/SLAM-Hive/slam_hive_results/mapping_results/2967/2175_vins-fusion-stereo+MH_01_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720492370.397108768]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720492370.398618369]: init begins[0m
[31m[ERROR] [1720492370.399711268]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/894be54e-3d9b-11ef-81ea-0242ac110005/roslaunch-7b93e19c2102-118.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://7b93e19c2102:40211/[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] [1720492371.503399281]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720492371.504976601]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720492371.510831644]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720492371.511076379]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720492371.511098343]: ROW: 240 COL: 376 [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] [1720492371.511295068]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720492371.511522697]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720492371.511689898]: 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://7b93e19c2102:11311/[0m
]2;roscore http://7b93e19c2102:11311/
[1msetting /run_id to 894be54e-3d9b-11ef-81ea-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_01_easy.bag  --clock 
[0m[ INFO] [1720492380.559116869]: 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: 316855801.83 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720492385.994587820]: Initialization finish![0m
time: 1403636583.963556, t: -0.275853 -0.030019 0.010606 q: 0.996316 -0.023488 -0.082437 -0.002535 
unstable tracking...
time: 1403636584.763556, t: 0.087735 -0.086431 -0.020284 q: 0.998900 -0.039148 -0.018490 -0.017982 
time: 1403636585.163555, t: 0.148531 -0.051970 -0.032702 q: 0.999049 -0.043221 -0.004427 -0.003599 
time: 1403636585.963556, t: -0.125544 -0.060389 -0.005763 q: 0.994721 -0.012178 -0.101866 0.002305 
time: 1403636586.363555, t: -0.118596 -0.084360 -0.051735 q: 0.981826 -0.041866 -0.184137 0.018947 
time: 1403636586.763556, t: -0.116858 -0.062320 -0.079325 q: 0.975608 -0.036773 -0.215326 0.021700 
time: 1403636587.163555, t: -0.112078 -0.042368 -0.055642 q: 0.977914 -0.024518 -0.207360 0.009225 
time: 1403636587.563555, t: -0.107066 0.039281 -0.032694 q: 0.976200 -0.030017 -0.213995 0.018412 
time: 1403636587.963556, t: -0.097674 0.188369 -0.020530 q: 0.976686 -0.054060 -0.204830 0.034742 
time: 1403636588.363555, t: -0.111305 0.266460 -0.015335 q: 0.973946 -0.060867 -0.214764 0.040002 
time: 1403636588.763556, t: -0.110356 0.213127 -0.029466 q: 0.974159 -0.057080 -0.214930 0.039518 
time: 1403636589.163555, t: -0.109971 0.062649 -0.046689 q: 0.976991 -0.034701 -0.207949 0.032271 
time: 1403636589.563555, t: -0.109850 -0.127423 -0.062191 q: 0.976781 -0.017217 -0.212332 0.022740 
time: 1403636589.963556, t: -0.124035 -0.293157 -0.066444 q: 0.973970 0.009509 -0.225401 0.022038 
time: 1403636590.363555, t: -0.126416 -0.333560 -0.073918 q: 0.976477 0.021328 -0.213721 0.019020 
time: 1403636590.763556, t: -0.116456 -0.208086 -0.087112 q: 0.977717 -0.007386 -0.209312 0.014240 
time: 1403636591.163555, t: -0.117962 -0.025292 -0.073766 q: 0.976326 -0.012629 -0.214838 0.021752 
time: 1403636591.563555, t: -0.133783 0.092291 -0.051992 q: 0.975923 -0.031916 -0.213804 0.029035 
time: 1403636591.963556, t: -0.133892 0.125907 -0.024231 q: 0.984875 -0.077897 -0.151527 0.031517 
time: 1403636592.363555, t: -0.119474 0.169172 0.052047 q: 0.977341 -0.101618 -0.178919 0.049668 
time: 1403636592.763556, t: -0.051352 0.165373 0.114640 q: 0.984562 -0.034922 -0.169857 0.023817 
time: 1403636593.163555, t: -0.134529 -0.075346 0.212469 q: 0.981098 0.076224 -0.177795 -0.004983 
time: 1403636593.563555, t: -0.235396 -0.254526 -0.011530 q: 0.975984 0.101203 -0.192723 -0.008389 
time: 1403636593.963556, t: 0.112277 0.015958 0.148224 q: 0.889516 0.103273 -0.441936 -0.052810 
feature tracking not enough, please slowly move you device! 
time: 1403636594.363555, t: 0.150237 0.033703 0.194764 q: 0.899857 0.096993 -0.419211 -0.071493 
time: 1403636594.763556, t: 0.104415 0.030874 0.397377 q: 0.917085 0.086275 -0.382353 -0.072924 
feature tracking not enough, please slowly move you device! 
time: 1403636595.163555, t: 0.104415 0.030874 0.397377 q: 0.917085 0.086275 -0.382353 -0.072924 
time: 1403636595.563555, t: 0.689775 -0.208631 -0.478101 q: 0.883044 0.179846 -0.427695 -0.070464 
time: 1403636595.963556, t: 0.671963 -1.059587 -0.818613 q: 0.898508 0.048420 -0.421301 -0.113328 
time: 1403636596.363555, t: 0.475237 -1.144718 -0.422652 q: 0.901505 -0.008899 -0.424234 -0.085062 
time: 1403636596.763556, t: 0.531248 -1.213607 -0.537963 q: 0.903636 0.015847 -0.425284 -0.048214 
time: 1403636597.163555, t: 0.467832 -1.137476 -0.414520 q: 0.912881 0.058302 -0.402039 -0.040178 
time: 1403636597.563555, t: 0.447060 -1.048406 -0.180605 q: 0.896634 0.134889 -0.421378 -0.017096 
time: 1403636597.963556, t: 0.519766 -1.065347 -0.275564 q: 0.893890 0.199939 -0.400519 -0.023878 
time: 1403636598.363555, t: 0.558447 -1.019244 -0.428417 q: 0.860485 0.203830 -0.463951 -0.052619 
time: 1403636598.763556, t: 0.476087 -0.970096 -0.349062 q: 0.879193 0.199766 -0.429580 -0.050740 
unstable tracking...
unstable tracking...
time: 1403636599.563555, t: 0.286346 -1.016202 -0.244918 q: 0.955118 0.134382 -0.254710 -0.069389 
unstable tracking...
time: 1403636600.363555, t: 0.278545 -0.977515 -0.237536 q: 0.943923 0.202129 -0.260808 0.011517 
time: 1403636600.763556, t: 0.279930 -0.977954 -0.238247 q: 0.943914 0.201494 -0.261309 0.011983 
time: 1403636601.163555, t: 0.279805 -0.978084 -0.238185 q: 0.944008 0.201175 -0.261230 0.011680 
time: 1403636601.563555, t: 0.279822 -0.978050 -0.238241 q: 0.944041 0.201127 -0.261151 0.011637 
time: 1403636601.963556, t: 0.279805 -0.978028 -0.238227 q: 0.944036 0.201107 -0.261189 0.011518 
time: 1403636602.363555, t: 0.279833 -0.977989 -0.238248 q: 0.944030 0.201109 -0.261205 0.011554 
time: 1403636602.763556, t: 0.279831 -0.978007 -0.238251 q: 0.944037 0.201099 -0.261186 0.011650 
time: 1403636603.163555, t: 0.279818 -0.978006 -0.238264 q: 0.944042 0.201102 -0.261163 0.011712 
time: 1403636603.563555, t: 0.279811 -0.977998 -0.238274 q: 0.944048 0.201088 -0.261151 0.011695 
time: 1403636603.963556, t: 0.279815 -0.977985 -0.238265 q: 0.944074 0.201063 -0.261082 0.011605 
time: 1403636604.363555, t: 0.279804 -0.977991 -0.238272 q: 0.944055 0.201072 -0.261138 0.011683 
time: 1403636604.763556, t: 0.279800 -0.977998 -0.238271 q: 0.944052 0.201071 -0.261149 0.011710 
time: 1403636605.163555, t: 0.279795 -0.978002 -0.238270 q: 0.944053 0.201059 -0.261153 0.011734 
time: 1403636605.563555, t: 0.279797 -0.978002 -0.238269 q: 0.944050 0.201055 -0.261168 0.011722 
time: 1403636605.963556, t: 0.279898 -0.978004 -0.238399 q: 0.944034 0.201047 -0.261237 0.011626 
time: 1403636606.363555, t: 0.279874 -0.977983 -0.238349 q: 0.943999 0.201157 -0.261277 0.011695 
time: 1403636606.763556, t: 0.279864 -0.977969 -0.238330 q: 0.943976 0.201197 -0.261326 0.011711 
time: 1403636607.163555, t: 0.279854 -0.977955 -0.238315 q: 0.943952 0.201252 -0.261371 0.011719 
time: 1403636607.563555, t: 0.279854 -0.977944 -0.238309 q: 0.943925 0.201294 -0.261437 0.011732 
time: 1403636607.963556, t: 0.279843 -0.977932 -0.238292 q: 0.943899 0.201348 -0.261488 0.011769 
time: 1403636608.363555, t: 0.279836 -0.977919 -0.238277 q: 0.943872 0.201400 -0.261541 0.011794 
time: 1403636608.763556, t: 0.279830 -0.977911 -0.238266 q: 0.943846 0.201454 -0.261596 0.011811 
time: 1403636609.163555, t: 0.279827 -0.977896 -0.238259 q: 0.943820 0.201507 -0.261646 0.011850 
time: 1403636609.563555, t: 0.279820 -0.977881 -0.238244 q: 0.943795 0.201555 -0.261697 0.011850 
time: 1403636609.963556, t: 0.279807 -0.977862 -0.238240 q: 0.943767 0.201606 -0.261759 0.011889 
time: 1403636610.363555, t: 0.279815 -0.977856 -0.238249 q: 0.943740 0.201651 -0.261820 0.011921 
time: 1403636610.763556, t: 0.279846 -0.977863 -0.238223 q: 0.943677 0.201703 -0.262010 0.011834 
time: 1403636611.563555, t: 0.279376 -0.977435 -0.237955 q: 0.943641 0.201577 -0.262223 0.012118 
time: 1403636611.963556, t: 0.279425 -0.977533 -0.237984 q: 0.943667 0.201743 -0.261989 0.012388 
time: 1403636612.363555, t: 0.279574 -0.977180 -0.237910 q: 0.943825 0.201691 -0.261551 0.010320 
time: 1403636612.763556, t: 0.279576 -0.977291 -0.237969 q: 0.943775 0.201630 -0.261736 0.011354 
time: 1403636613.163555, t: 0.279565 -0.977463 -0.238049 q: 0.943769 0.201661 -0.261692 0.012288 
time: 1403636613.563555, t: 0.279490 -0.977433 -0.237982 q: 0.943798 0.201465 -0.261759 0.011796 
time: 1403636613.963556, t: 0.279467 -0.977387 -0.237982 q: 0.943819 0.201421 -0.261735 0.011403 
time: 1403636614.363555, t: 0.279533 -0.977363 -0.237971 q: 0.943821 0.201584 -0.261595 0.011538 
time: 1403636614.763556, t: 0.279525 -0.977345 -0.238015 q: 0.943792 0.201651 -0.261644 0.011639 
time: 1403636615.163555, t: 0.279517 -0.977350 -0.238020 q: 0.943781 0.201649 -0.261684 0.011697 
time: 1403636615.563555, t: 0.279521 -0.977342 -0.238016 q: 0.943789 0.201658 -0.261648 0.011732 
time: 1403636615.963556, t: 0.279513 -0.977333 -0.238017 q: 0.943792 0.201660 -0.261633 0.011712 
time: 1403636616.363555, t: 0.279509 -0.977323 -0.238020 q: 0.943793 0.201649 -0.261640 0.011709 
time: 1403636616.763556, t: 0.279495 -0.977307 -0.238013 q: 0.943797 0.201655 -0.261622 0.011702 
time: 1403636617.163555, t: 0.279492 -0.977294 -0.238021 q: 0.943792 0.201657 -0.261636 0.011713 
time: 1403636617.563555, t: 0.279493 -0.977288 -0.238022 q: 0.943793 0.201667 -0.261625 0.011752 
time: 1403636617.963556, t: 0.279489 -0.977274 -0.238032 q: 0.943795 0.201656 -0.261627 0.011735 
time: 1403636618.363555, t: 0.279483 -0.977263 -0.238026 q: 0.943796 0.201664 -0.261614 0.011773 
time: 1403636618.763556, t: 0.279700 -0.977291 -0.238270 q: 0.943812 0.201569 -0.261636 0.011668 
time: 1403636619.163555, t: 0.279679 -0.977284 -0.238248 q: 0.943799 0.201504 -0.261725 0.011821 
time: 1403636619.563555, t: 0.279689 -0.977213 -0.238275 q: 0.943757 0.201587 -0.261807 0.011969 
time: 1403636619.963556, t: 0.279794 -0.977186 -0.238382 q: 0.943781 0.201580 -0.261731 0.011789 
time: 1403636620.363555, t: 0.279815 -0.977185 -0.238386 q: 0.943785 0.201559 -0.261739 0.011690 
time: 1403636620.763556, t: 0.279740 -0.977184 -0.238291 q: 0.943781 0.201539 -0.261765 0.011764 
time: 1403636621.163555, t: 0.279839 -0.977152 -0.238338 q: 0.943830 0.201507 -0.261632 0.011311 
time: 1403636621.563555, t: 0.279789 -0.977190 -0.238317 q: 0.943815 0.201510 -0.261677 0.011482 
time: 1403636621.963556, t: 0.279777 -0.977215 -0.238300 q: 0.943799 0.201568 -0.261685 0.011624 
time: 1403636622.363555, t: 0.279803 -0.977221 -0.238305 q: 0.943807 0.201518 -0.261698 0.011538 
time: 1403636622.763556, t: 0.279791 -0.977240 -0.238270 q: 0.943830 0.201485 -0.261644 0.011490 
time: 1403636623.163555, t: 0.279926 -0.977130 -0.238292 q: 0.944033 0.201135 -0.261178 0.011520 
time: 1403636623.563555, t: 0.279922 -0.977121 -0.238245 q: 0.944070 0.200942 -0.261192 0.011513 
time: 1403636623.963556, t: 0.279987 -0.977011 -0.238339 q: 0.944202 0.199651 -0.261700 0.011590 
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time: 1403636624.763556, t: 0.285295 -0.938971 -0.247105 q: 0.940296 0.189666 -0.282529 -0.006902 
time: 1403636625.163555, t: 0.351097 -0.875624 -0.268694 q: 0.928036 0.191239 -0.316057 -0.047807 
time: 1403636625.563555, t: 0.385634 -0.865393 -0.263917 q: 0.928482 0.201029 -0.310407 -0.033989 
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time: 1403636626.363555, t: 0.607823 -0.931184 -0.116785 q: 0.934604 0.209759 -0.287253 0.001275 
time: 1403636626.763556, t: 0.646281 -0.886357 -0.092839 q: 0.937871 0.215742 -0.270413 -0.027015 
time: 1403636627.163555, t: 0.597868 -0.835476 -0.119074 q: 0.929596 0.217421 -0.296665 -0.023859 
time: 1403636627.563555, t: 0.639772 -0.829322 -0.137470 q: 0.935783 0.209271 -0.282983 -0.020869 
time: 1403636627.963556, t: 0.619781 -0.772904 -0.143213 q: 0.933722 0.166983 -0.315312 -0.029298 
time: 1403636628.363555, t: 0.669122 -0.749179 -0.068934 q: 0.947178 0.151319 -0.282569 -0.010488 
time: 1403636628.763556, t: 0.723046 -0.696509 0.000742 q: 0.945714 0.150839 -0.287663 -0.011109 
time: 1403636629.163555, t: 0.723657 -0.610755 0.078508 q: 0.943987 0.122304 -0.305376 -0.025996 
time: 1403636629.563555, t: 0.706687 -0.518500 0.182954 q: 0.953085 0.080677 -0.291698 -0.005719 
time: 1403636629.963556, t: 0.640272 -0.404647 0.309320 q: 0.948727 -0.003896 -0.315708 -0.015172 
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time: 1403636630.763556, t: 0.599587 -0.139217 0.687290 q: 0.954636 -0.030914 -0.295063 -0.025545 
time: 1403636631.163555, t: 0.556433 -0.012182 0.862875 q: 0.956337 -0.022195 -0.290957 -0.016463 
time: 1403636631.563555, t: 0.475611 0.087141 1.043430 q: 0.957217 -0.019114 -0.288016 -0.020409 
time: 1403636631.963556, t: 0.403859 0.172398 1.219031 q: 0.956075 -0.015905 -0.291371 -0.027744 
time: 1403636632.363555, t: 0.371442 0.245941 1.388508 q: 0.957542 -0.018495 -0.285966 -0.031548 
time: 1403636632.763556, t: 0.268483 0.282550 1.526563 q: 0.950091 0.012394 -0.311674 -0.005679 
time: 1403636633.163555, t: 0.216642 0.314042 1.719787 q: 0.950453 0.089147 -0.295763 -0.034861 
time: 1403636633.563555, t: 0.127552 0.330292 1.926809 q: 0.945091 0.102247 -0.309403 -0.024887 
time: 1403636633.963556, t: 0.041200 0.363167 2.170962 q: 0.946440 0.092280 -0.309171 -0.012208 
time: 1403636634.363555, t: -0.007971 0.406057 2.476250 q: 0.948290 0.092684 -0.302775 -0.021995 
time: 1403636634.763556, t: -0.071710 0.467366 2.769441 q: 0.950541 0.110610 -0.288258 -0.033814 
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time: 1403636635.563555, t: -0.191550 0.519335 3.336306 q: 0.940483 0.138673 -0.309425 -0.022758 
time: 1403636635.963556, t: -0.181487 0.557508 3.672049 q: 0.942667 0.136380 -0.304558 -0.004888 
time: 1403636636.363555, t: -0.137974 0.635965 4.027412 q: 0.947267 0.135779 -0.288547 -0.031453 
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time: 1403636761.163555, t: 0.195515 -0.526156 -0.734386 q: 0.925298 0.247916 -0.284266 -0.039434 
time: 1403636761.563555, t: 0.173626 -0.585406 -0.762553 q: 0.930517 0.249147 -0.266383 -0.033239 
time: 1403636761.963556, t: 0.198813 -0.649884 -0.768412 q: 0.931883 0.248355 -0.264154 -0.011720 
time: 1403636762.363555, t: 0.228921 -0.688718 -0.776125 q: 0.926763 0.241449 -0.282790 -0.053314 
time: 1403636762.763556, t: 0.154429 -0.757511 -0.784374 q: 0.930870 0.245993 -0.270113 0.002729 
time: 1403636763.163555, t: 0.146322 -0.673512 -0.830421 q: 0.948096 0.205089 -0.242816 0.009599 
time: 1403636763.563555, t: 0.136970 -0.682842 -0.819063 q: 0.944826 0.201639 -0.257886 0.011843 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720492569.172024597]: Shutdown request received.[0m
[33m[ WARN] [1720492569.172068822]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720492569.172917981]: Shutdown request received.[0m
[33m[ WARN] [1720492569.172946287]: Reason given for shutdown: [user request][0m
killed
