.523258 16.716929 q: -0.151088 -0.071125 0.951730 0.257535 
time: 1403638537.777829, t: 1.418877 -8.523218 16.716937 q: -0.151286 -0.071097 0.951693 0.257563 
time: 1403638537.977829, t: 1.418872 -8.523123 16.716877 q: -0.151448 -0.071024 0.951687 0.257510 
time: 1403638538.177830, t: 1.418873 -8.522997 16.716910 q: -0.151563 -0.070914 0.951715 0.257370 
time: 1403638538.377830, t: 1.418858 -8.522913 16.716927 q: -0.151804 -0.070987 0.951691 0.257295 
time: 1403638538.577830, t: 1.418834 -8.522767 16.716925 q: -0.151951 -0.070930 0.951711 0.257151 
time: 1403638538.777829, t: 1.418991 -8.522216 16.717003 q: -0.155211 -0.071077 0.951564 0.255703 
time: 1403638538.977829, t: 1.418513 -8.519772 16.717342 q: -0.170545 -0.069079 0.950839 0.249095 
feature tracking not enough, please slowly move you device! 
time: 1403638539.377830, t: 1.345646 -8.710956 16.414831 q: -0.193065 -0.075145 0.943667 0.258016 
feature tracking not enough, please slowly move you device! 
time: 1403638539.577830, t: 1.426254 -8.477524 16.912423 q: -0.181229 -0.082958 0.947191 0.251205 
time: 1403638539.777829, t: 1.153961 -8.724381 16.594672 q: -0.179121 -0.088560 0.944204 0.261825 
time: 1403638539.977829, t: 0.622692 -8.775597 15.859945 q: -0.160867 -0.082069 0.951915 0.247474 
time: 1403638540.177830, t: 1.111541 -8.682080 16.683819 q: -0.143308 -0.076803 0.952095 0.258996 
time: 1403638540.377830, t: 0.905436 -8.747271 16.566642 q: -0.153856 -0.085005 0.948748 0.262639 
time: 1403638540.577830, t: 0.818305 -8.701999 16.469924 q: -0.155450 -0.097690 0.951631 0.246353 
time: 1403638540.777829, t: 1.097456 -8.585271 16.102164 q: -0.176480 -0.121531 0.952925 0.214520 
time: 1403638540.977829, t: 0.938788 -8.597140 16.466032 q: -0.148633 -0.161791 0.960940 0.168302 
time: 1403638541.177830, t: 0.866584 -8.652763 16.371511 q: -0.142112 -0.182159 0.963266 0.136898 
time: 1403638541.377830, t: 0.785207 -8.651462 16.248515 q: -0.139670 -0.186775 0.964702 0.122299 
time: 1403638541.577830, t: 0.736882 -8.700157 16.121354 q: -0.145410 -0.186991 0.963849 0.122010 
time: 1403638541.777829, t: 0.606269 -8.811875 16.009138 q: -0.145485 -0.188287 0.965309 0.107519 
time: 1403638541.977829, t: 0.425446 -9.062908 15.945090 q: -0.131227 -0.196592 0.967850 0.086008 
time: 1403638542.177830, t: 0.286780 -9.232413 15.839946 q: -0.116538 -0.214379 0.968653 0.046608 
time: 1403638542.377830, t: 0.234962 -9.387360 15.695184 q: -0.108291 -0.236559 0.965553 0.004474 
time: 1403638542.577830, t: 0.100470 -9.474930 15.604979 q: -0.122994 -0.272600 0.954008 -0.020759 
time: 1403638542.777829, t: 0.114802 -9.588368 15.520118 q: -0.116418 -0.274180 0.954029 -0.033178 
time: 1403638542.977829, t: 0.178570 -9.782548 15.409864 q: -0.106020 -0.260783 0.958941 -0.034406 
time: 1403638543.177830, t: 0.135001 -9.888716 15.356031 q: -0.102643 -0.254833 0.960772 -0.037962 
time: 1403638543.377830, t: 0.154753 -10.021035 15.277752 q: -0.104767 -0.251707 0.961435 -0.036204 
time: 1403638543.577830, t: 0.117608 -10.147940 15.218967 q: -0.098057 -0.259394 0.959404 -0.051422 
time: 1403638543.777829, t: 0.018958 -10.237973 15.211870 q: -0.085096 -0.282911 0.951224 -0.088840 
time: 1403638543.977829, t: -0.014851 -10.390047 15.144444 q: -0.077287 -0.306897 0.939096 -0.133941 
time: 1403638544.177830, t: -0.019628 -10.525664 15.139110 q: -0.069591 -0.311220 0.932897 -0.167337 
time: 1403638544.377830, t: -0.052457 -10.683420 14.951909 q: -0.065050 -0.308834 0.931145 -0.182645 
time: 1403638544.577830, t: 0.024761 -10.817033 14.776233 q: -0.075052 -0.300095 0.932555 -0.186148 
time: 1403638544.777829, t: 0.044977 -10.980889 14.642002 q: -0.088867 -0.305950 0.928284 -0.191796 
time: 1403638544.977829, t: 0.070114 -11.295352 14.575254 q: -0.078738 -0.306383 0.932035 -0.176753 
time: 1403638545.177830, t: 0.035833 -11.460174 14.536952 q: -0.076696 -0.306999 0.932104 -0.176217 
time: 1403638545.377830, t: 0.041037 -11.596002 14.407023 q: -0.080988 -0.307279 0.931214 -0.178497 
time: 1403638545.577830, t: 0.050519 -11.729516 14.238842 q: -0.075823 -0.310287 0.928599 -0.188883 
time: 1403638545.777829, t: 0.033318 -11.823916 14.070893 q: -0.065825 -0.325656 0.916384 -0.223285 
time: 1403638545.977829, t: -0.012230 -12.013896 14.069428 q: -0.049186 -0.350422 0.898051 -0.261325 
time: 1403638546.177830, t: -0.061210 -12.187791 14.034486 q: -0.038936 -0.369764 0.881712 -0.290418 
time: 1403638546.377830, t: -0.082567 -12.332431 13.948450 q: -0.030875 -0.371833 0.875680 -0.306548 
time: 1403638546.577830, t: -0.068665 -12.483365 13.850402 q: -0.027987 -0.373264 0.873082 -0.312439 
time: 1403638546.777829, t: -0.091568 -12.663567 13.754645 q: -0.024315 -0.380634 0.865489 -0.324738 
time: 1403638546.977829, t: -0.119478 -12.846074 13.696983 q: -0.023053 -0.388941 0.860394 -0.328505 
time: 1403638547.177830, t: -0.122398 -13.030876 13.625289 q: -0.024244 -0.396988 0.857146 -0.327282 
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feature tracking not enough, please slowly move you device! 
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time: 1403638601.977829, t: -2.950365 7.465357 -3.117024 q: 0.683375 -0.629339 0.282343 0.239194 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638602.777829, t: -0.876844 7.868393 -2.218615 q: 0.722593 -0.551715 0.384084 0.161092 
unstable tracking...
unstable tracking...
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time: 1403638630.177830, t: -9.106591 -1.928599 -2.789918 q: -0.410499 0.764303 -0.231045 -0.440397 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638630.777829, t: -8.818309 0.975873 -2.762250 q: -0.423494 0.763499 -0.221716 -0.434240 
time: 1403638630.977829, t: -8.823711 1.023205 -2.810132 q: -0.403454 0.764451 -0.238416 -0.442716 
time: 1403638631.177830, t: -60.638373 11.658939 -78.926589 q: -0.446022 0.709962 -0.231498 -0.493384 
time: 1403638631.377830, t: -12.947731 7.451557 -9.424217 q: -0.228358 0.060928 0.924632 0.298658 
time: 1403638631.577830, t: -1.852671 6.774140 -1.734386 q: -0.365621 0.143307 0.919493 -0.017816 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720512634.076539263]: Shutdown request received.[0m
[33m[ WARN] [1720512634.076578466]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720512634.077372199]: Shutdown request received.[0m
[33m[ WARN] [1720512634.077400775]: Reason given for shutdown: [user request][0m
killed
