/SLAM-Hive/slam_hive_results/mapping_results/3092/2300_vins-fusion-stereo+MH_05_difficult+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720513862.816626544]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720513862.818466737]: init begins[0m
[31m[ERROR] [1720513862.819494765]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/93c6d452-3dcd-11ef-a065-0242ac110005/roslaunch-3aa74efa36ec-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://3aa74efa36ec:34359/[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] [1720513863.922754698]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720513863.924190974]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720513863.930097352]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720513863.930299457]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720513863.930323534]: ROW: 288 COL: 451 [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] [1720513863.930564819]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720513863.930763079]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720513863.930934315]: 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://3aa74efa36ec:11311/[0m
]2;roscore http://3aa74efa36ec:11311/
[1msetting /run_id to 93c6d452-3dcd-11ef-a065-0242ac110005[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] [1720513872.979506942]: 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: 316875355.04 
[0m[ INFO] [1720513883.865475654]: Initialization finish![0m
time: 1403638528.577830, t: 0.118799 0.207154 0.279554 q: 0.998302 -0.040855 0.029484 0.029221 
time: 1403638529.577830, t: 0.196124 -0.182401 0.807411 q: 0.997367 -0.065969 -0.016934 0.024919 
time: 1403638530.577830, t: 0.122416 -0.327682 1.281086 q: 0.995774 -0.082388 -0.003306 0.040447 
time: 1403638531.577830, t: 0.046470 -0.288859 1.182482 q: 0.995763 -0.084009 0.005519 0.036973 
time: 1403638532.577830, t: -0.070618 -0.168741 0.908257 q: 0.995825 -0.083392 0.006755 0.036497 
time: 1403638533.577830, t: -0.337840 0.085886 0.159053 q: 0.995511 -0.087997 0.010050 0.033372 
time: 1403638534.577830, t: -0.155899 -0.115657 0.815042 q: 0.995865 -0.083055 0.009221 0.035639 
time: 1403638535.577830, t: -0.154272 -0.104491 0.816271 q: 0.995892 -0.082742 0.009232 0.035597 
time: 1403638536.577830, t: -0.167115 -0.115156 0.816780 q: 0.995862 -0.082963 0.009823 0.035761 
time: 1403638537.577830, t: -0.166431 -0.110970 0.813670 q: 0.995876 -0.082828 0.009855 0.035693 
time: 1403638538.577830, t: -0.158100 -0.141803 0.831075 q: 0.995803 -0.083599 0.009889 0.035913 
time: 1403638539.577830, t: -1.895093 -0.598876 2.150909 q: 0.983722 -0.100201 0.143971 0.039020 
feature tracking not enough, please slowly move you device! 
time: 1403638540.577830, t: -1.895093 -0.598876 2.150909 q: 0.983722 -0.100201 0.143971 0.039020 
time: 1403638541.577830, t: -1.508023 -0.747565 2.547597 q: 0.987192 0.024625 0.146966 -0.056984 
time: 1403638542.577830, t: -0.989937 -1.255921 2.964767 q: 0.957576 0.180426 0.169968 -0.146991 
time: 1403638543.577830, t: -0.497590 -2.254726 2.962354 q: 0.965203 0.195973 0.121760 -0.123098 
time: 1403638544.577830, t: -0.472027 -2.682981 3.305012 q: 0.899165 0.358286 0.138946 -0.209353 
time: 1403638545.577830, t: -0.346267 -3.826772 3.432909 q: 0.899113 0.354133 0.142445 -0.214231 
time: 1403638546.577830, t: -0.099460 -4.729904 3.621120 q: 0.828991 0.469185 0.114496 -0.282010 
time: 1403638547.577830, t: -0.097157 -5.745034 3.703577 q: 0.815153 0.480374 0.119534 -0.300796 
time: 1403638548.577830, t: -0.121097 -7.041551 3.807706 q: 0.770590 0.535651 0.107993 -0.328034 
time: 1403638549.577830, t: -0.075767 -8.399190 3.803937 q: 0.754215 0.564639 0.109414 -0.316815 
time: 1403638551.577830, t: 0.682005 -11.273177 3.310272 q: 0.787808 0.544608 0.117537 -0.262575 
time: 1403638552.577830, t: 1.252615 -11.742641 3.618354 q: 0.852256 0.457389 0.148709 -0.205771 
time: 1403638553.577830, t: 1.682106 -11.094924 4.794418 q: 0.811526 0.497249 0.217296 -0.216685 
time: 1403638554.577830, t: 2.676692 -10.614289 4.650445 q: 0.841983 0.450515 0.137114 -0.263250 
time: 1403638555.577830, t: 3.146174 -9.660573 5.004352 q: 0.867354 0.417720 0.136223 -0.233774 
time: 1403638556.577830, t: 3.624955 -8.745495 5.454343 q: 0.870297 0.415983 0.107439 -0.240829 
time: 1403638557.577830, t: 4.260607 -7.967669 6.384191 q: 0.858361 0.435473 0.141654 -0.231332 
time: 1403638558.577830, t: 5.160041 -7.609492 6.998073 q: 0.865869 0.414443 0.102191 -0.260892 
time: 1403638559.577830, t: 6.005441 -7.556585 7.889713 q: 0.863558 0.418177 0.137560 -0.245914 
time: 1403638560.577830, t: 7.875381 -5.236995 9.033184 q: 0.788480 0.515466 0.130165 -0.309276 
time: 1403638561.577830, t: 6.254513 -10.033381 7.268916 q: 0.944621 -0.076252 0.202984 -0.246321 
time: 1403638562.577830, t: 2.179728 -11.207477 11.390798 q: 0.810179 -0.308128 0.482604 -0.125541 
time: 1403638563.577830, t: 4.295182 -8.845621 8.471412 q: 0.839757 -0.337124 0.422818 0.048789 
time: 1403638564.577830, t: 3.955034 -11.671442 12.843056 q: 0.599811 -0.434735 0.616663 0.266382 
time: 1403638565.577830, t: 1.441268 -9.299637 11.198801 q: 0.628798 -0.350139 0.661877 0.209606 
feature tracking not enough, please slowly move you device! 
time: 1403638566.577830, t: -0.246462 -8.873335 11.658034 q: 0.652876 -0.383282 0.617601 0.213112 
time: 1403638567.577830, t: -2.077961 -8.346823 12.602378 q: 0.655842 -0.386848 0.611916 0.213958 
time: 1403638568.577830, t: -3.339728 -8.008166 13.160792 q: 0.662190 -0.395951 0.596429 0.221358 
time: 1403638569.577830, t: -4.040072 -7.895056 13.238567 q: 0.671182 -0.402373 0.583172 0.217996 
unstable tracking...
unstable tracking...
time: 1403638572.577830, t: -5.884515 -7.116912 13.005846 q: 0.485298 -0.477435 0.503661 0.531853 
time: 1403638573.577830, t: -7.320705 -7.325623 13.226588 q: 0.446226 -0.494877 0.503561 0.549913 
time: 1403638574.577830, t: -8.379310 -2.025277 11.720084 q: 0.225419 -0.541921 0.485933 0.647594 
time: 1403638575.577830, t: -9.092454 -8.254458 12.755938 q: 0.197913 -0.556132 0.399511 0.701384 
time: 1403638576.577830, t: -10.561586 -7.798377 12.215703 q: 0.226874 -0.573011 0.360148 0.700343 
time: 1403638577.577830, t: -11.647539 -6.829863 11.653034 q: 0.222389 -0.587012 0.373757 0.682837 
time: 1403638578.577830, t: -12.281248 -5.629934 11.023601 q: 0.209169 -0.572326 0.403575 0.682509 
time: 1403638579.577830, t: -12.885162 -4.509527 10.461073 q: 0.206054 -0.578469 0.411233 0.673648 
feature tracking not enough, please slowly move you device! 
time: 1403638580.577830, t: -12.164161 -2.784660 9.947915 q: 0.150396 -0.564115 0.508634 0.632809 
time: 1403638581.577830, t: -12.605410 -2.501765 9.766975 q: 0.203644 -0.560865 0.515257 0.615198 
time: 1403638582.577830, t: -12.831098 -2.389760 9.491905 q: 0.189501 -0.577138 0.511262 0.607958 
time: 1403638583.577830, t: -12.487944 -2.787659 7.506113 q: 0.205926 -0.519688 0.489249 0.669443 
time: 1403638584.577830, t: -12.562563 -2.225908 8.601622 q: 0.178220 -0.589745 0.511350 0.599132 
time: 1403638585.577830, t: -12.570991 -2.718406 8.069901 q: 0.125807 -0.459746 0.575623 0.664428 
time: 1403638586.577830, t: -12.292408 -3.012616 7.471721 q: 0.026133 -0.438240 0.588084 0.679279 
time: 1403638587.577830, t: -11.745296 -3.048843 6.921887 q: 0.003333 -0.404814 0.602976 0.687412 
time: 1403638588.577830, t: -10.563436 -2.868997 6.861292 q: 0.091424 -0.440755 0.578141 0.680537 
time: 1403638589.577830, t: -9.625906 -3.112009 6.493013 q: 0.088465 -0.436582 0.582550 0.679857 
time: 1403638590.577830, t: -8.710091 -3.393119 6.186603 q: 0.090496 -0.428902 0.580974 0.685801 
time: 1403638591.577830, t: -7.925439 -3.349836 5.879276 q: 0.108528 -0.394340 0.578140 0.706025 
time: 1403638592.577830, t: -7.762010 -3.215835 5.442407 q: 0.117525 -0.420917 0.620078 0.651552 
time: 1403638593.577830, t: -8.170089 -3.126459 5.008725 q: 0.146280 -0.449026 0.617857 0.628674 
time: 1403638594.577830, t: -8.337290 -3.016802 4.517603 q: 0.149107 -0.463528 0.633242 0.601593 
time: 1403638595.577830, t: -8.238834 -3.161766 4.232242 q: 0.150860 -0.447689 0.637160 0.608969 
time: 1403638596.577830, t: -7.906714 -3.227263 4.080050 q: 0.184296 -0.498161 0.588815 0.609236 
time: 1403638597.577830, t: -6.591797 -3.507612 3.212214 q: 0.159473 -0.504958 0.607023 0.592545 
feature tracking not enough, please slowly move you device! 
time: 1403638598.577830, t: -6.591797 -3.507612 3.212214 q: 0.159473 -0.504958 0.607023 0.592545 
time: 1403638599.577830, t: -4.835954 -3.750702 2.833414 q: 0.306112 -0.508619 0.667484 0.449518 
time: 1403638600.577830, t: -4.835954 -3.750702 2.833414 q: 0.306112 -0.508619 0.667484 0.449518 
time: 1403638601.577830, t: -3.745167 -3.177712 2.048671 q: 0.336212 -0.558517 0.649008 0.392185 
feature tracking not enough, please slowly move you device! 
time: 1403638602.577830, t: -3.745167 -3.177712 2.048671 q: 0.336212 -0.558517 0.649008 0.392185 
time: 1403638603.577830, t: -3.670276 -3.917049 1.700638 q: 0.513033 -0.455724 0.665991 0.292523 
time: 1403638604.577830, t: -3.300723 -4.491650 2.105202 q: 0.517978 -0.479655 0.651245 0.278405 
time: 1403638605.577830, t: -2.822795 -5.845751 2.923125 q: 0.532414 -0.497626 0.627614 0.273869 
time: 1403638606.577830, t: -1.945835 -6.789370 3.490970 q: 0.545829 -0.483795 0.613999 0.301695 
time: 1403638607.577830, t: -6.101488 -7.008064 1.019330 q: 0.772238 -0.268143 0.569160 0.088343 
unstable tracking...
time: 1403638608.577830, t: -5.322030 -7.438225 1.737891 q: 0.755990 -0.284245 0.583691 0.083598 
unstable tracking...
time: 1403638609.577830, t: -4.956449 -7.666073 2.354162 q: 0.763474 -0.271196 0.578921 0.091711 
unstable tracking...
time: 1403638610.577830, t: -4.979831 -7.728612 2.948956 q: 0.745220 -0.277580 0.600432 0.084128 
unstable tracking...
time: 1403638611.577830, t: -5.477704 -7.651217 3.284094 q: 0.760007 -0.292820 0.576963 0.061316 
time: 1403638612.577830, t: -6.320524 -7.848737 3.712727 q: 0.759621 -0.279482 0.581228 0.083905 
time: 1403638613.577830, t: -7.177845 -8.179154 4.014909 q: 0.751488 -0.294569 0.582381 0.096574 
time: 1403638614.577830, t: -8.118984 -8.567782 4.337278 q: 0.705719 -0.353367 0.579040 0.204463 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638616.577830, t: -8.118984 -8.567782 4.337278 q: 0.705719 -0.353367 0.579040 0.204463 
time: 1403638617.577830, t: -8.118984 -8.567782 4.337278 q: 0.705719 -0.353367 0.579040 0.204463 
time: 1403638618.577830, t: -8.665578 -8.079605 2.983156 q: 0.743377 -0.381413 0.507426 0.210792 
feature tracking not enough, please slowly move you device! 
time: 1403638619.577830, t: -8.665578 -8.079605 2.983156 q: 0.743377 -0.381413 0.507426 0.210792 
time: 1403638620.577830, t: -8.258933 -7.640436 3.089772 q: 0.712655 -0.412288 0.515013 0.238542 
time: 1403638621.577830, t: -8.466273 -6.516934 2.641708 q: 0.731470 -0.399313 0.511684 0.208997 
time: 1403638622.577830, t: -8.701783 -6.002167 2.600616 q: 0.726480 -0.400229 0.520075 0.203876 
time: 1403638623.577830, t: -9.229655 -6.206354 2.493992 q: 0.728030 -0.393279 0.518774 0.214889 
time: 1403638624.577830, t: -9.982437 -6.665877 2.471695 q: 0.720628 -0.390486 0.526028 0.226959 
unstable tracking...
time: 1403638625.577830, t: -10.893268 -7.184681 2.510768 q: 0.742673 -0.373480 0.516145 0.206265 
unstable tracking...
time: 1403638626.577830, t: -11.800045 -7.629359 2.543150 q: 0.748108 -0.385387 0.500066 0.204316 
unstable tracking...
time: 1403638627.577830, t: -12.388594 -7.865803 2.587387 q: 0.756478 -0.382448 0.488755 0.206381 
unstable tracking...
time: 1403638629.577830, t: -12.701747 -7.970238 2.833159 q: 0.753871 -0.381596 0.490338 0.213614 
time: 1403638630.577830, t: -12.733430 -7.972621 2.909758 q: 0.740960 -0.382977 0.512480 0.204133 
time: 1403638631.577830, t: -12.726328 -7.971199 2.954752 q: 0.764318 -0.377619 0.479024 0.209183 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720513988.673757640]: Shutdown request received.[0m
[33m[ WARN] [1720513988.673787900]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720513988.674727696]: Shutdown request received.[0m
[33m[ WARN] [1720513988.674751413]: Reason given for shutdown: [user request][0m
killed
