/SLAM-Hive/slam_hive_results/mapping_results/3047/2255_vins-fusion-stereo+MH_04_difficult+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720507364.543778954]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720507364.545815825]: init begins[0m
[31m[ERROR] [1720507364.547004990]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/72811000-3dbe-11ef-bd75-0242ac110005/roslaunch-81c495b44680-119.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://81c495b44680:36145/[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 [156][0m
[0m[ INFO] [1720507365.705809369]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720507365.710404242]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://81c495b44680:11311/[0m
]2;roscore http://81c495b44680:11311/
[1msetting /run_id to 72811000-3dbe-11ef-bd75-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720507365.739672693]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720507365.740061927]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720507365.740125681]: 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] [1720507365.740687741]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720507365.741083738]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720507365.741447628]: 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
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 [233][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720507374.702292221]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316869247.58 
throw img0
[0m[ INFO] [1720507376.114604007]: Initialization finish![0m
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time: 1403638128.545097, t: 0.000208 -0.000359 0.000149 q: 0.999995 0.000684 -0.001397 0.002576 
time: 1403638128.645097, t: 0.000288 -0.000350 0.000190 q: 0.999994 0.000839 -0.001396 0.003049 
time: 1403638128.745097, t: 0.000398 -0.000449 0.000808 q: 0.999985 0.001194 -0.002060 0.004890 
time: 1403638128.845097, t: 0.000585 -0.000781 0.000900 q: 0.999982 0.000335 -0.002606 0.005413 
time: 1403638128.945097, t: 0.000552 -0.000097 0.000951 q: 0.999989 0.000443 -0.002262 0.004131 
time: 1403638129.045097, t: 0.000900 0.000382 0.000810 q: 0.999989 0.000762 -0.002218 0.004092 
time: 1403638129.145097, t: 0.002865 -0.000249 0.000088 q: 0.999998 -0.000864 -0.001741 -0.000432 
time: 1403638129.245097, t: 0.006338 0.000595 -0.001671 q: 0.999884 0.004791 0.007446 0.012364 
time: 1403638129.345097, t: 0.012785 0.005282 -0.009363 q: 0.998504 0.012263 0.028387 0.045099 
time: 1403638129.445097, t: 0.018004 0.005747 -0.012466 q: 0.996970 0.014096 0.035744 0.067629 
time: 1403638129.545097, t: 0.023155 0.005781 -0.015686 q: 0.998592 0.013788 0.014109 0.049244 
time: 1403638129.645097, t: 0.029577 0.001848 -0.015983 q: 0.999723 0.009404 0.000164 0.021566 
time: 1403638129.745097, t: 0.037394 0.000525 -0.017331 q: 0.999803 0.008281 0.005727 0.017110 
time: 1403638129.845097, t: 0.047603 -0.000670 -0.019701 q: 0.999792 0.010823 -0.000152 0.017289 
time: 1403638129.945097, t: 0.039607 -0.024247 0.017520 q: 0.999866 0.011225 -0.006731 0.009834 
time: 1403638130.045097, t: 0.072496 0.030812 -0.043208 q: 0.999755 0.015658 0.005302 0.014686 
time: 1403638130.145097, t: 0.207214 0.057734 0.161169 q: 0.999409 0.021173 0.016971 0.021104 
time: 1403638130.245097, t: 0.434442 0.408538 -0.293713 q: 0.999228 0.038265 0.002332 0.008555 
time: 1403638130.345097, t: 0.387365 0.020510 -0.252085 q: 0.999054 0.031406 0.019279 0.023073 
time: 1403638130.445097, t: 0.454547 -0.006889 -0.169320 q: 0.998399 0.035523 0.027380 0.034459 
time: 1403638130.545097, t: 0.284922 0.015392 0.016549 q: 0.998518 0.038955 0.033010 0.018851 
time: 1403638130.645097, t: 0.282311 0.063153 0.058565 q: 0.998319 0.038982 0.040518 0.014100 
time: 1403638130.745097, t: 0.337852 0.138219 -0.061544 q: 0.996978 0.046931 0.051694 0.034066 
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time: 1403638131.045097, t: 0.395998 0.072352 0.022085 q: 0.993870 0.046345 0.083329 0.055954 
time: 1403638131.145097, t: 0.400088 0.096413 0.026296 q: 0.994431 0.044315 0.081071 0.050695 
time: 1403638131.245097, t: 0.380902 0.034316 0.066331 q: 0.996710 0.039053 0.062974 0.032850 
time: 1403638131.345097, t: 0.362220 0.023792 0.130331 q: 0.997625 0.038926 0.051711 0.023545 
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time: 1403638131.545097, t: 0.295023 0.049245 0.126461 q: 0.998033 0.033808 0.049287 0.018933 
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time: 1403638131.845097, t: -0.024908 -0.232761 0.165305 q: 0.998730 0.016693 0.047397 -0.003619 
time: 1403638131.945097, t: -0.264514 -0.554479 0.353715 q: 0.998464 0.002277 0.055095 -0.005418 
time: 1403638132.045097, t: -1.167938 1.654483 -0.564349 q: 0.992193 0.085390 0.065877 -0.062619 
time: 1403638132.145097, t: -0.646554 0.085495 0.619372 q: 0.997383 0.019272 0.055255 -0.042454 
time: 1403638132.245097, t: -0.178980 -0.092344 0.310043 q: 0.998352 0.022602 0.042595 -0.031127 
time: 1403638132.345097, t: -0.178605 0.149409 0.378588 q: 0.997431 0.033422 0.059090 -0.022849 
time: 1403638132.545097, t: 0.507685 -0.079762 -0.028486 q: 0.996287 0.052422 0.063500 0.025117 
time: 1403638132.645097, t: 0.096210 0.142839 0.120862 q: 0.993041 0.064204 0.093239 0.032456 
time: 1403638132.745097, t: 0.777545 0.141241 -0.183305 q: 0.994845 0.068465 0.059976 0.044715 
time: 1403638132.845097, t: 1.017830 0.256698 -0.270299 q: 0.994379 0.072908 0.054971 0.053604 
time: 1403638132.945097, t: 1.082243 0.095255 -0.265540 q: 0.992918 0.070266 0.067847 0.067622 
time: 1403638133.045097, t: 1.094915 0.127309 -0.253524 q: 0.992980 0.075349 0.068494 0.060189 
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time: 1403638137.045097, t: 1.153223 0.275156 -0.403607 q: 0.990412 -0.067770 0.025769 0.117592 
time: 1403638137.145097, t: 1.129681 0.217265 -0.420534 q: 0.992009 -0.063376 0.018894 0.107445 
time: 1403638137.245097, t: 0.801387 0.033566 -0.289930 q: 0.993135 -0.063070 0.021361 0.096168 
time: 1403638137.345097, t: 0.377037 -0.194709 -0.033103 q: 0.992428 -0.064485 0.034846 0.098559 
time: 1403638137.445097, t: 0.619028 -0.032746 -0.145865 q: 0.994697 -0.060979 0.007435 0.082482 
time: 1403638137.545097, t: 0.635204 -0.108710 -0.061789 q: 0.995242 -0.067761 -0.010141 0.069279 
time: 1403638137.645097, t: 0.538288 -0.117261 -0.116555 q: 0.995402 -0.072627 -0.014430 0.060757 
time: 1403638137.745097, t: 0.532664 -0.126585 -0.235185 q: 0.994703 -0.082353 -0.017842 0.058870 
feature tracking not enough, please slowly move you device! 
time: 1403638137.845097, t: 1.617748 -1.726891 -0.612340 q: 0.976622 -0.167072 -0.101426 0.089493 
time: 1403638137.945097, t: 1.387016 -1.756161 0.357946 q: 0.977021 -0.164107 -0.118203 0.067282 
feature tracking not enough, please slowly move you device! 
time: 1403638138.045097, t: 1.224673 -1.546520 0.469357 q: 0.997008 0.020034 -0.073964 0.010177 
time: 1403638138.145097, t: 0.226208 2.175479 2.109473 q: 0.944707 -0.072813 0.279621 -0.155043 
time: 1403638138.245097, t: -1.684900 4.329786 -2.133565 q: 0.977477 -0.049110 0.008186 -0.205084 
time: 1403638138.345097, t: -1.232892 3.443110 -1.597086 q: 0.963196 -0.064235 -0.028702 -0.259430 
time: 1403638138.445097, t: -1.102236 3.242876 -1.634195 q: 0.961510 -0.060532 -0.025838 -0.266771 
time: 1403638138.545097, t: -1.147010 3.192881 -1.811529 q: 0.959849 -0.057916 -0.030324 -0.272793 
time: 1403638138.645097, t: -1.088065 3.109989 -1.715637 q: 0.959686 -0.058092 -0.025803 -0.273793 
time: 1403638138.745097, t: -1.056905 3.060377 -1.705160 q: 0.959090 -0.055160 -0.022788 -0.276739 
time: 1403638138.845097, t: -1.043448 2.987464 -1.744405 q: 0.957871 -0.051405 -0.020803 -0.281795 
time: 1403638138.945097, t: -0.935690 2.896432 -1.733566 q: 0.954566 -0.047304 -0.012879 -0.293939 
time: 1403638139.045097, t: -0.935606 2.890643 -1.733605 q: 0.954882 -0.046786 -0.012914 -0.292992 
time: 1403638139.145097, t: -0.942570 2.883022 -1.734298 q: 0.954814 -0.046977 -0.012581 -0.293199 
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time: 1403638139.545097, t: -0.941073 2.888549 -1.730496 q: 0.954777 -0.047026 -0.012428 -0.293319 
time: 1403638139.645097, t: -0.940447 2.883045 -1.733461 q: 0.954751 -0.047337 -0.012649 -0.293344 
time: 1403638139.745097, t: -0.938216 2.887415 -1.731281 q: 0.954756 -0.047268 -0.012666 -0.293336 
time: 1403638139.845097, t: -0.939811 2.888162 -1.731874 q: 0.954730 -0.047219 -0.012631 -0.293429 
time: 1403638139.945097, t: -0.939419 2.889346 -1.731775 q: 0.954712 -0.047273 -0.012624 -0.293479 
time: 1403638140.045097, t: -0.939523 2.888629 -1.731295 q: 0.954706 -0.047362 -0.012797 -0.293478 
time: 1403638140.145097, t: -0.939124 2.889050 -1.731404 q: 0.954672 -0.047354 -0.012803 -0.293591 
time: 1403638140.245097, t: -0.938877 2.888528 -1.731589 q: 0.954682 -0.047357 -0.012835 -0.293556 
time: 1403638140.345097, t: -0.939345 2.888564 -1.731428 q: 0.954688 -0.047387 -0.012759 -0.293535 
time: 1403638140.445097, t: -0.938637 2.888655 -1.731260 q: 0.954643 -0.047400 -0.012909 -0.293671 
time: 1403638140.545097, t: -0.938791 2.887752 -1.730466 q: 0.954609 -0.047529 -0.012984 -0.293759 
time: 1403638140.645097, t: -0.938835 2.887590 -1.730606 q: 0.954625 -0.047506 -0.012994 -0.293710 
time: 1403638140.745097, t: -0.939229 2.887506 -1.730632 q: 0.954628 -0.047535 -0.012875 -0.293702 
time: 1403638140.845097, t: -0.938874 2.886922 -1.730108 q: 0.954585 -0.047655 -0.013049 -0.293812 
time: 1403638140.945097, t: -0.939007 2.886506 -1.729883 q: 0.954549 -0.047725 -0.013081 -0.293916 
time: 1403638141.045097, t: -0.938366 2.886832 -1.730259 q: 0.954560 -0.047649 -0.013170 -0.293889 
time: 1403638141.145097, t: -0.938615 2.887219 -1.730383 q: 0.954570 -0.047650 -0.013058 -0.293864 
time: 1403638141.245097, t: -0.938385 2.886416 -1.729884 q: 0.954520 -0.047741 -0.013213 -0.294004 
time: 1403638141.345097, t: -0.938341 2.886364 -1.729773 q: 0.954518 -0.047747 -0.013257 -0.294007 
time: 1403638141.445097, t: -0.938288 2.885908 -1.729363 q: 0.954501 -0.047799 -0.013338 -0.294050 
time: 1403638141.545097, t: -0.938488 2.886064 -1.729812 q: 0.954506 -0.047801 -0.013234 -0.294036 
time: 1403638141.645097, t: -0.938192 2.885281 -1.729451 q: 0.954457 -0.047887 -0.013457 -0.294174 
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feature tracking not enough, please slowly move you device! 
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feature tracking not enough, please slowly move you device! 
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time: 1403638221.145097, t: 12.143263 -9.862763 -0.083869 q: 0.734471 -0.463986 -0.431317 -0.243382 
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time: 1403638224.845097, t: 12.159905 -10.629379 -0.768818 q: 0.720498 -0.476778 -0.445757 -0.234232 
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time: 1403638225.045097, t: 12.136117 -10.658151 -0.815877 q: 0.739742 -0.471875 -0.421604 -0.228834 
time: 1403638225.145097, t: 12.191942 -10.601432 -0.772869 q: 0.737876 -0.468821 -0.425131 -0.234541 
time: 1403638225.245097, t: 12.142759 -10.581561 -0.757525 q: 0.731314 -0.470571 -0.433760 -0.235785 
time: 1403638225.345097, t: 12.167992 -10.556436 -0.747809 q: 0.727074 -0.471433 -0.440029 -0.235560 
time: 1403638225.445097, t: 12.176278 -10.589107 -0.748004 q: 0.729654 -0.469366 -0.435179 -0.240666 
time: 1403638225.545097, t: 12.191939 -10.574001 -0.771826 q: 0.737364 -0.463628 -0.422659 -0.250407 
time: 1403638225.645097, t: 12.195337 -10.577883 -0.788226 q: 0.744417 -0.458493 -0.410235 -0.259489 
time: 1403638225.745097, t: 12.171043 -10.629604 -0.790742 q: 0.741239 -0.460221 -0.414117 -0.259364 
time: 1403638225.845097, t: 12.033099 -10.548491 -0.940838 q: 0.737574 -0.463818 -0.423160 -0.248581 
feature tracking not enough, please slowly move you device! 
time: 1403638225.945097, t: 11.976520 -10.679848 -0.522325 q: 0.720085 -0.475318 -0.443758 -0.242136 
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: 1403638226.245097, t: 8.890595 -10.757625 2.247728 q: 0.702343 -0.548304 -0.399396 -0.215778 
time: 1403638226.345097, t: 8.625956 -11.112648 1.234668 q: 0.714044 -0.533163 -0.387871 -0.235445 
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time: 1403638226.545097, t: 1.360072 -27.719845 -0.914718 q: 0.671943 -0.550123 -0.420054 -0.263460 
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time: 1403638226.945097, t: 4.312024 -21.634447 -0.427199 q: 0.574035 -0.547803 -0.517489 -0.320313 
time: 1403638227.045097, t: 4.300187 -21.651394 -0.427481 q: 0.574128 -0.547559 -0.517434 -0.320652 
time: 1403638227.145097, t: 4.301705 -21.654218 -0.429675 q: 0.573755 -0.547549 -0.517768 -0.320798 
time: 1403638227.245097, t: 4.365520 -21.776309 -0.498866 q: 0.562206 -0.546401 -0.527786 -0.326821 
time: 1403638227.345097, t: 4.320658 -21.699391 -0.553038 q: 0.564810 -0.545721 -0.525862 -0.326570 
time: 1403638227.445097, t: 4.318920 -21.671684 -0.578912 q: 0.566580 -0.545498 -0.524539 -0.326003 
time: 1403638227.545097, t: 4.298189 -21.647800 -0.604704 q: 0.567864 -0.545275 -0.522891 -0.326790 
time: 1403638227.645097, t: 4.299960 -21.648838 -0.604236 q: 0.567883 -0.545281 -0.522815 -0.326866 
time: 1403638227.745097, t: 4.299870 -21.648998 -0.604773 q: 0.568033 -0.545177 -0.522750 -0.326884 
time: 1403638227.845097, t: 4.301396 -21.650931 -0.606318 q: 0.568333 -0.545150 -0.522535 -0.326751 
time: 1403638227.945097, t: 4.301532 -21.651575 -0.606464 q: 0.568471 -0.545106 -0.522414 -0.326778 
time: 1403638228.045097, t: 4.301155 -21.651562 -0.607499 q: 0.568643 -0.545125 -0.522280 -0.326660 
time: 1403638228.145097, t: 4.301491 -21.652587 -0.607797 q: 0.568686 -0.545017 -0.522248 -0.326819 
time: 1403638228.245097, t: 4.301471 -21.652334 -0.608087 q: 0.568769 -0.545012 -0.522114 -0.326897 
time: 1403638228.345097, t: 4.302118 -21.652800 -0.608323 q: 0.568926 -0.544899 -0.522048 -0.326916 
time: 1403638228.445097, t: 4.299518 -21.652055 -0.611051 q: 0.568882 -0.544770 -0.522014 -0.327261 
time: 1403638228.545097, t: 4.299807 -21.652747 -0.609222 q: 0.568843 -0.544839 -0.521975 -0.327278 
time: 1403638228.645097, t: 4.300870 -21.651957 -0.609405 q: 0.568999 -0.544855 -0.521883 -0.327127 
time: 1403638228.745097, t: 4.301497 -21.653213 -0.609258 q: 0.569044 -0.544796 -0.521922 -0.327085 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720507478.196217369]: Shutdown request received.[0m
[33m[ WARN] [1720507478.196255287]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720507478.197198656]: Shutdown request received.[0m
[33m[ WARN] [1720507478.197225723]: Reason given for shutdown: [user request][0m
killed
