/SLAM-Hive/slam_hive_results/mapping_results/2966/2174_vins-fusion-stereo+MH_01_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720492146.789957260]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720492146.792633300]: init begins[0m
[31m[ERROR] [1720492146.793731159]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0403fc3c-3d9b-11ef-9a07-0242ac110005/roslaunch-1ec03a4e4d5a-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://1ec03a4e4d5a:39875/[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] [1720492147.946722167]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720492147.948987299]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720492147.954806689]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720492147.955018404]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720492147.955041209]: ROW: 288 COL: 451 [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] [1720492147.955238991]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720492147.955464648]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720492147.955622767]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://1ec03a4e4d5a:11311/[0m
]2;roscore http://1ec03a4e4d5a:11311/
[1msetting /run_id to 0403fc3c-3d9b-11ef-9a07-0242ac110005[0m
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720492156.949063395]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316855578.22 
[0m[ INFO] [1720492162.384872309]: Initialization finish![0m
time: 1403636583.963556, t: 1.818505 -7.736344 -0.520548 q: 0.775186 -0.567837 -0.185461 0.205554 
time: 1403636584.363555, t: 2.595165 -10.438680 -0.548874 q: 0.623506 -0.709958 -0.222594 0.240106 
time: 1403636584.763556, t: 1.302121 -10.143416 -0.208986 q: 0.623792 -0.709746 -0.227755 0.235101 
time: 1403636585.163555, t: 1.382709 -10.129179 -0.220910 q: 0.632159 -0.729940 -0.198767 0.167495 
time: 1403636585.563555, t: 1.193018 -10.156712 -0.337190 q: 0.637213 -0.733838 -0.124376 0.199929 
time: 1403636585.963556, t: 1.193614 -10.166594 -0.352670 q: 0.649994 -0.695261 -0.150441 0.267371 
time: 1403636586.363555, t: 1.283426 -10.111038 -0.402380 q: 0.614824 -0.682233 -0.203438 0.339356 
time: 1403636586.763556, t: 1.341533 -10.082008 -0.466260 q: 0.612360 -0.661021 -0.222903 0.371996 
time: 1403636587.163555, t: 1.369415 -10.030639 -0.502725 q: 0.626834 -0.652320 -0.225715 0.361401 
time: 1403636587.563555, t: 1.352533 -10.012024 -0.584881 q: 0.619763 -0.653242 -0.225562 0.371875 
time: 1403636587.963556, t: 1.331361 -10.003770 -0.730221 q: 0.600684 -0.673745 -0.214095 0.373377 
time: 1403636588.363555, t: 1.306309 -10.006770 -0.802722 q: 0.591730 -0.674279 -0.220572 0.382819 
time: 1403636588.763556, t: 1.321298 -10.016494 -0.751733 q: 0.595010 -0.672362 -0.219510 0.381717 
time: 1403636589.163555, t: 1.356036 -10.021358 -0.597381 q: 0.613751 -0.660655 -0.215975 0.374432 
time: 1403636589.563555, t: 1.392910 -10.027423 -0.406617 q: 0.626715 -0.648578 -0.221424 0.370872 
time: 1403636589.963556, t: 1.391635 -10.021399 -0.238224 q: 0.643983 -0.628863 -0.223773 0.373822 
time: 1403636590.363555, t: 1.405764 -10.030220 -0.196145 q: 0.655329 -0.623912 -0.214721 0.367658 
time: 1403636590.763556, t: 1.407323 -10.048506 -0.326660 q: 0.637783 -0.642992 -0.221102 0.361813 
time: 1403636591.163555, t: 1.369305 -10.046424 -0.509123 q: 0.630745 -0.643709 -0.218608 0.374180 
time: 1403636591.563555, t: 1.324728 -10.034835 -0.623119 q: 0.616343 -0.655718 -0.217773 0.377797 
time: 1403636591.963556, t: 1.310245 -10.009955 -0.656455 q: 0.596282 -0.706624 -0.186804 0.332015 
time: 1403636592.363555, t: 1.287610 -9.940799 -0.707520 q: 0.566870 -0.711326 -0.194798 0.367051 
time: 1403636592.763556, t: 1.306561 -9.880191 -0.708259 q: 0.624061 -0.673068 -0.190866 0.347991 
time: 1403636593.163555, t: 1.298057 -9.812628 -0.444098 q: 0.700753 -0.590866 -0.195880 0.348502 
time: 1403636593.563555, t: 1.824477 -10.096509 -0.286555 q: 0.699231 -0.550120 -0.282334 0.358792 
time: 1403636593.963556, t: 1.650830 -9.959258 -0.287554 q: 0.589867 -0.638146 -0.280791 0.407410 
feature tracking not enough, please slowly move you device! 
time: 1403636594.763556, t: 1.849186 -9.783202 -0.331278 q: 0.602001 -0.642531 -0.308503 0.359965 
time: 1403636595.163555, t: 2.440536 -10.241334 -0.011904 q: 0.680446 -0.549272 -0.318458 0.365894 
time: 1403636595.563555, t: 2.326382 -10.384957 -0.139714 q: 0.673236 -0.493675 -0.271610 0.478817 
time: 1403636595.963556, t: 2.044525 -10.116168 1.072872 q: -0.212744 0.802151 0.529346 -0.176313 
time: 1403636596.363555, t: 2.155913 -10.085876 0.949597 q: -0.212937 0.786425 0.521445 -0.253552 
time: 1403636596.763556, t: 2.207761 -10.079352 1.055425 q: -0.232505 0.768373 0.506101 -0.315287 
time: 1403636597.163555, t: 2.213290 -10.108423 0.925662 q: -0.327231 0.703005 0.555661 -0.299909 
time: 1403636597.563555, t: 1.986091 -10.050824 0.782469 q: -0.445093 0.722900 0.507829 -0.146344 
time: 1403636597.963556, t: 2.070812 -10.198838 0.858542 q: 0.515731 -0.678078 -0.499144 0.158387 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636599.163555, t: 1.942965 -10.296600 0.723278 q: 0.592802 -0.621923 -0.510325 -0.036968 
unstable tracking...
time: 1403636599.563555, t: 1.926847 -10.242099 0.686462 q: 0.597848 -0.648440 -0.471149 -0.011056 
unstable tracking...
time: 1403636599.963556, t: 1.922490 -10.243130 0.672097 q: 0.603439 -0.654541 -0.455105 -0.017805 
time: 1403636600.363555, t: 1.922494 -10.245383 0.669698 q: 0.606731 -0.655634 -0.449003 -0.020429 
time: 1403636600.763556, t: 1.922393 -10.245241 0.669841 q: 0.606958 -0.655731 -0.448580 -0.019885 
time: 1403636601.163555, t: 1.922243 -10.245124 0.669931 q: 0.606727 -0.655769 -0.448821 -0.020210 
time: 1403636601.563555, t: 1.922146 -10.245031 0.669965 q: 0.606627 -0.655810 -0.448890 -0.020368 
time: 1403636601.963556, t: 1.922046 -10.244930 0.669998 q: 0.606502 -0.655792 -0.449076 -0.020553 
time: 1403636602.363555, t: 1.921938 -10.244836 0.670035 q: 0.606404 -0.655821 -0.449160 -0.020682 
time: 1403636602.763556, t: 1.921802 -10.244734 0.670092 q: 0.606355 -0.655880 -0.449137 -0.020767 
time: 1403636603.163555, t: 1.921679 -10.244656 0.670131 q: 0.606304 -0.655915 -0.449149 -0.020879 
time: 1403636603.563555, t: 1.921569 -10.244559 0.670178 q: 0.606210 -0.655925 -0.449254 -0.021024 
time: 1403636603.963556, t: 1.921476 -10.244450 0.670219 q: 0.606119 -0.655933 -0.449356 -0.021244 
time: 1403636604.363555, t: 1.921360 -10.244360 0.670289 q: 0.606038 -0.655955 -0.449430 -0.021289 
unstable tracking...
time: 1403636604.763556, t: 1.921289 -10.244244 0.670405 q: 0.605949 -0.655926 -0.449589 -0.021376 
time: 1403636605.563555, t: 1.921067 -10.243990 0.670441 q: 0.605878 -0.655944 -0.449656 -0.021408 
time: 1403636605.963556, t: 1.921121 -10.244191 0.670626 q: 0.605782 -0.655958 -0.449761 -0.021491 
time: 1403636606.363555, t: 1.921143 -10.244257 0.670646 q: 0.605788 -0.655986 -0.449713 -0.021472 
time: 1403636606.763556, t: 1.921138 -10.244293 0.670693 q: 0.605770 -0.656000 -0.449715 -0.021506 
time: 1403636607.163555, t: 1.921139 -10.244335 0.670747 q: 0.605750 -0.656006 -0.449731 -0.021548 
time: 1403636607.563555, t: 1.921137 -10.244383 0.670805 q: 0.605726 -0.656019 -0.449745 -0.021568 
time: 1403636607.963556, t: 1.921138 -10.244430 0.670865 q: 0.605711 -0.656033 -0.449744 -0.021589 
time: 1403636608.363555, t: 1.921131 -10.244474 0.670922 q: 0.605695 -0.656044 -0.449747 -0.021613 
time: 1403636608.763556, t: 1.921128 -10.244519 0.670977 q: 0.605677 -0.656056 -0.449752 -0.021641 
time: 1403636609.163555, t: 1.921129 -10.244573 0.671037 q: 0.605669 -0.656068 -0.449744 -0.021658 
time: 1403636609.563555, t: 1.921130 -10.244618 0.671090 q: 0.605644 -0.656078 -0.449762 -0.021702 
time: 1403636609.963556, t: 1.921126 -10.244676 0.671143 q: 0.605621 -0.656102 -0.449759 -0.021715 
time: 1403636610.363555, t: 1.921125 -10.244734 0.671212 q: 0.605598 -0.656130 -0.449746 -0.021730 
time: 1403636610.763556, t: 1.921138 -10.244755 0.671306 q: 0.605503 -0.656109 -0.449906 -0.021719 
time: 1403636611.163555, t: 1.921090 -10.244605 0.671147 q: 0.605607 -0.656038 -0.449872 -0.021658 
time: 1403636611.563555, t: 1.921148 -10.244627 0.670623 q: 0.605460 -0.656283 -0.449719 -0.021520 
time: 1403636611.963556, t: 1.921109 -10.244646 0.670749 q: 0.605701 -0.656224 -0.449482 -0.021516 
time: 1403636612.363555, t: 1.921466 -10.244620 0.670558 q: 0.605285 -0.655693 -0.450741 -0.023004 
time: 1403636612.763556, t: 1.921356 -10.244662 0.670619 q: 0.605460 -0.656029 -0.450049 -0.022370 
time: 1403636613.163555, t: 1.921225 -10.244713 0.670774 q: 0.605785 -0.656262 -0.449297 -0.021819 
time: 1403636613.563555, t: 1.921253 -10.244728 0.670743 q: 0.605711 -0.656235 -0.449432 -0.021942 
time: 1403636613.963556, t: 1.921277 -10.244740 0.670734 q: 0.605622 -0.656235 -0.449544 -0.022113 
time: 1403636614.363555, t: 1.921322 -10.244726 0.670716 q: 0.605682 -0.656225 -0.449475 -0.022168 
time: 1403636614.763556, t: 1.921311 -10.244759 0.670729 q: 0.605688 -0.656222 -0.449475 -0.022062 
time: 1403636615.163555, t: 1.921302 -10.244765 0.670750 q: 0.605680 -0.656244 -0.449457 -0.021989 
time: 1403636615.563555, t: 1.921305 -10.244760 0.670774 q: 0.605689 -0.656255 -0.449429 -0.022003 
time: 1403636615.963556, t: 1.921307 -10.244768 0.670788 q: 0.605679 -0.656257 -0.449439 -0.022019 
time: 1403636616.363555, t: 1.921309 -10.244766 0.670797 q: 0.605660 -0.656263 -0.449454 -0.022020 
time: 1403636616.763556, t: 1.921314 -10.244768 0.670801 q: 0.605657 -0.656260 -0.449462 -0.022039 
time: 1403636617.163555, t: 1.921318 -10.244781 0.670822 q: 0.605639 -0.656263 -0.449483 -0.022033 
time: 1403636617.563555, t: 1.921319 -10.244776 0.670836 q: 0.605649 -0.656271 -0.449458 -0.022022 
time: 1403636617.963556, t: 1.921324 -10.244788 0.670850 q: 0.605623 -0.656276 -0.449486 -0.022033 
time: 1403636618.363555, t: 1.921325 -10.244787 0.670866 q: 0.605626 -0.656281 -0.449473 -0.022035 
time: 1403636618.763556, t: 1.921368 -10.244921 0.671014 q: 0.605575 -0.656297 -0.449519 -0.022050 
time: 1403636619.163555, t: 1.921372 -10.244924 0.671041 q: 0.605530 -0.656368 -0.449481 -0.021949 
time: 1403636619.563555, t: 1.921354 -10.244924 0.671031 q: 0.605598 -0.656299 -0.449492 -0.021900 
time: 1403636619.963556, t: 1.921393 -10.244951 0.671053 q: 0.605573 -0.656270 -0.449561 -0.022016 
time: 1403636620.363555, t: 1.921425 -10.244966 0.671059 q: 0.605528 -0.656255 -0.449643 -0.022063 
time: 1403636620.763556, t: 1.921421 -10.244955 0.671067 q: 0.605512 -0.656284 -0.449623 -0.022061 
time: 1403636621.163555, t: 1.921485 -10.244915 0.671035 q: 0.605419 -0.656190 -0.449868 -0.022374 
time: 1403636621.563555, t: 1.921462 -10.244934 0.671069 q: 0.605426 -0.656232 -0.449802 -0.022284 
time: 1403636621.963556, t: 1.921446 -10.244927 0.671097 q: 0.605500 -0.656238 -0.449699 -0.022174 
time: 1403636622.363555, t: 1.921467 -10.244924 0.671113 q: 0.605422 -0.656255 -0.449777 -0.022234 
time: 1403636622.763556, t: 1.921490 -10.244910 0.671125 q: 0.605411 -0.656265 -0.449776 -0.022285 
time: 1403636623.163555, t: 1.921664 -10.244859 0.671124 q: 0.605390 -0.656521 -0.449414 -0.022604 
time: 1403636623.563555, t: 1.921705 -10.244814 0.671107 q: 0.605234 -0.656691 -0.449375 -0.022603 
time: 1403636623.963556, t: 1.921860 -10.244827 0.671085 q: 0.604234 -0.657666 -0.449300 -0.022487 
time: 1403636624.363555, t: 1.923450 -10.246014 0.670270 q: 0.597893 -0.659775 -0.454820 -0.018951 
unstable tracking...
unstable tracking...
time: 1403636625.163555, t: 2.034930 -10.297454 0.663295 q: 0.555847 -0.652736 -0.514433 -0.018131 
unstable tracking...
time: 1403636625.563555, t: 2.063013 -10.290028 0.684874 q: 0.564659 -0.652888 -0.504761 -0.010669 
time: 1403636625.963556, t: 2.080839 -10.202857 0.762996 q: 0.581457 -0.650557 -0.487790 -0.027271 
time: 1403636626.363555, t: 2.148752 -10.108385 0.865073 q: 0.591249 -0.655656 -0.469420 -0.013581 
time: 1403636626.763556, t: 2.205549 -10.093961 0.850526 q: 0.594592 -0.644904 -0.478995 -0.033499 
time: 1403636627.163555, t: 2.205025 -10.128634 0.803877 q: 0.582026 -0.643950 -0.496300 -0.016144 
time: 1403636627.563555, t: 2.287633 -10.131914 0.830702 q: 0.585595 -0.649176 -0.484997 -0.020655 
time: 1403636627.963556, t: 2.316781 -10.160307 0.784397 q: 0.541478 -0.678220 -0.496651 -0.012498 
time: 1403636628.363555, t: 2.376762 -10.105833 0.788390 q: 0.551786 -0.692596 -0.463289 -0.034716 
time: 1403636628.763556, t: 2.455065 -10.059719 0.767159 q: 0.549929 -0.693881 -0.463858 -0.030707 
time: 1403636629.163555, t: 2.545253 -10.022040 0.705811 q: 0.517562 -0.709531 -0.477138 -0.032166 
time: 1403636629.563555, t: 2.620439 -9.952027 0.620869 q: -0.499965 0.740380 0.447016 0.045264 
time: 1403636629.963556, t: 2.649563 -9.877280 0.423383 q: -0.428340 0.788118 0.438688 0.054292 
time: 1403636630.363555, t: 2.737792 -9.748806 0.244599 q: -0.418112 0.803756 0.414100 0.087631 
time: 1403636630.763556, t: 2.882258 -9.583867 0.157191 q: -0.412354 0.798164 0.430996 0.084503 
time: 1403636631.163555, t: 2.958493 -9.424527 0.006290 q: -0.422501 0.796278 0.425313 0.080893 
time: 1403636631.563555, t: 3.007765 -9.293390 -0.163925 q: -0.425905 0.792657 0.427962 0.084554 
time: 1403636631.963556, t: 3.051707 -9.159700 -0.315561 q: -0.425533 0.788833 0.435430 0.084054 
time: 1403636632.363555, t: 3.081945 -9.006470 -0.423518 q: -0.424782 0.789002 0.434298 0.091768 
time: 1403636632.763556, t: 3.042357 -8.879082 -0.550346 q: -0.443250 0.781215 0.436879 0.048677 
time: 1403636633.163555, t: 3.049376 -8.693873 -0.660618 q: -0.496156 0.726941 0.471542 0.055085 
time: 1403636633.563555, t: 3.020251 -8.507467 -0.788604 q: 0.502704 -0.723035 -0.472551 -0.034700 
time: 1403636633.963556, t: 3.010137 -8.284959 -0.921211 q: -0.498640 0.733107 0.461433 0.031496 
time: 1403636634.363555, t: 3.037088 -8.014493 -1.069818 q: 0.500141 -0.730178 -0.463580 -0.042338 
time: 1403636634.763556, t: 3.069745 -7.741234 -1.224761 q: 0.514451 -0.714852 -0.470388 -0.055325 
time: 1403636635.163555, t: 3.090803 -7.483267 -1.340098 q: 0.522269 -0.699985 -0.485326 -0.041420 
time: 1403636635.563555, t: 3.089423 -7.232004 -1.465120 q: 0.526917 -0.701122 -0.479789 -0.024266 
time: 1403636635.963556, t: 3.154290 -6.911499 -1.547662 q: 0.532424 -0.707690 -0.463998 -0.020121 
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optimize pose graph 
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optimize pose graph 
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time: 1403636759.563555, t: 1.941911 -9.855998 1.327302 q: 0.604171 -0.648606 -0.462846 -0.007838 
time: 1403636759.963556, t: 1.912763 -9.922261 1.309491 q: 0.597873 -0.643799 -0.477469 -0.009691 
time: 1403636760.363555, t: 1.901109 -9.988654 1.300237 q: 0.600625 -0.644904 -0.472458 -0.011467 
time: 1403636760.763556, t: 1.873223 -10.059710 1.269684 q: 0.590946 -0.640432 -0.490420 -0.010903 
time: 1403636761.163555, t: 1.831280 -10.117205 1.266846 q: 0.585538 -0.640082 -0.497433 0.001008 
time: 1403636761.563555, t: 1.769947 -10.117653 1.291295 q: 0.595156 -0.640200 -0.485625 -0.010088 
time: 1403636761.963556, t: 1.728362 -10.080342 1.340766 q: 0.602164 -0.647664 -0.466829 -0.000781 
time: 1403636762.363555, t: 1.720224 -10.071534 1.382905 q: 0.578486 -0.641196 -0.504119 -0.009246 
time: 1403636762.763556, t: 1.618488 -10.064335 1.375914 q: 0.603491 -0.654444 -0.455378 0.011540 
time: 1403636763.163555, t: 1.654846 -10.119056 1.328747 q: 0.590245 -0.683252 -0.429306 -0.021750 
time: 1403636763.563555, t: 1.627918 -10.094026 1.333178 q: 0.582524 -0.687921 -0.432828 -0.009502 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720492345.627103333]: Shutdown request received.[0m
[33m[ WARN] [1720492345.627140241]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720492345.627988783]: Shutdown request received.[0m
[33m[ WARN] [1720492345.628021563]: Reason given for shutdown: [user request][0m
killed
