/SLAM-Hive/slam_hive_results/mapping_results/3088/2296_vins-fusion-stereo+MH_05_difficult+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720513262.011284099]: init begins[0m
[31m[ERROR] [1720513262.011524014]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720513262.012402319]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/2daa95a6-3dcc-11ef-afc7-0242ac110005/roslaunch-c39fa130de36-118.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://c39fa130de36:38945/[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] [1720513263.117831464]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720513263.118585019]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720513263.124244506]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720513263.124428534]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720513263.124453428]: ROW: 192 COL: 300 [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] [1720513263.124734075]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720513263.124938694]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720513263.125103519]: 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://c39fa130de36:11311/[0m
]2;roscore http://c39fa130de36:11311/
[1msetting /run_id to 2daa95a6-3dcc-11ef-afc7-0242ac110005[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] [1720513272.144718644]: 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: 316874754.21 
[0m[ INFO] [1720513276.661466350]: Initialization finish![0m
time: 1403638522.277829, t: 0.372317 -0.092290 -0.113529 q: 0.999917 0.006584 -0.010187 -0.004393 
time: 1403638522.677830, t: 0.460998 -0.248411 -0.043549 q: 0.999415 0.032010 -0.001536 0.011938 
time: 1403638523.077830, t: 1.457469 -0.158966 -0.588796 q: 0.998758 0.047133 -0.006692 0.014734 
time: 1403638523.477829, t: 1.582532 -0.258932 -0.596127 q: 0.999536 0.028309 -0.011087 -0.001677 
time: 1403638523.877830, t: 0.726324 -0.251391 -0.225153 q: 0.999343 0.024046 -0.024032 -0.012597 
time: 1403638524.277829, t: 0.696798 -0.265574 -0.221748 q: 0.998255 0.025862 -0.039849 -0.035070 
time: 1403638524.677830, t: 1.120205 -0.251654 -0.341013 q: 0.999242 0.032211 -0.003248 -0.021616 
time: 1403638525.077830, t: 1.335105 -0.391851 -0.358939 q: 0.999447 0.016610 0.007271 -0.027872 
time: 1403638525.477829, t: 0.895937 -0.238546 -0.263141 q: 0.998489 0.037568 -0.023239 -0.032675 
time: 1403638525.877830, t: 0.689225 -0.223492 -0.174860 q: 0.998844 0.027860 -0.032348 -0.022114 
time: 1403638526.277829, t: 0.698418 0.189906 -0.242123 q: 0.999192 0.010388 -0.034359 -0.018106 
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time: 1403638527.077830, t: 0.777152 0.806237 -0.315452 q: 0.998437 -0.053921 -0.008008 0.012297 
time: 1403638527.477829, t: 0.870387 0.824450 -0.315895 q: 0.992686 -0.118683 0.000800 0.022105 
time: 1403638527.877830, t: 0.962460 0.897414 -0.372822 q: 0.995810 -0.089391 -0.008082 0.017508 
time: 1403638528.277829, t: 0.949292 0.425656 -0.242566 q: 0.998617 -0.049648 -0.004582 0.016694 
time: 1403638528.677830, t: 0.936558 0.246242 -0.115664 q: 0.998528 -0.049722 -0.006670 0.020618 
time: 1403638529.077830, t: 0.970797 0.191002 -0.104040 q: 0.997367 -0.059832 -0.004724 0.040693 
time: 1403638529.477829, t: 0.924762 0.057402 -0.239186 q: 0.996288 -0.077245 -0.037278 0.007338 
time: 1403638529.877830, t: 1.481903 -0.390393 -0.169926 q: 0.993591 -0.087913 -0.071005 0.002603 
time: 1403638530.277829, t: 1.907846 -1.005743 -3.238542 q: 0.992757 -0.064577 -0.101292 0.001825 
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time: 1403638531.077830, t: 0.855064 -0.050532 -0.237972 q: 0.993781 -0.096048 -0.052535 0.020361 
time: 1403638531.477829, t: 0.715048 -0.228220 0.041245 q: 0.993671 -0.099210 -0.042619 0.030957 
time: 1403638531.877830, t: 0.283734 0.122311 -0.487303 q: 0.996008 -0.079651 -0.027185 0.029740 
time: 1403638532.277829, t: 0.687652 -0.107867 -1.026818 q: 0.995724 -0.081666 -0.039193 0.018101 
time: 1403638532.677830, t: 0.561542 -0.276384 -1.075307 q: 0.995593 -0.083887 -0.038339 0.016980 
time: 1403638533.077830, t: 0.549736 -0.340866 -1.122462 q: 0.995671 -0.083188 -0.036555 0.019574 
time: 1403638533.477829, t: 0.532070 -0.370381 -1.161393 q: 0.995730 -0.082693 -0.035652 0.020326 
time: 1403638533.877830, t: 0.362967 -0.431325 -1.270656 q: 0.995815 -0.082656 -0.035517 0.016110 
time: 1403638534.277829, t: 0.321241 -0.458147 -1.293363 q: 0.995789 -0.083144 -0.035571 0.015050 
time: 1403638534.677830, t: 0.184910 -0.572988 -1.361639 q: 0.995648 -0.085137 -0.036364 0.010687 
time: 1403638535.077830, t: 0.209290 -0.566543 -1.451531 q: 0.995670 -0.084324 -0.037708 0.010450 
time: 1403638535.477829, t: 0.318071 -0.690768 -1.449244 q: 0.995784 -0.082844 -0.033558 0.020625 
time: 1403638535.877830, t: 0.452462 -0.442071 -1.045779 q: 0.995701 -0.083959 -0.030927 0.023944 
time: 1403638536.277829, t: 0.452688 -0.441433 -1.045404 q: 0.995696 -0.084005 -0.030989 0.023921 
time: 1403638536.677830, t: 0.452976 -0.441867 -1.046369 q: 0.995701 -0.083953 -0.030979 0.023912 
time: 1403638537.077830, t: 0.453482 -0.441931 -1.046797 q: 0.995707 -0.083881 -0.030845 0.024107 
time: 1403638537.477829, t: 0.454578 -0.444019 -1.046085 q: 0.995697 -0.084011 -0.030860 0.024042 
time: 1403638537.877830, t: 0.454857 -0.443917 -1.045952 q: 0.995696 -0.084028 -0.030854 0.024025 
time: 1403638538.277829, t: 0.455314 -0.443967 -1.045514 q: 0.995698 -0.084029 -0.030717 0.024091 
time: 1403638539.077830, t: 0.518818 -0.444619 -0.996821 q: 0.996043 -0.085438 -0.010316 0.022176 
feature tracking not enough, please slowly move you device! 
time: 1403638539.877830, t: 1.267430 -0.307701 -1.349262 q: 0.996580 -0.075933 -0.028571 0.015666 
time: 1403638540.277829, t: 1.160583 -0.376502 -1.161675 q: 0.996202 -0.074679 -0.041295 0.017298 
time: 1403638540.677830, t: 1.151384 -0.366584 -0.992452 q: 0.999062 -0.040040 -0.016471 0.000141 
time: 1403638541.077830, t: 1.107217 -0.540157 -0.919498 q: 0.997203 0.046568 -0.010365 -0.057532 
time: 1403638541.477829, t: 1.484849 -0.509576 -0.546707 q: 0.994704 0.081464 -0.025345 -0.057324 
time: 1403638541.877830, t: 1.514090 -0.697255 -0.393326 q: 0.991219 0.113786 -0.013640 -0.065966 
time: 1403638542.277829, t: 1.663459 -0.943006 -0.247624 q: 0.974708 0.201369 -0.020638 -0.094706 
time: 1403638542.677830, t: 1.754069 -1.213121 -0.064025 q: 0.956235 0.255050 0.014527 -0.142666 
time: 1403638543.077830, t: 1.913213 -1.481589 -0.032655 q: 0.955529 0.270464 -0.016680 -0.116344 
time: 1403638543.477829, t: 2.033687 -1.909411 -0.031220 q: 0.956793 0.265972 -0.022743 -0.115274 
time: 1403638543.877830, t: 2.058134 -2.200447 0.050346 q: 0.927212 0.340682 -0.016292 -0.154752 
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time: 1403638631.077830, t: 2.266919 -2.754676 -1.833531 q: 0.944103 -0.274023 -0.127866 0.131270 
time: 1403638631.477829, t: 1.200219 -3.130376 -3.360364 q: 0.950327 -0.257947 -0.103367 0.140205 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720513387.680298733]: Shutdown request received.[0m
[33m[ WARN] [1720513387.680345523]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720513387.681215417]: Shutdown request received.[0m
[33m[ WARN] [1720513387.681245761]: Reason given for shutdown: [user request][0m
killed
