/SLAM-Hive/slam_hive_results/mapping_results/2968/2176_vins-fusion-stereo+MH_01_easy+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720492593.890973564]: init begins[0m
[31m[ERROR] [1720492593.892168674]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720492593.897831851]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0e81b612-3d9c-11ef-a083-0242ac110005/roslaunch-7263e0dc6abc-116.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://7263e0dc6abc:45389/[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 [153][0m
[0m[ INFO] [1720492594.998726839]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
[0m[ INFO] [1720492595.002369774]: Connected to master at [localhost:11311][0m
result path /home/output/vio.csv
[33m[ WARN] [1720492595.003665685]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720492595.003866263]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720492595.003889168]: 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] [1720492595.004169951]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720492595.004375993]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720492595.004562602]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://7263e0dc6abc:11311/[0m
]2;roscore http://7263e0dc6abc:11311/
[1msetting /run_id to 0e81b612-3d9c-11ef-a083-0242ac110005[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 [240][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720492604.035998568]: 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: 316856025.31 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720492609.441201034]: Initialization finish![0m
time: 1403636583.963556, t: 1.348991 -7.452574 -2.169744 q: -0.384729 0.884415 0.203094 -0.168958 
time: 1403636584.363555, t: 1.534486 -7.707135 -2.494650 q: 0.620952 -0.720898 -0.253151 0.175043 
time: 1403636584.763556, t: 1.839339 -7.886613 -2.831445 q: 0.785900 -0.586338 -0.159847 0.114091 
time: 1403636585.163555, t: 1.767240 -7.842967 -2.478860 q: 0.675870 -0.710508 -0.192758 0.034968 
time: 1403636585.563555, t: 1.620457 -7.824327 -2.633177 q: 0.700496 -0.666904 -0.243126 0.073719 
time: 1403636585.963556, t: 1.569747 -7.899179 -2.624909 q: 0.697006 -0.636160 -0.304739 0.128910 
time: 1403636586.363555, t: 1.596194 -7.955519 -2.592352 q: 0.650276 -0.652711 -0.338621 0.190904 
time: 1403636586.763556, t: 1.629670 -7.988687 -2.609381 q: 0.640068 -0.633695 -0.381327 0.208167 
time: 1403636587.163555, t: 1.619119 -7.962682 -2.625532 q: 0.654482 -0.628002 -0.371714 0.197725 
time: 1403636587.563555, t: 1.633251 -7.932553 -2.696633 q: 0.648396 -0.632053 -0.371175 0.205721 
time: 1403636587.963556, t: 1.663730 -7.896902 -2.829217 q: 0.633578 -0.655724 -0.357656 0.201713 
time: 1403636588.363555, t: 1.671885 -7.878399 -2.907748 q: 0.622832 -0.658743 -0.362648 0.215927 
time: 1403636588.763556, t: 1.670096 -7.901646 -2.857639 q: 0.625837 -0.655679 -0.362455 0.216887 
time: 1403636589.163555, t: 1.644916 -7.948099 -2.706085 q: 0.644197 -0.641005 -0.360524 0.210108 
time: 1403636589.563555, t: 1.607483 -7.996910 -2.525231 q: 0.655066 -0.625554 -0.370141 0.206316 
time: 1403636589.963556, t: 1.548900 -8.040881 -2.364758 q: 0.667173 -0.606145 -0.378882 0.209566 
time: 1403636590.363555, t: 1.539710 -8.043761 -2.326746 q: 0.678341 -0.599716 -0.372362 0.203816 
time: 1403636590.763556, t: 1.592503 -8.031921 -2.449457 q: 0.664113 -0.616910 -0.372295 0.199431 
time: 1403636591.163555, t: 1.621825 -7.987662 -2.624632 q: 0.657468 -0.621465 -0.370651 0.210083 
time: 1403636591.563555, t: 1.621400 -7.944779 -2.742090 q: 0.645939 -0.634922 -0.367495 0.211151 
time: 1403636591.963556, t: 1.614169 -7.915245 -2.771931 q: 0.638122 -0.678701 -0.324566 0.163772 
time: 1403636592.363555, t: 1.608541 -7.834313 -2.804056 q: 0.608606 -0.693979 -0.331772 0.194728 
time: 1403636592.763556, t: 1.659221 -7.857129 -2.834534 q: 0.663142 -0.644022 -0.334094 0.184010 
time: 1403636593.163555, t: 1.508508 -7.743604 -2.555239 q: 0.726483 -0.553394 -0.355145 0.199624 
time: 1403636593.563555, t: 1.893448 -7.811126 -2.315165 q: 0.730081 -0.520655 -0.316392 0.309510 
feature tracking not enough, please slowly move you device! 
time: 1403636593.963556, t: 1.965653 -7.982450 -2.805114 q: 0.558933 -0.573628 -0.406692 0.439484 
feature tracking not enough, please slowly move you device! 
time: 1403636595.163555, t: 1.825986 -7.836526 -2.968247 q: 0.680711 -0.491610 -0.398854 0.368602 
feature tracking not enough, please slowly move you device! 
time: 1403636595.963556, t: 1.876747 -7.885655 -2.840094 q: 0.631233 -0.527225 -0.391043 0.413115 
time: 1403636596.363555, t: 2.167444 -7.824341 -2.721980 q: 0.529366 -0.553208 -0.377245 0.520978 
time: 1403636596.763556, t: 2.190054 -7.953648 -2.603403 q: 0.544040 -0.573793 -0.384311 0.476537 
time: 1403636597.163555, t: 2.071602 -7.835278 -2.600227 q: 0.548048 -0.549833 -0.433387 0.457714 
time: 1403636597.563555, t: 1.789175 -7.642393 -3.129398 q: 0.645279 -0.443018 -0.400337 0.476530 
time: 1403636597.963556, t: 1.856803 -7.687716 -3.148324 q: 0.704022 -0.382440 -0.354522 0.482086 
time: 1403636598.363555, t: 1.883752 -7.800580 -3.088739 q: 0.672376 -0.384467 -0.412623 0.479414 
time: 1403636598.763556, t: 1.903243 -7.790375 -3.100197 q: 0.711426 -0.349573 -0.396858 0.462790 
time: 1403636599.163555, t: 1.723083 -7.785646 -3.067100 q: 0.749611 -0.394848 -0.290975 0.444424 
time: 1403636599.563555, t: 1.655672 -7.772383 -3.067979 q: 0.775055 -0.407710 -0.244563 0.416235 
time: 1403636599.963556, t: 1.655931 -7.791607 -3.073589 q: 0.769644 -0.428368 -0.228999 0.414376 
time: 1403636600.363555, t: 1.657109 -7.785129 -3.074855 q: 0.769200 -0.424579 -0.231234 0.417846 
time: 1403636600.763556, t: 1.654218 -7.784541 -3.070438 q: 0.771122 -0.426169 -0.219218 0.419160 
unstable tracking...
time: 1403636601.163555, t: 1.653283 -7.784620 -3.070428 q: 0.770941 -0.426688 -0.219955 0.418578 
unstable tracking...
time: 1403636601.963556, t: 1.653255 -7.784668 -3.070469 q: 0.770970 -0.426799 -0.219965 0.418406 
time: 1403636602.363555, t: 1.653268 -7.784665 -3.070471 q: 0.770963 -0.426800 -0.220034 0.418381 
time: 1403636602.763556, t: 1.653251 -7.784675 -3.070472 q: 0.770948 -0.426812 -0.219912 0.418461 
time: 1403636603.163555, t: 1.653255 -7.784679 -3.070476 q: 0.770934 -0.426810 -0.219898 0.418496 
time: 1403636603.563555, t: 1.653254 -7.784678 -3.070474 q: 0.770929 -0.426827 -0.219931 0.418471 
time: 1403636603.963556, t: 1.653274 -7.784675 -3.070477 q: 0.770941 -0.426890 -0.219995 0.418351 
time: 1403636604.363555, t: 1.653258 -7.784679 -3.070476 q: 0.770908 -0.426860 -0.219977 0.418450 
time: 1403636604.763556, t: 1.653251 -7.784679 -3.070473 q: 0.770913 -0.426851 -0.219949 0.418465 
time: 1403636605.163555, t: 1.653241 -7.784686 -3.070475 q: 0.770886 -0.426867 -0.219905 0.418523 
time: 1403636605.563555, t: 1.653246 -7.784684 -3.070474 q: 0.770889 -0.426868 -0.219941 0.418496 
unstable tracking...
time: 1403636605.963556, t: 1.653362 -7.784730 -3.070473 q: 0.770866 -0.426671 -0.220029 0.418694 
time: 1403636606.363555, t: 1.653364 -7.784730 -3.070477 q: 0.770882 -0.426654 -0.220031 0.418682 
time: 1403636606.763556, t: 1.653367 -7.784728 -3.070478 q: 0.770877 -0.426658 -0.220051 0.418676 
time: 1403636607.163555, t: 1.653362 -7.784729 -3.070476 q: 0.770867 -0.426672 -0.220048 0.418682 
time: 1403636607.563555, t: 1.653364 -7.784730 -3.070476 q: 0.770857 -0.426683 -0.220070 0.418677 
time: 1403636607.963556, t: 1.653725 -7.784641 -3.070395 q: 0.770865 -0.426748 -0.220163 0.418546 
unstable tracking...
time: 1403636608.363555, t: 1.653727 -7.784641 -3.070404 q: 0.770865 -0.426748 -0.220163 0.418546 
unstable tracking...
time: 1403636608.763556, t: 1.653635 -7.784583 -3.070374 q: 0.770936 -0.426711 -0.219968 0.418556 
time: 1403636609.163555, t: 1.653627 -7.784582 -3.070368 q: 0.770936 -0.426711 -0.219968 0.418556 
time: 1403636609.563555, t: 1.653619 -7.784587 -3.070377 q: 0.770915 -0.426631 -0.219951 0.418685 
time: 1403636609.963556, t: 1.653617 -7.784588 -3.070377 q: 0.770910 -0.426615 -0.219954 0.418709 
time: 1403636610.363555, t: 1.653611 -7.784588 -3.070377 q: 0.770916 -0.426589 -0.219927 0.418739 
time: 1403636610.763556, t: 1.653608 -7.784578 -3.070373 q: 0.770926 -0.426490 -0.220006 0.418779 
unstable tracking...
time: 1403636611.163555, t: 1.653647 -7.784564 -3.070362 q: 0.770982 -0.426659 -0.220122 0.418444 
time: 1403636611.563555, t: 1.653729 -7.784583 -3.070395 q: 0.770645 -0.427008 -0.220832 0.418336 
time: 1403636611.963556, t: 1.653670 -7.784603 -3.070393 q: 0.770727 -0.426951 -0.220285 0.418530 
time: 1403636612.363555, t: 1.654031 -7.784456 -3.070396 q: 0.771180 -0.427199 -0.221993 0.416535 
time: 1403636612.763556, t: 1.653862 -7.784527 -3.070395 q: 0.770919 -0.427191 -0.221244 0.417425 
time: 1403636613.163555, t: 1.653702 -7.784617 -3.070409 q: 0.770758 -0.427195 -0.220160 0.418290 
time: 1403636613.963556, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636614.363555, t: 1.653798 -7.784577 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636614.763556, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636615.163555, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636615.563555, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636615.963556, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636616.363555, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636616.763556, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636617.163555, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636617.563555, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636618.363555, t: 1.653798 -7.784578 -3.070407 q: 0.770788 -0.427291 -0.220787 0.417806 
time: 1403636618.763556, t: 1.653677 -7.784625 -3.070400 q: 0.770687 -0.426939 -0.220331 0.418591 
time: 1403636619.163555, t: 1.653677 -7.784625 -3.070400 q: 0.770687 -0.426939 -0.220331 0.418591 
time: 1403636619.563555, t: 1.653899 -7.784513 -3.070183 q: 0.770660 -0.427018 -0.220283 0.418586 
time: 1403636619.963556, t: 1.653890 -7.784501 -3.070169 q: 0.770696 -0.426994 -0.220347 0.418510 
time: 1403636620.363555, t: 1.653943 -7.784486 -3.070199 q: 0.770727 -0.426925 -0.220731 0.418321 
time: 1403636620.763556, t: 1.653966 -7.784492 -3.070201 q: 0.770711 -0.427103 -0.220754 0.418157 
time: 1403636621.163555, t: 1.654033 -7.784470 -3.070204 q: 0.770762 -0.427197 -0.221087 0.417792 
time: 1403636621.563555, t: 1.653981 -7.784488 -3.070251 q: 0.770860 -0.426946 -0.220624 0.418111 
time: 1403636621.963556, t: 1.653942 -7.784531 -3.070267 q: 0.770787 -0.426962 -0.220180 0.418464 
time: 1403636622.363555, t: 1.653975 -7.784507 -3.070265 q: 0.770854 -0.426946 -0.220344 0.418270 
time: 1403636622.763556, t: 1.653969 -7.784496 -3.070261 q: 0.770882 -0.426873 -0.220359 0.418284 
time: 1403636623.163555, t: 1.654053 -7.784535 -3.070302 q: 0.770923 -0.427533 -0.220095 0.417673 
time: 1403636623.563555, t: 1.654063 -7.784540 -3.070311 q: 0.770816 -0.427594 -0.220235 0.417736 
time: 1403636623.963556, t: 1.654167 -7.784601 -3.070371 q: 0.770168 -0.428301 -0.221064 0.417768 
time: 1403636624.363555, t: 1.654311 -7.784521 -3.070430 q: 0.766660 -0.427114 -0.229338 0.420963 
time: 1403636624.763556, t: 1.656551 -7.784812 -3.072083 q: 0.760553 -0.431400 -0.249122 0.416403 
time: 1403636625.163555, t: 1.646442 -7.789524 -3.071919 q: 0.744353 -0.423938 -0.202994 0.474351 
time: 1403636625.563555, t: 1.621028 -8.307474 -2.837909 q: 0.754635 -0.450108 -0.255375 0.403375 
time: 1403636625.963556, t: 1.359235 -5.945991 -3.258651 q: 0.856812 -0.404274 -0.315421 0.054276 
time: 1403636626.363555, t: 0.352297 -4.143913 -2.819496 q: 0.574765 -0.700965 0.146517 0.396013 
time: 1403636626.763556, t: -4.990800 2.890481 -6.845134 q: -0.381916 0.679117 0.229472 -0.583338 
time: 1403636627.163555, t: -5.761872 4.336000 -9.479729 q: 0.515260 -0.592446 -0.112851 0.608917 
time: 1403636627.563555, t: -2.993659 10.287343 -8.213195 q: -0.383201 0.629434 0.365214 -0.568848 
time: 1403636627.963556, t: -4.071844 8.760928 -9.087539 q: -0.408699 0.636536 0.283910 -0.589221 
time: 1403636628.363555, t: -4.585001 8.672186 -9.206661 q: -0.424111 0.677217 0.221661 -0.558904 
time: 1403636628.763556, t: -4.643989 8.656912 -9.235792 q: -0.419356 0.683086 0.209715 -0.559959 
time: 1403636629.163555, t: -4.369749 8.712646 -9.362245 q: -0.377974 0.672659 0.273163 -0.574497 
time: 1403636629.563555, t: -4.430492 8.679152 -9.481587 q: -0.341850 0.702237 0.265820 -0.565103 
unstable tracking...
unstable tracking...
time: 1403636630.363555, t: -4.728597 8.539978 -9.766226 q: -0.246658 0.748337 0.305672 -0.534524 
unstable tracking...
unstable tracking...
time: 1403636631.163555, t: -4.977024 8.552146 -10.154197 q: -0.257070 0.739921 0.306479 -0.540835 
unstable tracking...
time: 1403636631.563555, t: -5.130459 8.513147 -10.278759 q: -0.262378 0.740186 0.306957 -0.537642 
time: 1403636631.963556, t: -5.290425 8.497827 -10.417388 q: -0.266786 0.735278 0.312961 -0.538745 
time: 1403636632.363555, t: -5.427439 8.522150 -10.536980 q: -0.265627 0.738334 0.314967 -0.533948 
time: 1403636632.763556, t: -5.601990 8.510841 -10.606989 q: -0.277615 0.717803 0.290220 -0.568736 
time: 1403636633.163555, t: -5.781425 8.550822 -10.714170 q: -0.355447 0.692440 0.283770 -0.560053 
time: 1403636633.563555, t: -5.987887 8.584862 -10.793276 q: -0.358400 0.682301 0.274636 -0.574970 
time: 1403636633.963556, t: -6.213893 8.644359 -10.918871 q: -0.346157 0.688645 0.268790 -0.577663 
time: 1403636634.363555, t: -6.477300 8.722388 -11.084696 q: -0.351415 0.692260 0.273809 -0.567726 
time: 1403636634.763556, t: -6.743495 8.790911 -11.257489 q: -0.372824 0.691634 0.273246 -0.554960 
time: 1403636635.163555, t: -6.983158 8.902976 -11.411248 q: -0.388893 0.672756 0.276365 -0.565495 
time: 1403636635.563555, t: -7.210102 8.995087 -11.537218 q: -0.385247 0.668072 0.265677 -0.578516 
time: 1403636635.963556, t: -7.430218 9.136250 -11.742754 q: -0.378460 0.677094 0.248371 -0.580193 
time: 1403636636.363555, t: -7.605338 9.280506 -12.011223 q: -0.390045 0.681252 0.266344 -0.559305 
time: 1403636636.763556, t: -7.823103 9.397061 -12.229670 q: -0.402546 0.687645 0.282026 -0.534380 
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Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720492792.734809051]: Shutdown request received.[0m
[33m[ WARN] [1720492792.735126764]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720492792.736649602]: Shutdown request received.[0m
[33m[ WARN] [1720492792.736679895]: Reason given for shutdown: [user request][0m
killed
