/SLAM-Hive/slam_hive_results/mapping_results/3093/2301_vins-fusion-stereo+MH_05_difficult+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720514012.731305614]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720514012.732660079]: init begins[0m
[31m[ERROR] [1720514012.733801043]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ed21a568-3dcd-11ef-a72b-0242ac110005/roslaunch-894e8bc94758-118.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://894e8bc94758:44019/[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] [1720514013.838079442]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720514013.839088198]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720514013.845093819]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720514013.845314061]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720514013.845337825]: ROW: 240 COL: 376 [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] [1720514013.845529127]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720514013.845755464]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720514013.845931512]: 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://894e8bc94758:11311/[0m
]2;roscore http://894e8bc94758:11311/
[1msetting /run_id to ed21a568-3dcd-11ef-a72b-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] [1720514022.894682877]: 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: 316875504.96 
[0m[ INFO] [1720514033.734759553]: Initialization finish![0m
time: 1403638528.577830, t: 1.139254 0.600816 -0.573687 q: 0.999345 -0.032162 -0.002084 0.016439 
time: 1403638529.577830, t: 0.201785 1.154351 -0.496051 q: 0.998887 -0.037549 -0.028400 -0.002765 
time: 1403638530.577830, t: 0.126216 1.065782 -0.439100 q: 0.998129 -0.057108 -0.018451 0.011655 
time: 1403638531.577830, t: 0.146111 1.078209 -0.437977 q: 0.998188 -0.058413 -0.012553 0.007087 
time: 1403638532.577830, t: 0.008478 1.105351 -0.417852 q: 0.998344 -0.056283 -0.006761 0.009800 
time: 1403638533.577830, t: -0.278187 1.123208 -0.169960 q: 0.998332 -0.056324 0.007388 0.010351 
time: 1403638534.577830, t: -0.221935 1.122484 -0.307132 q: 0.998419 -0.055009 -0.000610 0.011524 
time: 1403638535.577830, t: -0.222223 1.122602 -0.307181 q: 0.998417 -0.055073 -0.000564 0.011408 
time: 1403638536.577830, t: -0.221930 1.122581 -0.307184 q: 0.998423 -0.054982 -0.000679 0.011344 
time: 1403638537.577830, t: -0.221911 1.122582 -0.307209 q: 0.998420 -0.055029 -0.000620 0.011311 
time: 1403638538.577830, t: -0.221819 1.122623 -0.307232 q: 0.998405 -0.055316 0.000055 0.011319 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638539.577830, t: -0.221819 1.122623 -0.307232 q: 0.998405 -0.055316 0.000055 0.011319 
feature tracking not enough, please slowly move you device! 
time: 1403638540.577830, t: -0.221819 1.122623 -0.307232 q: 0.998405 -0.055316 0.000055 0.011319 
time: 1403638541.577830, t: 0.033635 0.910828 0.137454 q: 0.994400 0.082557 0.004371 -0.065835 
time: 1403638543.577830, t: 0.632999 -0.467388 0.652977 q: 0.952154 0.278126 -0.002055 -0.126671 
time: 1403638544.577830, t: 0.723704 -1.078554 0.873436 q: 0.887535 0.428760 0.009942 -0.168366 
time: 1403638545.577830, t: 0.826643 -2.321203 0.982126 q: 0.889139 0.423784 0.008623 -0.172523 
time: 1403638546.577830, t: 0.909584 -3.300572 1.065517 q: 0.808975 0.540599 -0.000282 -0.230896 
time: 1403638547.577830, t: 1.019498 -4.341295 1.087097 q: 0.792833 0.557283 -0.002754 -0.246666 
time: 1403638548.577830, t: 0.884995 -5.556866 1.043415 q: 0.745973 0.612339 -0.008242 -0.261718 
unstable tracking...
time: 1403638549.577830, t: 1.033500 -6.830768 0.969539 q: 0.724661 0.640053 -0.010433 -0.255128 
time: 1403638550.577830, t: 1.423890 -8.189298 0.816373 q: 0.716573 0.651461 -0.012954 -0.248906 
time: 1403638551.577830, t: 0.561707 -9.088576 0.656901 q: 0.757345 0.624271 0.064403 -0.180460 
time: 1403638552.577830, t: 2.152209 -10.320582 1.204966 q: 0.829318 0.537401 0.007914 -0.152869 
time: 1403638553.577830, t: 2.658449 -10.443063 1.766595 q: 0.826375 0.530161 0.041347 -0.185265 
time: 1403638554.577830, t: 2.932228 -9.395636 2.589288 q: 0.813510 0.540785 0.018920 -0.213061 
time: 1403638555.577830, t: 3.245590 -8.643755 2.833627 q: 0.853917 0.485704 0.012052 -0.186475 
time: 1403638556.577830, t: 3.865213 -7.979604 3.645588 q: 0.844631 0.492622 -0.033081 -0.206948 
time: 1403638557.577830, t: 4.445274 -7.524524 4.708612 q: 0.835781 0.509412 -0.003954 -0.204828 
time: 1403638558.577830, t: 4.956392 -7.248092 5.638326 q: 0.838330 0.493643 -0.040920 -0.227694 
time: 1403638559.577830, t: 5.350791 -7.486758 6.415558 q: 0.855357 0.472430 0.011058 -0.212255 
time: 1403638560.577830, t: 6.343322 -6.339804 5.020588 q: 0.913272 0.388447 -0.040852 -0.115652 
time: 1403638561.577830, t: 3.662571 -12.295015 3.823768 q: 0.955833 -0.141349 0.142860 -0.214464 
time: 1403638562.577830, t: 3.402653 -8.482899 6.537178 q: 0.973325 -0.106333 0.174810 -0.103794 
time: 1403638563.577830, t: 4.069298 -7.892805 6.466925 q: 0.949985 -0.252999 0.182327 -0.016658 
time: 1403638564.577830, t: 3.419622 -7.449185 5.588426 q: 0.950493 -0.244255 0.191434 0.016006 
time: 1403638565.577830, t: 2.987568 -7.062928 4.818013 q: 0.940456 -0.293735 0.166407 0.039630 
feature tracking not enough, please slowly move you device! 
time: 1403638567.577830, t: 2.884740 -6.905063 5.233829 q: 0.924578 -0.347416 0.138008 0.073563 
time: 1403638568.577830, t: 2.169412 -6.271884 3.861551 q: 0.937143 -0.330727 0.081922 0.075314 
time: 1403638569.577830, t: 5.628783 -7.561244 1.177020 q: 0.922384 -0.370959 -0.092421 0.055270 
time: 1403638570.577830, t: 2.318860 -6.615023 3.066432 q: 0.919641 -0.362844 0.065881 0.135144 
time: 1403638571.577830, t: 1.967365 -6.369258 2.702333 q: 0.825337 -0.524144 0.082460 0.193111 
time: 1403638572.577830, t: 1.197081 -5.965157 1.629048 q: 0.710774 -0.645544 0.077088 0.268571 
time: 1403638573.577830, t: 0.897677 -5.406248 0.385482 q: 0.705537 -0.654317 0.045660 0.268331 
time: 1403638574.577830, t: -0.318087 -0.915977 -1.925536 q: 0.562798 -0.780694 0.092437 0.255402 
unstable tracking...
time: 1403638575.577830, t: -0.081213 -3.801645 -3.023127 q: 0.541388 -0.770382 0.064154 0.330597 
time: 1403638576.577830, t: -0.265343 -3.270458 -4.176158 q: 0.645558 -0.726486 -0.074037 0.223590 
time: 1403638577.577830, t: 0.036079 -1.721156 -4.191842 q: 0.609916 -0.750168 -0.007875 0.255319 
time: 1403638578.577830, t: -0.018092 0.021221 -4.440924 q: 0.613667 -0.741193 0.024375 0.271020 
time: 1403638579.577830, t: 0.093611 1.420821 -4.485039 q: 0.619094 -0.739142 0.035820 0.262887 
feature tracking not enough, please slowly move you device! 
time: 1403638580.577830, t: 0.093611 1.420821 -4.485039 q: 0.619094 -0.739142 0.035820 0.262887 
time: 1403638581.577830, t: 0.045767 1.911112 -4.736329 q: 0.659465 -0.706622 0.013281 0.256155 
time: 1403638582.577830, t: 0.156925 2.221542 -4.905496 q: 0.654065 -0.717266 0.023649 0.239102 
time: 1403638583.577830, t: 0.766765 2.274878 -4.910445 q: 0.651143 -0.712166 0.006978 0.262268 
time: 1403638584.577830, t: 0.975802 2.333302 -4.581047 q: 0.652213 -0.723611 0.039245 0.222408 
time: 1403638585.577830, t: 1.304637 1.952717 -4.006953 q: 0.654807 -0.711051 0.022769 0.255180 
time: 1403638586.577830, t: 1.724619 1.604463 -3.473337 q: 0.653448 -0.717009 0.020428 0.241838 
time: 1403638587.577830, t: 2.016252 1.232075 -2.671732 q: 0.654163 -0.710291 0.021268 0.259047 
time: 1403638588.577830, t: 2.213726 0.878538 -1.764531 q: 0.652268 -0.714509 0.012500 0.252720 
time: 1403638589.577830, t: 2.673123 0.378355 -0.883304 q: 0.651253 -0.712310 0.010365 0.261488 
time: 1403638590.577830, t: 3.213365 -0.180288 -0.087002 q: 0.648177 -0.710588 -0.000909 0.273734 
time: 1403638591.577830, t: 3.587735 -0.580490 0.707035 q: 0.641107 -0.698948 -0.031809 0.315343 
time: 1403638592.577830, t: 3.889988 -0.386160 1.250787 q: 0.682802 -0.674280 0.007446 0.281199 
time: 1403638593.577830, t: 4.452925 0.093826 1.122996 q: 0.705793 -0.661056 -0.009788 0.254492 
time: 1403638594.577830, t: 4.874075 0.449057 1.091123 q: 0.727056 -0.643050 0.010005 0.240367 
time: 1403638595.577830, t: 5.073830 0.449800 1.275905 q: 0.724197 -0.640812 0.009085 0.254590 
time: 1403638596.577830, t: 5.092490 0.302970 1.545419 q: 0.726424 -0.657117 -0.045043 0.196155 
time: 1403638597.577830, t: 6.037046 -0.165229 2.906434 q: 0.726984 -0.659043 -0.026396 0.190945 
time: 1403638598.577830, t: 6.594069 -2.808593 5.012005 q: 0.784272 -0.585887 -0.026130 0.202414 
time: 1403638599.577830, t: 0.147345 2.228000 14.914157 q: 0.659681 -0.403652 0.625471 -0.103301 
feature tracking not enough, please slowly move you device! 
time: 1403638601.577830, t: -0.769000 -0.675701 15.003426 q: 0.729690 -0.376655 0.553173 -0.140296 
feature tracking not enough, please slowly move you device! 
time: 1403638603.577830, t: -0.341137 -1.338823 15.377731 q: 0.812776 -0.295483 0.442742 -0.236779 
time: 1403638604.577830, t: -0.936027 -1.690848 15.713917 q: 0.802282 -0.307201 0.440448 -0.260721 
time: 1403638605.577830, t: -1.838503 -2.216843 15.860574 q: 0.801748 -0.322210 0.419192 -0.278673 
time: 1403638606.577830, t: -2.207442 -2.380467 15.791096 q: 0.831079 -0.278929 0.386027 -0.287210 
feature tracking not enough, please slowly move you device! 
time: 1403638607.577830, t: -2.207442 -2.380467 15.791096 q: 0.831079 -0.278929 0.386027 -0.287210 
time: 1403638608.577830, t: -3.243519 -2.465130 13.835728 q: 0.831053 -0.279308 0.387433 -0.285015 
unstable tracking...
unstable tracking...
time: 1403638610.577830, t: -4.895920 -1.855467 15.973374 q: 0.809537 -0.268241 0.473128 -0.221012 
unstable tracking...
time: 1403638611.577830, t: -5.540352 -1.530822 16.112465 q: 0.805729 -0.289772 0.457327 -0.240178 
unstable tracking...
time: 1403638612.577830, t: -6.491533 -1.386173 16.193530 q: 0.812073 -0.286992 0.462387 -0.210645 
unstable tracking...
time: 1403638613.577830, t: -7.413300 -1.219373 16.057117 q: 0.806011 -0.297960 0.467738 -0.206849 
unstable tracking...
time: 1403638614.577830, t: -8.501778 -1.111534 15.956534 q: 0.776886 -0.366186 0.501000 -0.106558 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638615.577830, t: -8.501778 -1.111534 15.956534 q: 0.776886 -0.366186 0.501000 -0.106558 
unstable tracking...
time: 1403638616.577830, t: -9.165571 -0.580533 15.129609 q: 0.716141 -0.462565 0.522116 0.023894 
time: 1403638617.577830, t: -9.777064 0.249008 14.415797 q: 0.726624 -0.477838 0.491757 0.043170 
time: 1403638618.577830, t: -9.696551 0.933013 13.370354 q: 0.728990 -0.479359 0.488111 0.023166 
time: 1403638619.577830, t: -9.424640 1.724239 12.454822 q: 0.638967 -0.542945 0.530762 0.123385 
time: 1403638620.577830, t: -9.241864 2.521419 11.954444 q: 0.620083 -0.542808 0.546230 0.149965 
time: 1403638621.577830, t: -9.236044 3.110195 11.610649 q: 0.615594 -0.562860 0.536931 0.126242 
time: 1403638622.577830, t: -9.597194 3.554479 11.226151 q: 0.623006 -0.551950 0.542130 0.115370 
time: 1403638623.577830, t: -10.130524 3.310953 11.179959 q: 0.627282 -0.544515 0.542363 0.125951 
time: 1403638624.577830, t: -10.850264 2.842728 11.366526 q: 0.619968 -0.540707 0.551935 0.136539 
unstable tracking...
time: 1403638625.577830, t: -11.694119 2.295760 11.630543 q: 0.645000 -0.530131 0.537056 0.120444 
time: 1403638626.577830, t: -12.546671 1.899573 11.835406 q: 0.648612 -0.541265 0.521407 0.120293 
time: 1403638627.577830, t: -13.080328 1.727213 12.146503 q: 0.648883 -0.545364 0.515634 0.125102 
time: 1403638628.577830, t: -13.367954 1.644831 12.266786 q: 0.642707 -0.530852 0.537102 0.129021 
time: 1403638629.577830, t: -13.178235 1.726858 12.508430 q: 0.645367 -0.541574 0.520822 0.137636 
time: 1403638630.577830, t: -13.596027 0.720806 13.312748 q: 0.632119 -0.538356 0.542470 0.127771 
time: 1403638631.577830, t: -13.501507 1.778983 12.466152 q: 0.662671 -0.534464 0.508326 0.129692 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720514138.613786372]: Shutdown request received.[0m
[33m[ WARN] [1720514138.613825277]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720514138.614636267]: Shutdown request received.[0m
[33m[ WARN] [1720514138.614661649]: Reason given for shutdown: [user request][0m
killed
