/SLAM-Hive/slam_hive_results/mapping_results/3091/2299_vins-fusion-stereo+MH_05_difficult+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720513712.487292767]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720513712.489188154]: init begins[0m
[31m[ERROR] [1720513712.490317950]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3a2d01a0-3dcd-11ef-8a37-0242ac110005/roslaunch-6b88bd85fbd2-117.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://6b88bd85fbd2:45627/[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 [154][0m
[1mROS_MASTER_URI=http://6b88bd85fbd2:11311/[0m
]2;roscore http://6b88bd85fbd2:11311/
[1msetting /run_id to 3a2d01a0-3dcd-11ef-8a37-0242ac110005[0m
[0m[ INFO] [1720513713.642903132]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720513713.645958146]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720513713.652189698]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720513713.652408751]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720513713.652434763]: ROW: 384 COL: 601 [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] [1720513713.652709209]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720513713.652909398]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720513713.653070801]: 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 [204][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720513722.646712485]: 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: 316875204.71 
[0m[ INFO] [1720513733.569699226]: Initialization finish![0m
time: 1403638528.577830, t: -0.393578 -3.266832 0.476135 q: 0.980106 -0.166637 0.045627 0.097681 
time: 1403638529.577830, t: -0.616352 -1.348749 -0.607596 q: 0.989960 -0.120874 -0.011796 0.072315 
time: 1403638530.577830, t: -0.703747 -1.398510 -0.619814 q: 0.986686 -0.139149 -0.003048 0.084136 
time: 1403638531.577830, t: -0.723351 -1.417062 -0.595475 q: 0.986676 -0.141355 0.004215 0.080448 
time: 1403638532.577830, t: -0.724435 -1.403671 -0.611111 q: 0.986751 -0.141131 0.003700 0.079944 
time: 1403638533.577830, t: -0.715006 -1.435319 -0.625941 q: 0.986580 -0.144541 0.003718 0.075858 
time: 1403638534.577830, t: -0.724391 -1.424795 -0.614128 q: 0.986640 -0.141984 0.003331 0.079814 
time: 1403638535.577830, t: -0.724564 -1.425595 -0.615203 q: 0.986702 -0.141759 0.003195 0.079455 
time: 1403638536.577830, t: -0.711492 -1.393544 -0.617927 q: 0.986855 -0.140981 0.002858 0.078958 
time: 1403638537.577830, t: -0.712247 -1.394252 -0.617505 q: 0.986850 -0.141037 0.002935 0.078912 
time: 1403638538.577830, t: -0.712260 -1.394277 -0.617566 q: 0.986811 -0.141360 0.003707 0.078792 
time: 1403638539.577830, t: -0.663729 -1.327790 -0.554881 q: 0.986841 -0.138440 0.037559 0.074628 
feature tracking not enough, please slowly move you device! 
time: 1403638540.577830, t: -0.663729 -1.327790 -0.554881 q: 0.986841 -0.138440 0.037559 0.074628 
time: 1403638541.577830, t: -0.343138 -1.344469 -0.131931 q: 0.999096 0.000145 0.041924 -0.007033 
time: 1403638542.577830, t: 0.098895 -1.813119 0.302903 q: 0.981214 0.159537 0.071746 -0.081356 
time: 1403638543.577830, t: 0.674601 -1.564920 1.442728 q: 0.966108 0.242124 0.046189 -0.076667 
time: 1403638544.577830, t: 1.873069 -5.259528 0.703102 q: 0.966431 0.226212 -0.032248 -0.117473 
time: 1403638545.577830, t: 0.758079 -3.556523 1.527459 q: 0.910504 0.379427 0.072568 -0.147481 
time: 1403638546.577830, t: 1.010155 -4.491989 1.715683 q: 0.838092 0.498306 0.058753 -0.214105 
time: 1403638547.577830, t: 1.187902 -5.471093 1.849046 q: 0.823045 0.518204 0.056265 -0.225601 
time: 1403638548.577830, t: 1.197572 -6.691358 1.815497 q: 0.779637 0.570157 0.053534 -0.253420 
time: 1403638549.577830, t: 1.351578 -8.077998 1.622501 q: 0.767991 0.589420 0.054077 -0.244643 
time: 1403638550.577830, t: 1.815579 -9.383279 1.393593 q: 0.759441 0.603195 0.053819 -0.237714 
time: 1403638551.577830, t: 2.555128 -10.700463 1.516188 q: 0.786689 0.585598 0.017498 -0.194655 
time: 1403638552.577830, t: 3.319924 -11.642363 2.105349 q: 0.855687 0.491310 0.020132 -0.161275 
time: 1403638553.577830, t: 3.791242 -11.086937 3.064321 q: 0.832533 0.523280 0.064005 -0.170207 
time: 1403638554.577830, t: 3.458476 -10.413038 3.255564 q: 0.856483 0.483079 0.066242 -0.169362 
time: 1403638555.577830, t: 4.500288 -9.444068 3.971947 q: 0.865910 0.467245 0.024268 -0.176900 
time: 1403638556.577830, t: 4.913237 -8.649492 4.460935 q: 0.867156 0.460512 -0.006640 -0.189537 
time: 1403638557.577830, t: 5.415655 -7.952275 5.175120 q: 0.868749 0.460702 0.020281 -0.180604 
time: 1403638558.577830, t: 5.952648 -7.535784 6.141053 q: 0.869033 0.450391 -0.017080 -0.204052 
time: 1403638559.577830, t: 9.906445 -9.048875 2.614797 q: 0.833333 0.240140 -0.211913 -0.450534 
time: 1403638560.577830, t: 10.942301 -9.088486 6.759434 q: 0.874144 0.191708 -0.232181 -0.381068 
time: 1403638561.577830, t: 9.531814 -8.899353 5.994801 q: 0.921201 -0.001032 -0.094885 -0.377339 
time: 1403638562.577830, t: 10.036079 -8.291020 5.921668 q: 0.927341 -0.064989 -0.061786 -0.363314 
time: 1403638563.577830, t: 10.788208 -7.835576 6.728092 q: 0.927741 -0.230032 0.029542 -0.292418 
time: 1403638564.577830, t: 11.674542 -6.899356 6.075616 q: 0.935365 -0.189221 0.000956 -0.298809 
time: 1403638565.577830, t: 11.767457 -5.810831 4.547117 q: 0.931404 -0.201672 0.017790 -0.302487 
feature tracking not enough, please slowly move you device! 
time: 1403638566.577830, t: 11.755550 -5.104445 3.036772 q: 0.923116 -0.247206 -0.002699 -0.294513 
time: 1403638567.577830, t: 11.766734 -3.840902 1.069698 q: 0.919530 -0.250010 -0.033132 -0.301433 
time: 1403638568.577830, t: 11.735837 -3.471852 0.192786 q: 0.902351 -0.288672 -0.058051 -0.314739 
unstable tracking...
time: 1403638570.577830, t: 11.657652 -2.876004 1.611350 q: 0.929881 -0.265748 -0.011811 -0.254086 
time: 1403638571.577830, t: 11.644521 -2.018529 -0.612913 q: 0.880415 -0.421776 0.070263 -0.205031 
time: 1403638572.577830, t: 8.914237 -0.677846 -5.817157 q: 0.901313 -0.345660 0.235629 0.112395 
time: 1403638573.577830, t: 8.105694 0.903094 -5.946037 q: 0.883940 -0.314244 0.326935 0.114078 
time: 1403638574.577830, t: 8.978110 1.606035 -6.871501 q: 0.813356 -0.480030 0.271325 0.185486 
time: 1403638575.577830, t: 9.668435 6.269587 -7.312458 q: 0.801396 -0.470581 0.279654 0.241063 
time: 1403638576.577830, t: 9.608306 5.602569 -7.639116 q: 0.801195 -0.493666 0.257225 0.219579 
time: 1403638577.577830, t: 10.398120 7.116794 -7.700213 q: 0.797051 -0.495974 0.273924 0.209011 
time: 1403638578.577830, t: 11.406652 8.235170 -7.409976 q: 0.796421 -0.476415 0.293660 0.229144 
time: 1403638579.577830, t: 12.255946 9.164080 -7.140681 q: 0.796502 -0.472494 0.305137 0.221868 
feature tracking not enough, please slowly move you device! 
time: 1403638580.577830, t: 13.392993 9.111791 -5.821742 q: 0.775287 -0.398057 0.424030 0.246332 
time: 1403638581.577830, t: 13.755022 8.754560 -7.172408 q: 0.823132 -0.380673 0.352531 0.230789 
unstable tracking...
time: 1403638582.577830, t: 13.965183 9.026566 -7.291704 q: 0.812506 -0.394085 0.367549 0.222348 
time: 1403638583.577830, t: 14.947104 8.733955 -8.421032 q: 0.826967 -0.399773 0.323844 0.226785 
time: 1403638584.577830, t: 15.253985 8.420587 -8.249127 q: 0.810460 -0.409870 0.360668 0.212321 
time: 1403638585.577830, t: 15.411105 7.694195 -8.092134 q: 0.822454 -0.396118 0.335831 0.232115 
time: 1403638586.577830, t: 15.562472 6.949518 -8.101403 q: 0.819462 -0.402628 0.342322 0.221784 
time: 1403638587.577830, t: 15.857308 6.209792 -7.704792 q: 0.821566 -0.394873 0.336277 0.236690 
time: 1403638588.577830, t: 16.078499 5.344080 -7.286136 q: 0.821524 -0.402932 0.330448 0.231405 
time: 1403638589.577830, t: 16.289847 4.434537 -6.936324 q: 0.818284 -0.401883 0.335336 0.237593 
time: 1403638591.577830, t: 16.487221 2.761946 -6.461662 q: 0.833078 -0.387461 0.289624 0.268277 
time: 1403638592.577830, t: 16.837154 2.616828 -6.292804 q: 0.844339 -0.350148 0.338252 0.223771 
time: 1403638593.577830, t: 17.377863 2.804178 -6.564276 q: 0.857499 -0.345545 0.334720 0.182363 
time: 1403638594.577830, t: 17.872805 2.923183 -6.642567 q: 0.860651 -0.324910 0.356221 0.163767 
time: 1403638595.577830, t: 18.144349 2.689438 -6.696762 q: 0.864100 -0.320260 0.345345 0.177488 
time: 1403638596.577830, t: 18.182465 2.344701 -6.540104 q: 0.864940 -0.367447 0.320166 0.119811 
time: 1403638597.577830, t: 18.719472 1.096037 -6.123986 q: 0.850522 -0.360123 0.361353 0.127856 
time: 1403638598.577830, t: 19.286634 -2.016126 -5.227423 q: 0.874786 -0.314098 0.344164 0.132830 
time: 1403638599.577830, t: 19.795453 -4.328564 -4.531404 q: 0.927750 -0.173920 0.329770 0.016861 
feature tracking not enough, please slowly move you device! 
time: 1403638600.577830, t: 19.795453 -4.328564 -4.531404 q: 0.927750 -0.173920 0.329770 0.016861 
time: 1403638601.577830, t: 19.982294 -6.235848 -4.006533 q: 0.924558 -0.185275 0.328137 -0.056504 
feature tracking not enough, please slowly move you device! 
time: 1403638602.577830, t: 19.982294 -6.235848 -4.006533 q: 0.924558 -0.185275 0.328137 -0.056504 
time: 1403638603.577830, t: 20.034708 -6.198751 -3.526101 q: 0.947449 0.083571 0.283637 0.122092 
time: 1403638604.577830, t: 19.563547 -6.619399 -3.983312 q: 0.946286 0.087778 0.296340 0.094976 
time: 1403638605.577830, t: 19.087019 -7.226407 -4.920749 q: 0.955095 0.069580 0.283500 0.050790 
time: 1403638606.577830, t: 19.009368 -8.049771 -5.020012 q: 0.959721 0.085395 0.253273 0.086583 
feature tracking not enough, please slowly move you device! 
time: 1403638607.577830, t: 19.009368 -8.049771 -5.020012 q: 0.959721 0.085395 0.253273 0.086583 
time: 1403638608.577830, t: 19.152869 -9.418852 -4.882558 q: 0.959408 0.042941 0.261334 0.096939 
unstable tracking...
time: 1403638609.577830, t: 19.009822 -10.019200 -4.490292 q: 0.960563 0.056967 0.250984 0.105268 
unstable tracking...
time: 1403638611.577830, t: 17.838072 -10.264701 -4.086372 q: 0.956199 0.052743 0.278043 0.074792 
unstable tracking...
time: 1403638612.577830, t: 16.947732 -10.194761 -4.428598 q: 0.956482 0.062301 0.267907 0.097394 
time: 1403638613.577830, t: 16.158040 -10.105446 -4.860391 q: 0.956786 0.048220 0.268298 0.101253 
time: 1403638614.577830, t: 15.130385 -10.148938 -5.367958 q: 0.949001 -0.052352 0.251837 0.182303 
feature tracking not enough, please slowly move you device! 
time: 1403638615.577830, t: 14.293690 -9.326802 -6.344329 q: 0.954617 -0.089992 0.238170 0.154540 
time: 1403638616.577830, t: 11.922352 -7.818923 -7.970681 q: 0.947524 -0.164524 0.226418 0.154484 
time: 1403638617.577830, t: 11.423258 -6.680940 -8.110229 q: 0.952846 -0.177940 0.188934 0.157244 
time: 1403638618.577830, t: 12.098480 -5.268302 -7.312657 q: 0.936206 -0.172796 0.226444 0.205870 
time: 1403638619.577830, t: 29.038005 2.957936 -0.486798 q: 0.563739 -0.362789 -0.693286 0.264456 
time: 1403638620.577830, t: -181.488836 -179.218235 -98.741869 q: 0.236972 0.784709 -0.393515 -0.416200 
time: 1403638621.577830, t: 370.041213 973.118289 -518.972673 q: 0.438654 -0.372772 0.664249 0.476862 
time: 1403638622.577830, t: 122.298969 638.983917 -319.635635 q: 0.317989 -0.443963 0.729814 0.411280 
time: 1403638623.577830, t: 604.207807 2077.890806 -213.312125 q: 0.580686 -0.158733 0.607119 0.518666 
time: 1403638624.577830, t: 6671.194947 13325.903604 7991.740850 q: 0.010071 0.969342 -0.204211 -0.136282 
time: 1403638625.577830, t: -33918.826914 -22704.643080 -36320.571809 q: 0.666799 0.700223 -0.137841 -0.214630 
unstable tracking...
unstable tracking...
time: 1403638627.577830, t: -1689.112874 -14176.264538 -10653.663510 q: 0.503538 0.734629 -0.454593 0.010720 
unstable tracking...
time: 1403638628.577830, t: -1688.737067 -14176.281150 -10653.552941 q: 0.508069 0.729870 -0.457335 0.000179 
unstable tracking...
time: 1403638629.577830, t: -1688.909972 -14176.105579 -10653.663323 q: 0.509416 0.729011 -0.457184 -0.004508 
unstable tracking...
time: 1403638630.577830, t: -1686.782213 -14173.187878 -10653.990664 q: 0.509147 0.738491 -0.441989 -0.006800 
unstable tracking...
time: 1403638631.577830, t: -1687.858551 -14174.232171 -10654.167563 q: 0.495581 0.739694 -0.455071 -0.012758 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720513838.322169736]: Shutdown request received.[0m
[33m[ WARN] [1720513838.322209944]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720513838.323108524]: Shutdown request received.[0m
[33m[ WARN] [1720513838.323128818]: Reason given for shutdown: [user request][0m
killed
