/SLAM-Hive/slam_hive_results/mapping_results/3094/2302_vins-fusion-stereo+MH_05_difficult+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720514163.259852132]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720514163.261339006]: init begins[0m
[31m[ERROR] [1720514163.262415402]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/46db1242-3dce-11ef-b06d-0242ac110005/roslaunch-1547b436c89e-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://1547b436c89e:37327/[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
[0m[ INFO] [1720514164.367893688]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720514164.372608990]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720514164.372907234]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720514164.372943186]: 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] [1720514164.373132793]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720514164.373349903]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720514164.373513878]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://1547b436c89e:11311/[0m
]2;roscore http://1547b436c89e:11311/
[1msetting /run_id to 46db1242-3dce-11ef-b06d-0242ac110005[0m
[0m[ INFO] [1720514164.415414433]: Connected to master at [localhost:11311][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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720514173.418099924]: 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: 316875655.48 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720514184.261354586]: Initialization finish![0m
time: 1403638528.577830, t: -0.809857 -1.166590 0.614137 q: 0.996964 -0.009247 0.061622 0.046696 
time: 1403638529.577830, t: -10.162278 -1.874708 8.075787 q: 0.847614 0.122368 0.456527 0.241163 
feature tracking not enough, please slowly move you device! 
time: 1403638530.577830, t: -10.162278 -1.874708 8.075787 q: 0.847614 0.122368 0.456527 0.241163 
time: 1403638531.577830, t: -7.325051 -1.283065 6.603131 q: 0.813225 0.073337 0.546500 0.186080 
time: 1403638532.577830, t: -7.232600 -1.135676 6.342862 q: 0.813257 0.094719 0.538714 0.198567 
time: 1403638533.577830, t: -7.219400 -1.136946 6.375285 q: 0.812664 0.094970 0.539707 0.198178 
time: 1403638534.577830, t: -7.220115 -1.136236 6.375159 q: 0.812548 0.095822 0.539650 0.198400 
time: 1403638535.577830, t: -7.219532 -1.136272 6.375230 q: 0.812660 0.095527 0.539602 0.198210 
time: 1403638536.577830, t: -7.219613 -1.136269 6.374968 q: 0.812782 0.095523 0.539401 0.198261 
time: 1403638537.577830, t: -7.224317 -1.136162 6.370491 q: 0.812314 0.094929 0.540017 0.198786 
time: 1403638538.577830, t: -7.226918 -1.135966 6.368237 q: 0.811510 0.094156 0.541088 0.199524 
feature tracking not enough, please slowly move you device! 
time: 1403638539.577830, t: -7.635010 -1.199530 6.058791 q: 0.806292 0.097285 0.541121 0.218214 
feature tracking not enough, please slowly move you device! 
time: 1403638540.577830, t: -7.635010 -1.199530 6.058791 q: 0.806292 0.097285 0.541121 0.218214 
time: 1403638541.577830, t: -7.087760 -1.263964 5.929486 q: 0.795361 0.164250 0.577874 0.080530 
time: 1403638542.577830, t: -6.609263 -1.477644 5.348302 q: 0.745754 0.262643 0.608604 -0.066860 
time: 1403638543.577830, t: -6.216025 -2.076460 4.953089 q: 0.748627 0.303422 0.583343 -0.084876 
time: 1403638544.577830, t: -5.910735 -2.835853 4.634486 q: 0.685215 0.367902 0.595738 -0.200564 
time: 1403638545.577830, t: -5.638771 -3.567036 4.056203 q: 0.681580 0.378775 0.589001 -0.212265 
time: 1403638546.577830, t: -5.363210 -4.382528 3.668388 q: 0.611704 0.434178 0.567799 -0.338988 
time: 1403638547.577830, t: -5.181157 -5.389484 3.167400 q: 0.599030 0.437436 0.565585 -0.360452 
time: 1403638548.577830, t: -5.115069 -6.486654 2.744983 q: 0.556462 0.464795 0.549314 -0.415414 
time: 1403638549.577830, t: -5.152305 -7.544092 1.946207 q: 0.544946 0.483229 0.538440 -0.423798 
time: 1403638550.577830, t: -4.958231 -8.506475 0.822547 q: 0.546096 0.486251 0.522930 -0.438045 
time: 1403638551.577830, t: -4.758120 -9.341752 0.159256 q: 0.544168 0.520547 0.540836 -0.374712 
time: 1403638552.577830, t: -4.349688 -9.894395 -0.134003 q: 0.591471 0.477295 0.594264 -0.263064 
time: 1403638553.577830, t: -2.863889 -9.464514 -0.613135 q: 0.549934 0.453224 0.605704 -0.353954 
time: 1403638555.577830, t: -2.275410 -8.273998 -0.389195 q: 0.635335 0.403309 0.594319 -0.283684 
time: 1403638556.577830, t: 0.325324 -7.499854 0.994867 q: 0.554729 0.485567 0.579602 -0.347220 
time: 1403638557.577830, t: 3.354633 -7.875991 1.374016 q: 0.459015 0.554076 0.574083 -0.390812 
time: 1403638558.577830, t: 1.983434 -6.588109 0.985792 q: 0.580872 0.455341 0.582080 -0.341226 
time: 1403638559.577830, t: 3.178405 -6.559565 0.572905 q: 0.567935 0.454530 0.603748 -0.326099 
time: 1403638560.577830, t: 5.352155 -6.916461 0.015466 q: 0.630996 0.449934 0.600397 -0.197301 
time: 1403638561.577830, t: 5.147798 -6.918360 0.505802 q: 0.716829 0.318299 0.619718 -0.028118 
time: 1403638562.577830, t: 5.638903 -6.322487 0.822843 q: 0.741880 0.254980 0.619011 0.037737 
time: 1403638563.577830, t: 5.742379 -5.705325 1.483383 q: 0.753096 0.199809 0.588660 0.215412 
time: 1403638564.577830, t: 5.104392 -4.474210 2.255516 q: 0.751293 0.219177 0.589638 0.199617 
time: 1403638565.577830, t: 3.688350 -4.506460 2.485453 q: 0.765189 0.180958 0.556048 0.269350 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638568.577830, t: 2.579198 -3.874015 3.379931 q: 0.789257 0.189289 0.522034 0.262150 
time: 1403638569.577830, t: 2.436972 -3.315621 4.618394 q: 0.845837 0.013400 0.525322 0.091743 
time: 1403638570.577830, t: 1.671643 -3.430634 4.693359 q: 0.810048 0.119328 0.512284 0.259128 
time: 1403638571.577830, t: 1.385559 -3.041187 4.970934 q: 0.795005 0.001278 0.458444 0.397234 
time: 1403638572.577830, t: 0.573235 -2.569376 5.310276 q: 0.754929 -0.127062 0.357543 0.534884 
time: 1403638573.577830, t: -1.307668 -1.470336 4.747130 q: 0.759162 -0.144138 0.337050 0.537861 
time: 1403638574.577830, t: 2.940597 3.541794 7.679068 q: 0.631691 -0.284790 0.269432 0.668780 
unstable tracking...
time: 1403638575.577830, t: -1.145719 0.825650 6.639473 q: 0.651264 -0.247742 0.258099 0.669226 
time: 1403638576.577830, t: -1.727420 1.787719 6.687745 q: 0.690138 -0.258249 0.234201 0.634167 
time: 1403638577.577830, t: -1.661883 3.291569 7.208827 q: 0.684340 -0.272147 0.251755 0.627881 
time: 1403638578.577830, t: -1.137352 4.529497 7.806528 q: 0.658876 -0.246843 0.274723 0.655346 
time: 1403638579.577830, t: -0.615701 5.693314 8.504821 q: 0.648301 -0.242440 0.293853 0.659226 
feature tracking not enough, please slowly move you device! 
time: 1403638580.577830, t: -0.615701 5.693314 8.504821 q: 0.648301 -0.242440 0.293853 0.659226 
time: 1403638581.577830, t: -0.712950 6.182899 8.692750 q: 0.683340 -0.209315 0.302616 0.630601 
time: 1403638582.577830, t: -0.845916 6.436775 8.622122 q: 0.674475 -0.225990 0.314072 0.628785 
time: 1403638583.577830, t: -0.586761 6.656837 8.394406 q: 0.678477 -0.219551 0.301401 0.632949 
time: 1403638584.577830, t: -0.055878 6.945700 7.656740 q: 0.677923 -0.235158 0.302576 0.627350 
time: 1403638585.577830, t: 0.330319 6.324664 7.684615 q: 0.675871 -0.214214 0.305380 0.635652 
time: 1403638586.577830, t: 0.890160 5.987434 7.235225 q: 0.678513 -0.227229 0.304502 0.628702 
time: 1403638587.577830, t: 1.565222 5.486595 7.025731 q: 0.676866 -0.213290 0.302527 0.636268 
time: 1403638588.577830, t: 2.277026 4.884523 6.865069 q: 0.678835 -0.219324 0.301737 0.632483 
time: 1403638589.577830, t: 3.179732 4.273286 6.411867 q: 0.673365 -0.218611 0.299037 0.639817 
time: 1403638590.577830, t: 3.924832 3.512686 6.036108 q: 0.672680 -0.217792 0.292204 0.643960 
time: 1403638591.577830, t: 4.556069 2.868766 5.775230 q: 0.682314 -0.186823 0.260420 0.657058 
time: 1403638592.577830, t: 5.162115 3.031302 5.708955 q: 0.685464 -0.177481 0.320691 0.629124 
time: 1403638593.577830, t: 5.225826 3.544568 5.366636 q: 0.704542 -0.175960 0.339016 0.598103 
time: 1403638594.577830, t: 5.384000 3.942583 5.088195 q: 0.700471 -0.166622 0.375600 0.583525 
time: 1403638595.577830, t: 5.714003 4.003419 4.831844 q: 0.699682 -0.156154 0.363715 0.594787 
time: 1403638596.577830, t: 6.237631 3.914383 4.768294 q: 0.752561 -0.201438 0.318493 0.540034 
time: 1403638597.577830, t: 8.268919 2.995215 3.660953 q: 0.733816 -0.213745 0.335305 0.550816 
time: 1403638598.577830, t: 7.829771 0.245537 2.018077 q: 0.761924 -0.100951 0.390492 0.506752 
time: 1403638599.577830, t: 10.882162 2.667238 3.484076 q: 0.843039 -0.023294 0.429240 0.323258 
feature tracking not enough, please slowly move you device! 
time: 1403638601.577830, t: 13.038970 1.099733 2.750307 q: 0.857961 -0.063114 0.412323 0.299849 
feature tracking not enough, please slowly move you device! 
time: 1403638603.577830, t: 13.629708 0.717761 2.450022 q: 0.895880 0.089366 0.387104 0.198905 
time: 1403638604.577830, t: 13.317350 0.106767 2.132116 q: 0.898621 0.075783 0.394348 0.176712 
time: 1403638607.577830, t: 13.225839 -2.177084 0.564909 q: 0.875214 0.188225 0.363969 0.257097 
time: 1403638608.577830, t: 13.587129 -3.043526 0.779271 q: 0.866975 0.176815 0.397820 0.242551 
time: 1403638609.577830, t: 13.791379 -3.508171 1.211144 q: 0.863823 0.211630 0.397766 0.225401 
unstable tracking...
time: 1403638610.577830, t: 13.525146 -4.256219 1.104238 q: 0.861737 0.178371 0.402677 0.251880 
unstable tracking...
time: 1403638611.577830, t: 12.965993 -4.395191 1.127144 q: 0.879569 0.165505 0.387212 0.221436 
time: 1403638612.577830, t: 11.984001 -4.472597 1.164457 q: 0.874201 0.183070 0.382722 0.236182 
time: 1403638613.577830, t: 11.065485 -4.635456 0.959189 q: 0.874360 0.161619 0.383666 0.249348 
time: 1403638614.577830, t: 9.572070 -4.263793 0.800161 q: 0.885929 0.088378 0.342031 0.300556 
feature tracking not enough, please slowly move you device! 
time: 1403638615.577830, t: 9.572070 -4.263793 0.800161 q: 0.885929 0.088378 0.342031 0.300556 
feature tracking not enough, please slowly move you device! 
time: 1403638617.577830, t: 9.452448 -3.206530 0.265820 q: 0.936018 0.042202 0.223290 0.268758 
time: 1403638618.577830, t: 9.656026 -2.171538 0.663937 q: 0.938712 0.037491 0.247236 0.237251 
time: 1403638619.577830, t: 10.179768 -1.533434 1.929822 q: 0.890624 -0.119095 0.255263 0.356996 
time: 1403638620.577830, t: 10.298117 -0.840142 2.449241 q: 0.878650 -0.135685 0.252693 0.381719 
time: 1403638621.577830, t: 9.873161 0.012865 2.688731 q: 0.896290 -0.109735 0.263325 0.339533 
time: 1403638622.577830, t: 9.744724 0.238301 2.894816 q: 0.892795 -0.124458 0.266886 0.340880 
time: 1403638624.577830, t: 8.676628 -0.008948 1.981090 q: 0.884689 -0.121761 0.263761 0.364596 
unstable tracking...
time: 1403638625.577830, t: 7.909268 -0.350043 1.358448 q: 0.897083 -0.095846 0.258694 0.345156 
unstable tracking...
time: 1403638626.577830, t: 7.128157 -0.572378 0.772870 q: 0.904633 -0.102721 0.242834 0.334842 
unstable tracking...
time: 1403638627.577830, t: 6.573938 -0.718483 0.525874 q: 0.908091 -0.096775 0.234327 0.333311 
time: 1403638628.577830, t: 6.299910 -0.903402 0.628009 q: 0.896470 -0.096827 0.255903 0.348539 
time: 1403638629.577830, t: 4.336972 -1.293783 -0.580763 q: 0.911620 -0.074110 0.245490 0.321233 
time: 1403638630.577830, t: 3.996219 -1.802801 -0.702200 q: 0.903911 -0.081501 0.272935 0.319076 
time: 1403638631.577830, t: 7.659510 -3.377788 0.323640 q: 0.889940 -0.135598 0.200274 0.386666 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720514289.099689988]: Shutdown request received.[0m
[33m[ WARN] [1720514289.099732449]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720514289.100598504]: Shutdown request received.[0m
[33m[ WARN] [1720514289.100627714]: Reason given for shutdown: [user request][0m
killed
