/SLAM-Hive/slam_hive_results/mapping_results/3090/2298_vins-fusion-stereo+MH_05_difficult+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720513562.553714437]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720513562.554457089]: init begins[0m
[31m[ERROR] [1720513562.555471606]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e0cd94d0-3dcc-11ef-862a-0242ac110005/roslaunch-672bf2933057-118.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://672bf2933057:46287/[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
[0m[ INFO] [1720513563.660377607]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720513563.661013511]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720513563.667697797]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720513563.667918637]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720513563.667941132]: ROW: 480 COL: 752 [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] [1720513563.668169544]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720513563.668387040]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720513563.668573131]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://672bf2933057:11311/[0m
]2;roscore http://672bf2933057:11311/
[1msetting /run_id to e0cd94d0-3dcc-11ef-862a-0242ac110005[0m
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720513572.704826347]: 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: 316875054.77 
[0m[ INFO] [1720513583.652814640]: Initialization finish![0m
time: 1403638528.577830, t: 0.193528 0.235944 0.092410 q: 0.998581 -0.041378 0.025485 0.021773 
time: 1403638529.577830, t: 0.060869 0.117391 0.197765 q: 0.997354 -0.067049 -0.024989 0.012827 
time: 1403638530.577830, t: 0.075615 -0.075889 0.748761 q: 0.995886 -0.085944 -0.014297 0.024889 
time: 1403638531.577830, t: 0.083217 -0.028668 0.602212 q: 0.995923 -0.087093 -0.009467 0.021509 
time: 1403638532.577830, t: 0.068070 -0.005422 0.657918 q: 0.996103 -0.084909 -0.008833 0.022154 
time: 1403638533.577830, t: 0.093960 -0.070656 0.803489 q: 0.996090 -0.084034 -0.010611 0.025090 
time: 1403638534.577830, t: 0.045055 -0.024179 0.631355 q: 0.996015 -0.085792 -0.009097 0.022591 
time: 1403638535.577830, t: 0.045753 -0.025816 0.642963 q: 0.996027 -0.085644 -0.009005 0.022676 
time: 1403638536.577830, t: 0.045861 -0.025815 0.646297 q: 0.996035 -0.085550 -0.009026 0.022674 
time: 1403638537.577830, t: 0.045754 -0.025990 0.646670 q: 0.996032 -0.085603 -0.008849 0.022676 
time: 1403638538.577830, t: 0.046682 -0.026617 0.651919 q: 0.996018 -0.085802 -0.008677 0.022613 
time: 1403638539.577830, t: 0.082096 -0.042027 0.718711 q: 0.995891 -0.083911 0.026263 0.021678 
feature tracking not enough, please slowly move you device! 
time: 1403638540.577830, t: 0.082096 -0.042027 0.718711 q: 0.995891 -0.083911 0.026263 0.021678 
time: 1403638541.577830, t: 0.404068 -0.240378 1.103498 q: 0.996652 0.048435 0.026960 -0.060104 
time: 1403638542.577830, t: 0.859108 -1.602135 1.008639 q: 0.977536 0.149310 0.037511 -0.143952 
time: 1403638543.577830, t: 3.168327 -5.394318 1.844608 q: 0.981257 -0.036619 -0.166546 -0.089762 
time: 1403638544.577830, t: 1.697644 -3.443265 2.058687 q: 0.934607 0.297832 -0.044292 -0.189323 
time: 1403638545.577830, t: 1.446875 -4.171687 2.552217 q: 0.925855 0.326579 -0.015876 -0.189438 
time: 1403638546.577830, t: 1.591178 -5.059156 2.841923 q: 0.857981 0.452327 -0.039964 -0.240149 
time: 1403638547.577830, t: 1.598033 -6.034527 3.107617 q: 0.844451 0.471990 -0.042391 -0.249660 
time: 1403638548.577830, t: 1.198978 -7.095478 3.483302 q: 0.798899 0.536714 -0.033946 -0.269345 
time: 1403638549.577830, t: 1.432447 -8.677388 3.297691 q: 0.793134 0.548251 -0.047279 -0.261007 
time: 1403638550.577830, t: 1.836250 -10.062062 3.413028 q: 0.788279 0.557806 -0.052426 -0.254403 
time: 1403638551.577830, t: 2.291173 -11.225228 3.806684 q: 0.810862 0.541951 -0.051512 -0.214799 
time: 1403638552.577830, t: 2.739752 -10.671864 5.395959 q: 0.831136 0.536075 -0.021770 -0.146162 
time: 1403638553.577830, t: 2.998018 -12.218600 4.864301 q: 0.891053 0.410118 0.010870 -0.194189 
time: 1403638554.577830, t: 3.676356 -10.993510 5.588964 q: 0.872068 0.432567 -0.035187 -0.226151 
time: 1403638555.577830, t: 4.065433 -10.142858 5.895440 q: 0.896899 0.390412 -0.033833 -0.204951 
time: 1403638556.577830, t: 4.491925 -9.405598 6.188174 q: 0.899556 0.376057 -0.064306 -0.212710 
time: 1403638557.577830, t: 4.980246 -8.478970 6.558796 q: 0.907369 0.367384 -0.034825 -0.201241 
time: 1403638558.577830, t: 5.599799 -8.039254 7.820723 q: 0.896444 0.371764 -0.078170 -0.228189 
time: 1403638559.577830, t: 6.425901 -7.065676 5.905457 q: 0.922788 0.259057 -0.030558 -0.283580 
time: 1403638560.577830, t: 7.240689 -5.437165 7.076272 q: 0.932197 0.319651 -0.034574 -0.166245 
time: 1403638561.577830, t: 6.298228 -6.676867 7.333028 q: 0.985622 0.064546 0.017823 -0.155129 
time: 1403638562.577830, t: 6.458221 -5.976858 7.343640 q: 0.992034 -0.002373 0.033377 -0.121444 
time: 1403638563.577830, t: 6.755134 -5.216696 7.968186 q: 0.982738 -0.171664 0.067893 0.012160 
time: 1403638564.577830, t: 7.063929 -3.347808 7.124932 q: 0.994195 -0.097991 0.040759 -0.017685 
time: 1403638565.577830, t: 6.536999 -2.187739 5.705601 q: 0.992766 -0.114469 0.036194 0.001232 
feature tracking not enough, please slowly move you device! 
time: 1403638567.577830, t: 5.315784 -1.213208 6.404015 q: 0.991612 -0.106156 0.070932 -0.020136 
time: 1403638568.577830, t: 4.499367 -0.388709 5.671609 q: 0.990974 -0.120530 0.055021 -0.020379 
unstable tracking...
time: 1403638569.577830, t: 3.144454 2.589463 4.251624 q: 0.997025 0.007370 0.069474 0.032554 
time: 1403638570.577830, t: 3.268167 1.100052 4.882088 q: 0.989143 -0.044421 0.092088 0.105559 
time: 1403638571.577830, t: 2.801247 1.488826 4.826496 q: 0.950881 -0.224043 0.109575 0.183369 
time: 1403638572.577830, t: 2.432809 2.247599 4.239690 q: 0.877826 -0.396918 0.055984 0.262190 
time: 1403638573.577830, t: 2.176523 3.435758 3.728904 q: 0.875196 -0.412959 0.026585 0.250578 
time: 1403638574.577830, t: 1.953911 0.872472 2.769706 q: 0.746759 -0.566984 0.084705 0.337202 
time: 1403638575.577830, t: 1.655893 1.956211 2.336632 q: 0.733178 -0.572899 0.067730 0.360068 
unstable tracking...
time: 1403638576.577830, t: 1.657375 3.685527 2.078125 q: 0.746630 -0.587501 0.005077 0.312026 
time: 1403638577.577830, t: 1.718950 5.168774 2.143782 q: 0.747391 -0.592692 0.022685 0.299347 
time: 1403638578.577830, t: 1.944733 6.582970 2.538570 q: 0.746275 -0.580547 0.050186 0.321746 
time: 1403638579.577830, t: 2.214060 7.825739 2.963295 q: 0.749323 -0.578128 0.062650 0.316793 
feature tracking not enough, please slowly move you device! 
time: 1403638580.577830, t: 2.214060 7.825739 2.963295 q: 0.749323 -0.578128 0.062650 0.316793 
time: 1403638582.577830, t: 2.139988 8.712486 2.895950 q: 0.779441 -0.553920 0.063450 0.285690 
time: 1403638583.577830, t: 2.183109 8.613731 2.234972 q: 0.791823 -0.532554 0.055896 0.293733 
time: 1403638584.577830, t: 2.854556 8.614015 2.885206 q: 0.781588 -0.556520 0.081920 0.269621 
time: 1403638585.577830, t: 3.241154 8.136372 3.335328 q: 0.781882 -0.546133 0.055830 0.295435 
time: 1403638586.577830, t: 3.690722 7.597950 3.637994 q: 0.780044 -0.554290 0.058979 0.284282 
time: 1403638587.577830, t: 4.198718 7.082971 4.304001 q: 0.775932 -0.550808 0.047961 0.303710 
time: 1403638588.577830, t: 4.388897 6.415133 4.933735 q: 0.775509 -0.555244 0.049922 0.296307 
time: 1403638589.577830, t: 4.723735 5.691932 5.487856 q: 0.773643 -0.554605 0.058116 0.300853 
time: 1403638590.577830, t: 4.980464 4.905392 6.020655 q: 0.771096 -0.555441 0.057226 0.305975 
time: 1403638591.577830, t: 5.232991 4.279794 6.373947 q: 0.771221 -0.538618 0.023912 0.338435 
time: 1403638592.577830, t: 5.598301 4.292954 6.760568 q: 0.803801 -0.506653 0.066504 0.304604 
time: 1403638593.577830, t: 6.089967 4.580861 6.822431 q: 0.824132 -0.499662 0.056862 0.260597 
time: 1403638594.577830, t: 6.587887 4.942473 6.893815 q: 0.836830 -0.480071 0.077263 0.251551 
time: 1403638595.577830, t: 6.864324 4.876404 6.878711 q: 0.836940 -0.471102 0.072236 0.269029 
time: 1403638596.577830, t: 6.984439 4.559324 7.069335 q: 0.842390 -0.497168 0.033212 0.205181 
time: 1403638597.577830, t: 7.931675 3.593243 8.031008 q: 0.837254 -0.502221 0.064700 0.206382 
time: 1403638598.577830, t: 9.196281 1.277177 9.828589 q: 0.852573 -0.456877 0.071908 0.243336 
feature tracking not enough, please slowly move you device! 
time: 1403638599.577830, t: 9.196281 1.277177 9.828589 q: 0.852573 -0.456877 0.071908 0.243336 
feature tracking not enough, please slowly move you device! 
time: 1403638600.577830, t: 9.196281 1.277177 9.828589 q: 0.852573 -0.456877 0.071908 0.243336 
time: 1403638601.577830, t: 10.373587 1.829568 11.398567 q: 0.859965 -0.457109 0.054568 0.220305 
feature tracking not enough, please slowly move you device! 
time: 1403638602.577830, t: 10.373587 1.829568 11.398567 q: 0.859965 -0.457109 0.054568 0.220305 
time: 1403638603.577830, t: 10.876802 1.647996 11.503512 q: 0.935854 -0.264857 0.030111 0.230481 
time: 1403638604.577830, t: 10.932500 0.937852 11.459441 q: 0.941180 -0.268265 0.028064 0.203533 
time: 1403638605.577830, t: 11.083013 0.223842 11.189597 q: 0.944646 -0.268920 0.000339 0.187952 
time: 1403638606.577830, t: 10.973167 -1.073213 12.602294 q: 0.891456 -0.395676 0.039864 0.217157 
time: 1403638607.577830, t: 11.658005 -0.944266 12.097370 q: 0.941196 -0.300703 -0.044608 0.147437 
time: 1403638608.577830, t: 12.564394 -1.652466 7.528875 q: 0.939709 -0.269201 0.033327 0.208250 
unstable tracking...
time: 1403638609.577830, t: 17.428813 0.012182 6.861921 q: 0.943194 -0.158871 -0.255498 0.140948 
unstable tracking...
unstable tracking...
time: 1403638611.577830, t: 17.483790 -0.962175 5.937320 q: 0.942351 -0.173029 -0.271990 0.089764 
unstable tracking...
time: 1403638612.577830, t: 18.408735 -0.671334 5.668761 q: 0.913370 -0.157876 -0.349331 0.137109 
time: 1403638613.577830, t: 18.551412 -0.895379 4.580829 q: 0.917139 -0.170729 -0.342308 0.111953 
time: 1403638614.577830, t: 17.839448 -1.538387 3.182239 q: 0.896223 -0.304100 -0.298317 0.123752 
feature tracking not enough, please slowly move you device! 
time: 1403638615.577830, t: 17.839448 -1.538387 3.182239 q: 0.896223 -0.304100 -0.298317 0.123752 
feature tracking not enough, please slowly move you device! 
time: 1403638616.577830, t: 17.839448 -1.538387 3.182239 q: 0.896223 -0.304100 -0.298317 0.123752 
unstable tracking...
time: 1403638617.577830, t: 18.006464 -0.700753 2.408549 q: 0.870786 -0.318247 -0.356142 0.116675 
time: 1403638618.577830, t: 17.964507 0.536485 2.307847 q: 0.882037 -0.306569 -0.342154 0.104671 
time: 1403638619.577830, t: 17.520773 1.608357 2.829555 q: 0.849086 -0.425093 -0.304173 0.076336 
time: 1403638620.577830, t: 16.149813 12.233859 2.436882 q: 0.826214 -0.463893 -0.294226 0.124918 
time: 1403638621.577830, t: 12.130639 18.421497 2.899548 q: 0.738829 -0.279684 -0.488953 -0.369910 
time: 1403638622.577830, t: 10.023877 19.726881 4.414897 q: 0.683094 -0.335664 -0.431876 -0.483937 
time: 1403638623.577830, t: 8.484932 17.636916 6.520189 q: 0.591412 -0.252358 -0.462917 -0.610127 
time: 1403638624.577830, t: 8.388371 20.832275 5.177904 q: -0.365284 0.510779 0.541269 0.559196 
unstable tracking...
time: 1403638625.577830, t: 9.339648 18.322701 4.263001 q: -0.406042 0.446123 0.556844 0.570990 
unstable tracking...
time: 1403638626.577830, t: 9.579289 17.393961 4.116266 q: -0.381983 0.450901 0.562890 0.577868 
unstable tracking...
time: 1403638627.577830, t: 9.961903 16.887506 3.893955 q: -0.377047 0.452610 0.571567 0.571219 
unstable tracking...
time: 1403638628.577830, t: 10.050219 16.703732 3.748125 q: -0.396435 0.452957 0.558591 0.570653 
unstable tracking...
unstable tracking...
unstable tracking...

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720513688.372539987]: Shutdown request received.[0m
[33m[ WARN] [1720513688.372581427]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720513688.373380016]: Shutdown request received.[0m
[33m[ WARN] [1720513688.373410772]: Reason given for shutdown: [user request][0m
killed
