/SLAM-Hive/slam_hive_results/mapping_results/2991/2199_vins-fusion-stereo+MH_02_easy+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720497483.422768226]: init begins[0m
[31m[ERROR] [1720497483.423951586]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720497483.424397587]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/70e583f0-3da7-11ef-acbb-0242ac110005/roslaunch-f4cd6e03338c-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://f4cd6e03338c:44183/[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] [1720497484.531011537]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720497484.531238592]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720497484.536706345]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720497484.536924427]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720497484.536949786]: 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] [1720497484.537184957]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720497484.537378267]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720497484.537533705]: 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://f4cd6e03338c:11311/[0m
]2;roscore http://f4cd6e03338c:11311/
[1msetting /run_id to 70e583f0-3da7-11ef-acbb-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_02_easy.bag  --clock 
[0m[ INFO] [1720497493.538779289]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316860636.90 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720497497.839885237]: Initialization finish![0m
time: 1403636860.751667, t: 0.000000 -0.000000 0.000000 q: 1.000000 -0.000000 -0.000000 0.000000 
time: 1403636860.951667, t: 0.000000 0.000000 0.000000 q: 1.000000 -0.000000 -0.000000 0.000000 
time: 1403636861.151666, t: -0.000237 -0.000171 -0.000045 q: 0.999972 0.001124 0.007323 0.000875 
time: 1403636861.351666, t: 0.116689 0.012961 -0.042586 q: 0.998567 0.003149 0.053384 0.002097 
time: 1403636861.551666, t: 0.158620 0.016427 -0.058937 q: 0.997107 -0.001449 0.075741 0.006288 
time: 1403636861.751667, t: 0.092503 0.016580 -0.027193 q: 0.998365 0.000109 0.056962 0.004839 
time: 1403636861.951667, t: -0.010029 0.010373 0.016814 q: 0.999598 0.005920 0.027059 0.006086 
time: 1403636862.151666, t: -0.109355 -0.000130 0.053216 q: 0.999812 0.011665 -0.005561 0.014455 
time: 1403636862.351666, t: -0.130028 -0.001630 0.059776 q: 0.999704 0.011283 -0.021387 0.002566 
time: 1403636862.751667, t: 0.076218 0.005498 -0.021771 q: 0.999878 -0.007964 0.013218 -0.002609 
time: 1403636862.951667, t: 0.188214 0.007831 -0.070100 q: 0.999463 -0.010943 0.027990 0.013063 
time: 1403636863.151666, t: 0.201471 0.010564 -0.079690 q: 0.998767 -0.014928 0.047330 0.000990 
time: 1403636863.351666, t: 0.114386 0.009451 -0.040867 q: 0.998784 -0.021164 0.043491 -0.009536 
time: 1403636863.551666, t: -0.008101 0.008550 0.014728 q: 0.999392 -0.021681 0.027300 -0.001002 
time: 1403636863.751667, t: -0.110627 0.008642 0.049484 q: 0.999825 -0.009106 -0.003670 0.015911 
time: 1403636863.951667, t: -0.122872 0.009686 0.048672 q: 0.999554 -0.004884 -0.024454 0.016459 
time: 1403636864.151666, t: -0.020662 0.012120 0.000719 q: 0.999887 -0.004744 -0.012530 0.006745 
time: 1403636864.351666, t: 0.106587 0.009523 -0.050771 q: 0.999954 -0.009040 -0.000068 0.003308 
time: 1403636864.551666, t: 0.193208 0.008078 -0.087653 q: 0.999107 -0.010386 0.036475 0.018639 
time: 1403636864.751667, t: 0.188815 0.008239 -0.083198 q: 0.998369 -0.016628 0.053895 0.008837 
time: 1403636864.951667, t: 0.096910 0.007518 -0.039215 q: 0.999182 -0.019988 0.034904 0.004198 
time: 1403636865.151666, t: -0.012518 0.006493 0.015005 q: 0.999646 -0.021202 0.011295 0.011450 
time: 1403636865.551666, t: -0.094464 0.004217 0.053579 q: 0.999644 -0.011540 -0.014485 0.019217 
time: 1403636865.751667, t: -0.013797 -0.002802 0.017030 q: 0.999760 -0.004450 -0.012353 0.017531 
time: 1403636865.951667, t: 0.107833 -0.007406 -0.036168 q: 0.999383 -0.002826 0.025817 0.023639 
time: 1403636866.151666, t: 0.214515 -0.011931 -0.088966 q: 0.996624 -0.008870 0.077510 0.025574 
time: 1403636866.351666, t: 0.226189 -0.002780 -0.097656 q: 0.996348 -0.017440 0.081798 0.017213 
time: 1403636866.551666, t: 0.159756 -0.003225 -0.065920 q: 0.998021 -0.022850 0.057674 0.010321 
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time: 1403636867.551666, t: -0.039466 0.000580 -0.039468 q: 0.998276 0.011107 -0.056296 0.012321 
time: 1403636867.751667, t: -0.057219 0.005506 -0.053565 q: 0.987361 0.013768 -0.157266 0.014009 
time: 1403636867.951667, t: -0.062130 0.002580 -0.062942 q: 0.973459 0.001708 -0.227678 0.023171 
time: 1403636868.151666, t: -0.052673 -0.002352 -0.070607 q: 0.978865 0.000121 -0.203019 0.024614 
time: 1403636868.351666, t: -0.056266 -0.007302 -0.083003 q: 0.979233 0.003176 -0.200552 0.029532 
time: 1403636868.551666, t: -0.058742 -0.021191 -0.096898 q: 0.981563 -0.003255 -0.188340 0.032438 
time: 1403636868.751667, t: -0.057578 -0.031632 -0.112477 q: 0.981746 -0.008119 -0.187118 0.033086 
time: 1403636868.951667, t: -0.061171 -0.041334 -0.121301 q: 0.981349 -0.008248 -0.190525 0.024209 
time: 1403636869.151666, t: -0.059352 -0.049591 -0.122868 q: 0.982976 0.001632 -0.181736 0.026990 
time: 1403636869.351666, t: -0.060169 -0.052859 -0.119484 q: 0.982785 0.005189 -0.183082 0.024241 
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time: 1403636870.551666, t: -0.026339 0.344881 -0.035578 q: 0.980907 -0.045426 -0.181256 0.053883 
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time: 1403636871.551666, t: -0.036163 0.347324 -0.024493 q: 0.980097 -0.051628 -0.180875 0.063465 
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time: 1403636874.151666, t: -0.067988 0.396033 0.005588 q: 0.976382 -0.045359 -0.197710 0.074370 
time: 1403636874.351666, t: -0.064397 0.353517 0.003810 q: 0.976057 -0.038936 -0.202194 0.070100 
time: 1403636874.551666, t: -0.058904 0.260214 0.003088 q: 0.977527 -0.028539 -0.199150 0.062968 
time: 1403636874.751667, t: -0.058033 0.143695 0.002087 q: 0.978927 -0.010840 -0.195295 0.058684 
time: 1403636874.951667, t: -0.077576 0.040966 0.007087 q: 0.980926 0.013866 -0.181454 0.068308 
time: 1403636875.151666, t: -0.073423 -0.031501 0.016966 q: 0.984203 -0.001954 -0.165364 0.063205 
time: 1403636875.351666, t: -0.086499 -0.076009 0.008743 q: 0.985403 -0.035534 -0.137001 0.094596 
time: 1403636875.551666, t: -0.101364 -0.103420 -0.026308 q: 0.977614 -0.054836 -0.152884 0.133758 
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time: 1403636875.951667, t: -0.159332 -0.025405 -0.162148 q: 0.962993 -0.110458 -0.170281 0.177337 
feature tracking not enough, please slowly move you device! 
time: 1403636876.151666, t: -0.177335 0.076276 -0.206006 q: 0.954811 -0.150489 -0.166214 0.195093 
time: 1403636876.351666, t: -0.152337 0.011694 -2.125842 q: 0.958079 -0.205753 -0.055348 0.191538 
time: 1403636876.551666, t: -0.283828 0.207183 -0.060969 q: 0.942572 -0.313645 -0.050300 0.103223 
time: 1403636876.751667, t: -0.311781 0.250114 -0.011017 q: 0.941312 -0.324209 0.063259 0.069423 
time: 1403636876.951667, t: 0.223322 1.137566 -1.167837 q: 0.920358 -0.257968 0.103517 0.275096 
time: 1403636877.151666, t: 0.770662 1.172315 -0.953451 q: 0.952359 -0.229580 0.088482 0.180212 
time: 1403636877.351666, t: 0.667672 1.113039 -1.074560 q: 0.974692 -0.137487 0.094773 0.148630 
time: 1403636877.551666, t: 1.255408 1.040782 0.100091 q: 0.968482 -0.017990 0.142449 0.203539 
time: 1403636877.751667, t: 1.022698 1.055103 -0.120850 q: 0.955097 0.098515 0.164414 0.225946 
time: 1403636877.951667, t: 0.937600 1.149750 -0.248495 q: 0.955361 0.182177 0.080481 0.218218 
time: 1403636878.151666, t: 1.052547 1.162996 -0.214351 q: 0.957625 0.176632 -0.033280 0.225052 
unstable tracking...
time: 1403636878.351666, t: 1.005513 1.327019 0.101589 q: 0.946905 0.204561 -0.067776 0.238603 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.551666, t: 1.005513 1.327019 0.101589 q: 0.946905 0.204561 -0.067776 0.238603 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.751667, t: 1.005513 1.327019 0.101589 q: 0.946905 0.204561 -0.067776 0.238603 
time: 1403636878.951667, t: 0.867135 1.408344 0.445973 q: 0.891313 -0.043196 -0.052112 0.448307 
time: 1403636879.151666, t: 0.962649 1.412186 0.398357 q: 0.914867 -0.004805 -0.013975 0.403485 
time: 1403636879.351666, t: 1.018844 1.381349 0.377107 q: 0.906481 0.058955 0.019141 0.417672 
time: 1403636879.551666, t: 0.817926 1.429963 0.752758 q: 0.923560 0.087328 0.059505 0.368606 
unstable tracking...
time: 1403636879.751667, t: 0.829693 1.559109 1.012333 q: 0.921726 0.173360 0.057773 0.342096 
unstable tracking...
unstable tracking...
time: 1403636880.151666, t: 0.856022 1.380496 0.447801 q: 0.912720 0.244345 0.022690 0.326685 
unstable tracking...
unstable tracking...
time: 1403636880.551666, t: 0.708048 1.411393 0.474155 q: 0.922001 0.129734 0.008297 0.364710 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636881.151666, t: 0.735504 1.404534 0.408032 q: 0.892435 0.213732 0.006319 0.397288 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636881.751667, t: 1.444367 1.297209 1.757769 q: 0.899544 0.279835 0.090715 0.322929 
time: 1403636881.951667, t: 1.443824 1.350315 1.867605 q: 0.901942 0.268543 0.078661 0.328935 
time: 1403636882.151666, t: 1.397617 1.395818 1.949009 q: 0.900226 0.253390 0.070805 0.346949 
time: 1403636882.351666, t: 1.334900 1.409318 1.976824 q: 0.900038 0.237350 0.073708 0.357998 
time: 1403636882.551666, t: 1.302684 1.380374 1.962864 q: 0.894577 0.251286 0.086533 0.359304 
time: 1403636882.751667, t: 1.320963 1.339491 1.961322 q: 0.884249 0.266261 0.135371 0.359004 
unstable tracking...
time: 1403636882.951667, t: 1.355581 1.288910 1.990768 q: 0.869409 0.289827 0.199651 0.346797 
time: 1403636883.151666, t: 1.380364 1.234666 2.025346 q: 0.863600 0.318109 0.220958 0.322769 
time: 1403636883.351666, t: 1.395276 1.190448 2.055201 q: 0.859499 0.324391 0.243641 0.310921 
time: 1403636883.551666, t: 1.402565 1.169010 2.069489 q: 0.853354 0.329262 0.262142 0.307661 
time: 1403636883.751667, t: 1.406674 1.158360 2.079186 q: 0.849168 0.335960 0.276583 0.299243 
time: 1403636883.951667, t: 1.406780 1.152306 2.085847 q: 0.844732 0.344650 0.280554 0.298218 
time: 1403636884.151666, t: 1.406315 1.151862 2.089346 q: 0.840071 0.346113 0.293737 0.296993 
time: 1403636884.351666, t: 1.409700 1.155898 2.084231 q: 0.841931 0.342038 0.296400 0.293784 
time: 1403636884.551666, t: 1.406332 1.151043 2.089366 q: 0.837957 0.343622 0.301179 0.298400 
time: 1403636884.751667, t: 1.407056 1.151251 2.089087 q: 0.837942 0.343844 0.300774 0.298597 
time: 1403636884.951667, t: 1.407072 1.151290 2.089015 q: 0.837992 0.343763 0.300825 0.298497 
time: 1403636885.151666, t: 1.407047 1.151330 2.089026 q: 0.838155 0.343594 0.300785 0.298274 
time: 1403636885.351666, t: 1.407048 1.151301 2.089059 q: 0.838043 0.343703 0.300808 0.298441 
time: 1403636885.551666, t: 1.407024 1.151293 2.089100 q: 0.837978 0.343702 0.300873 0.298558 
time: 1403636885.751667, t: 1.407005 1.151302 2.089049 q: 0.838030 0.343613 0.300945 0.298443 
time: 1403636885.951667, t: 1.406970 1.151311 2.089075 q: 0.838080 0.343546 0.300956 0.298366 
time: 1403636886.151666, t: 1.406974 1.151279 2.089045 q: 0.837977 0.343701 0.300884 0.298552 
time: 1403636886.351666, t: 1.406996 1.151269 2.089041 q: 0.837984 0.343742 0.300804 0.298565 
time: 1403636886.551666, t: 1.406979 1.151278 2.089062 q: 0.838000 0.343670 0.300874 0.298534 
time: 1403636886.751667, t: 1.406957 1.151268 2.089052 q: 0.837969 0.343696 0.300879 0.298586 
time: 1403636886.951667, t: 1.406941 1.151273 2.089040 q: 0.837997 0.343667 0.300883 0.298534 
time: 1403636887.151666, t: 1.406930 1.151261 2.089047 q: 0.837971 0.343697 0.300885 0.298573 
time: 1403636887.351666, t: 1.406919 1.151257 2.089010 q: 0.837947 0.343681 0.300937 0.298606 
time: 1403636887.751667, t: 1.406924 1.151274 2.089053 q: 0.838005 0.343655 0.300884 0.298525 
time: 1403636887.951667, t: 1.406934 1.151271 2.089053 q: 0.837999 0.343660 0.300883 0.298539 
time: 1403636888.151666, t: 1.406933 1.151270 2.089053 q: 0.838003 0.343669 0.300867 0.298532 
time: 1403636888.351666, t: 1.406937 1.151264 2.089031 q: 0.837976 0.343701 0.300866 0.298572 
time: 1403636888.551666, t: 1.406937 1.151265 2.089024 q: 0.837978 0.343698 0.300857 0.298581 
time: 1403636888.751667, t: 1.406932 1.151265 2.088838 q: 0.837906 0.343662 0.301242 0.298434 
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time: 1403637010.551666, t: 1.866456 0.501748 1.927821 q: 0.858134 0.203820 0.251352 0.398604 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720497648.279105013]: Shutdown request received.[0m
[33m[ WARN] [1720497648.279155635]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720497648.279995926]: Shutdown request received.[0m
[33m[ WARN] [1720497648.280020235]: Reason given for shutdown: [user request][0m
killed
