/SLAM-Hive/slam_hive_results/mapping_results/2997/2205_vins-fusion-stereo+MH_02_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720498624.026645861]: init begins[0m
[31m[ERROR] [1720498624.027762927]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720498624.027772841]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/18c05e40-3daa-11ef-9fe0-0242ac110005/roslaunch-0e00de5fff06-118.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://0e00de5fff06:46873/[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] [1720498625.134248713]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720498625.134888814]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720498625.140213044]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720498625.140413809]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720498625.140437979]: 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] [1720498625.140683226]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720498625.140897873]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720498625.141058240]: 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://0e00de5fff06:11311/[0m
]2;roscore http://0e00de5fff06:11311/
[1msetting /run_id to 18c05e40-3daa-11ef-9fe0-0242ac110005[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] [1720498634.187000649]: 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: 316861777.55 
[0m[ INFO] [1720498640.581046868]: Initialization finish![0m
time: 1403636862.851666, t: 0.184680 0.290733 0.016528 q: 0.977512 0.137451 0.120073 0.105639 
time: 1403636863.251667, t: 0.096771 -0.025012 -0.135631 q: 0.930877 -0.144376 0.302809 0.144671 
time: 1403636863.651666, t: -0.028001 0.171307 0.045810 q: 0.969533 0.029069 0.201606 0.136075 
time: 1403636864.051666, t: 0.176081 0.264321 0.418705 q: 0.975443 0.047563 0.157585 0.146343 
time: 1403636864.451667, t: -0.010862 0.176990 0.384324 q: 0.884238 -0.015182 0.438648 0.159627 
time: 1403636864.851666, t: -0.520503 -0.065646 0.472333 q: 0.854606 -0.073714 0.438063 0.268917 
time: 1403636865.251667, t: -0.478139 0.044134 0.476894 q: 0.913465 0.027050 0.293336 0.280722 
time: 1403636865.651666, t: -0.548484 -0.049606 0.616505 q: 0.928204 0.001566 0.272009 0.253860 
time: 1403636866.051666, t: -0.453323 -0.120266 0.510609 q: 0.895777 -0.048983 0.368276 0.244044 
time: 1403636866.451667, t: -0.487585 -0.066025 0.402591 q: 0.895145 -0.070692 0.372508 0.234426 
time: 1403636866.851666, t: -0.501255 -0.058843 0.469891 q: 0.919513 -0.030245 0.305222 0.245805 
time: 1403636867.251667, t: -0.553800 -0.105743 0.493767 q: 0.929634 0.008010 0.269890 0.250749 
time: 1403636867.651666, t: -0.572548 -0.112422 0.473489 q: 0.950427 0.023778 0.194850 0.241156 
time: 1403636868.051666, t: -0.695280 0.014164 0.605493 q: 0.953256 0.148877 0.198841 0.172047 
time: 1403636868.451667, t: -0.676096 -0.047029 0.524837 q: 0.953549 0.121119 0.166683 0.219753 
time: 1403636868.851666, t: -0.599851 -0.167961 0.430056 q: 0.959314 0.032441 0.100064 0.262013 
time: 1403636869.251667, t: -0.596634 -0.182253 0.426667 q: 0.958935 0.039007 0.114987 0.256320 
time: 1403636869.651666, t: -0.599919 -0.166278 0.433295 q: 0.959231 0.040644 0.113254 0.255729 
time: 1403636870.051666, t: -0.635888 -0.023642 0.467433 q: 0.954538 0.024850 0.110581 0.275702 
time: 1403636870.451667, t: -0.722164 0.202934 0.624843 q: 0.952968 0.071559 0.208861 0.207627 
time: 1403636870.851666, t: -0.686646 0.175806 0.689153 q: 0.946806 -0.069084 0.194235 0.247101 
time: 1403636871.251667, t: -0.684885 0.038203 0.673504 q: 0.935344 -0.152329 0.191695 0.255306 
time: 1403636871.651666, t: -0.644904 -0.018774 0.610885 q: 0.943355 -0.070498 0.185818 0.265674 
time: 1403636872.051666, t: -0.966823 0.852240 -0.054900 q: 0.704807 0.491070 -0.007152 0.511904 
feature tracking not enough, please slowly move you device! 
time: 1403636872.451667, t: -0.966823 0.852240 -0.054900 q: 0.704807 0.491070 -0.007152 0.511904 
time: 1403636872.851666, t: -1.092634 0.919520 0.007175 q: 0.697226 0.534036 0.054257 0.475118 
time: 1403636873.251667, t: -0.729936 0.826351 1.057609 q: 0.709457 0.562846 -0.007555 0.424049 
feature tracking not enough, please slowly move you device! 
time: 1403636873.651666, t: -0.729936 0.826351 1.057609 q: 0.709457 0.562846 -0.007555 0.424049 
time: 1403636874.051666, t: -0.674164 0.694342 1.128716 q: 0.807236 0.451990 0.068386 0.373361 
time: 1403636874.451667, t: -0.676355 0.640817 1.218836 q: 0.771494 0.524889 0.102142 0.344754 
feature tracking not enough, please slowly move you device! 
time: 1403636874.851666, t: -0.676355 0.640817 1.218836 q: 0.771494 0.524889 0.102142 0.344754 
time: 1403636875.251667, t: -0.641537 0.559112 1.092953 q: 0.762886 0.490383 0.144870 0.395653 
time: 1403636875.651666, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
time: 1403636876.051666, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.451667, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.851666, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.251667, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.651666, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.051666, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.851666, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.251667, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.651666, t: -0.698636 0.538631 1.017606 q: 0.750894 0.472209 0.085254 0.453772 
unstable tracking...
time: 1403636880.051666, t: -0.520217 0.437510 1.357681 q: 0.726643 0.536721 0.097142 0.417713 
unstable tracking...
time: 1403636880.451667, t: -0.563511 0.417980 1.313218 q: 0.752007 0.479705 0.068517 0.446850 
unstable tracking...
time: 1403636880.851666, t: -0.526122 0.433223 1.221586 q: 0.770934 0.457430 0.017529 0.442844 
unstable tracking...
unstable tracking...
time: 1403636881.651666, t: -0.706310 0.371270 1.246048 q: 0.727257 0.500617 0.243812 0.401292 
unstable tracking...
time: 1403636882.051666, t: -0.601512 0.390187 1.419355 q: 0.737899 0.467338 0.187786 0.449263 
unstable tracking...
unstable tracking...
time: 1403636882.851666, t: -0.744991 0.371078 1.493225 q: 0.682931 0.487846 0.304627 0.450348 
unstable tracking...
time: 1403636883.251667, t: -0.614496 0.248410 1.474924 q: 0.652761 0.507524 0.374851 0.419296 
unstable tracking...
unstable tracking...
time: 1403636884.051666, t: -0.566042 0.188692 1.479252 q: 0.627337 0.510702 0.428601 0.402410 
unstable tracking...
unstable tracking...
time: 1403636884.851666, t: -0.569843 0.192800 1.478325 q: 0.617604 0.509584 0.437432 0.409320 
time: 1403636885.251667, t: -0.569874 0.192818 1.478352 q: 0.617883 0.509431 0.437359 0.409168 
time: 1403636885.651666, t: -0.569925 0.192783 1.478419 q: 0.617690 0.509468 0.437429 0.409338 
time: 1403636886.051666, t: -0.569902 0.192849 1.478382 q: 0.617854 0.509377 0.437427 0.409205 
time: 1403636886.451667, t: -0.569900 0.192837 1.478390 q: 0.617856 0.509402 0.437386 0.409215 
time: 1403636886.851666, t: -0.569915 0.192837 1.478388 q: 0.617833 0.509401 0.437400 0.409236 
time: 1403636887.251667, t: -0.569935 0.192830 1.478375 q: 0.617804 0.509392 0.437429 0.409260 
time: 1403636887.651666, t: -0.569924 0.192832 1.478390 q: 0.617841 0.509381 0.437402 0.409247 
time: 1403636888.051666, t: -0.569924 0.192833 1.478383 q: 0.617861 0.509389 0.437387 0.409222 
time: 1403636888.451667, t: -0.569648 0.190292 1.479149 q: 0.613997 0.511201 0.437888 0.412233 
unstable tracking...
time: 1403636888.851666, t: -0.569824 0.192273 1.478459 q: 0.617082 0.509689 0.437813 0.409569 
time: 1403636889.251667, t: -0.569707 0.191775 1.478530 q: 0.616606 0.509898 0.437499 0.410361 
time: 1403636889.651666, t: -0.569720 0.191770 1.478572 q: 0.616666 0.509671 0.437588 0.410457 
time: 1403636890.051666, t: -0.569751 0.191826 1.478553 q: 0.617120 0.509420 0.437341 0.410351 
time: 1403636890.451667, t: -0.569779 0.191807 1.478558 q: 0.616860 0.509259 0.437581 0.410685 
time: 1403636890.851666, t: -0.569799 0.191824 1.478546 q: 0.616862 0.509039 0.437750 0.410775 
time: 1403636891.251667, t: -0.569700 0.191790 1.478577 q: 0.616542 0.509640 0.437862 0.410390 
time: 1403636891.651666, t: -0.569726 0.191662 1.478470 q: 0.616495 0.509487 0.437925 0.410583 
time: 1403636892.051666, t: -0.569752 0.191616 1.478470 q: 0.616472 0.509479 0.437964 0.410585 
time: 1403636892.451667, t: -0.569710 0.191681 1.478534 q: 0.616522 0.509256 0.438077 0.410667 
time: 1403636892.851666, t: -0.569688 0.191608 1.478500 q: 0.616473 0.509439 0.438026 0.410569 
time: 1403636893.251667, t: -0.569716 0.191622 1.478473 q: 0.616466 0.509444 0.438034 0.410564 
time: 1403636893.651666, t: -0.569719 0.191602 1.478480 q: 0.616483 0.509393 0.438086 0.410547 
time: 1403636894.051666, t: -0.569718 0.191596 1.478477 q: 0.616417 0.509507 0.438003 0.410593 
time: 1403636894.451667, t: -0.569729 0.191611 1.478447 q: 0.616484 0.509505 0.437925 0.410577 
time: 1403636894.851666, t: -0.569724 0.191575 1.478517 q: 0.616456 0.509495 0.437926 0.410631 
time: 1403636895.251667, t: -0.569643 0.191596 1.478557 q: 0.616561 0.509324 0.437965 0.410643 
time: 1403636895.651666, t: -0.569676 0.191592 1.478516 q: 0.616513 0.509321 0.438073 0.410604 
time: 1403636896.051666, t: -0.569698 0.191652 1.478608 q: 0.616652 0.509467 0.437963 0.410332 
time: 1403636896.451667, t: -0.569522 0.191672 1.478714 q: 0.616980 0.509793 0.437640 0.409777 
time: 1403636896.851666, t: -0.569273 0.191699 1.478710 q: 0.616932 0.510320 0.437340 0.409513 
time: 1403636897.251667, t: -0.568524 0.192077 1.478554 q: 0.619108 0.512365 0.437951 0.402973 
time: 1403636897.651666, t: -0.620143 0.200306 1.501940 q: 0.647741 0.507227 0.411250 0.392461 
time: 1403636898.051666, t: -0.566800 0.193264 1.477535 q: 0.634803 0.519030 0.403802 0.405682 
time: 1403636898.451667, t: -0.649577 0.322386 1.530778 q: 0.645625 0.514322 0.418201 0.379142 
time: 1403636898.851666, t: -0.533517 0.358444 1.468494 q: 0.645103 0.514924 0.420031 0.377186 
time: 1403636899.251667, t: -0.343986 0.295428 1.432041 q: 0.634018 0.497497 0.410172 0.426938 
time: 1403636899.651666, t: -0.521014 0.515297 1.590092 q: 0.656573 0.479545 0.359631 0.457836 
time: 1403636900.051666, t: -0.405324 0.492627 1.681570 q: 0.669484 0.452871 0.354253 0.470322 
time: 1403636900.451667, t: -0.364421 0.550581 1.731613 q: 0.672323 0.451835 0.355826 0.466063 
time: 1403636900.851666, t: -0.331824 0.619098 1.851460 q: 0.669313 0.473110 0.348217 0.454897 
time: 1403636901.251667, t: -0.269668 0.630466 1.997912 q: 0.654887 0.477487 0.353219 0.467295 
time: 1403636901.651666, t: -0.212351 0.698697 2.193029 q: 0.664650 0.464087 0.360724 0.461240 
time: 1403636902.051666, t: -0.151809 0.700817 2.409544 q: 0.663427 0.462738 0.363173 0.462431 
time: 1403636902.451667, t: -0.096006 0.706744 2.622852 q: 0.662335 0.464436 0.359237 0.465361 
time: 1403636902.851666, t: -0.065021 0.673237 2.842177 q: 0.670036 0.453669 0.359733 0.464573 
time: 1403636903.251667, t: -0.011994 0.741743 3.002696 q: 0.666353 0.461063 0.361296 0.461368 
time: 1403636903.651666, t: 0.033322 0.817693 3.157869 q: 0.668609 0.464758 0.361208 0.454411 
time: 1403636904.051666, t: 0.091498 0.856499 3.296402 q: 0.657837 0.475537 0.356079 0.462950 
time: 1403636904.451667, t: 0.155746 0.983195 3.462269 q: 0.656505 0.471129 0.358168 0.467712 
time: 1403636904.851666, t: 0.214612 1.060646 3.673894 q: 0.666123 0.460355 0.358222 0.464791 
time: 1403636905.251667, t: 0.283033 1.093576 3.882507 q: 0.673430 0.450500 0.356902 0.464933 
time: 1403636905.651666, t: 0.349906 1.180164 4.048179 q: 0.677955 0.454670 0.360186 0.451574 
time: 1403636906.051666, t: 0.455653 1.196765 4.176773 q: 0.674129 0.468901 0.358939 0.443671 
time: 1403636906.451667, t: 0.600519 1.216599 4.286606 q: 0.657419 0.471916 0.369361 0.456802 
time: 1403636906.851666, t: 0.742850 1.248174 4.407240 q: 0.661500 0.471813 0.367578 0.452435 
time: 1403636907.251667, t: 0.898746 1.270073 4.530118 q: 0.668365 0.475065 0.366017 0.440037 
time: 1403636907.651666, t: 1.078134 1.300673 4.653805 q: 0.655591 0.491597 0.359145 0.446707 
time: 1403636908.051666, t: 1.306851 1.372736 4.806218 q: 0.657272 0.480875 0.370710 0.446460 
time: 1403636908.451667, t: 1.513658 1.410506 4.985821 q: 0.656761 0.479140 0.381798 0.439681 
time: 1403636908.851666, t: 1.727643 1.437701 5.156361 q: 0.655827 0.491593 0.376409 0.431908 
time: 1403636909.251667, t: 1.991461 1.552173 5.320727 q: 0.654998 0.497406 0.370495 0.431623 
time: 1403636909.651666, t: 2.257070 1.585598 5.541785 q: 0.651106 0.490715 0.376561 0.439842 
time: 1403636910.051666, t: 2.566473 1.549647 5.737888 q: 0.666133 0.454917 0.400774 0.434393 
time: 1403636910.451667, t: 2.812580 1.521870 5.898003 q: 0.659947 0.479812 0.382040 0.433931 
time: 1403636910.851666, t: 3.035823 1.518674 6.051080 q: 0.657661 0.484732 0.382494 0.431527 
time: 1403636911.251667, t: 3.270431 1.492065 6.162933 q: 0.650550 0.482547 0.388354 0.439448 
time: 1403636912.051666, t: 3.658765 1.548285 6.382044 q: 0.649845 0.492101 0.375879 0.440742 
time: 1403636912.451667, t: 3.855192 1.559792 6.525879 q: 0.651985 0.485817 0.380458 0.440624 
time: 1403636912.851666, t: 4.039187 1.542555 6.695027 q: 0.642274 0.493492 0.375045 0.450878 
time: 1403636913.251667, t: 4.195474 1.508944 6.908208 q: 0.648108 0.475817 0.390954 0.448005 
time: 1403636913.651666, t: 4.333454 1.490893 7.103120 q: 0.650213 0.481853 0.381165 0.446937 
time: 1403636914.051666, t: 4.462974 1.508928 7.289830 q: 0.654206 0.476785 0.382165 0.445690 
time: 1403636914.451667, t: 4.570698 1.558081 7.485982 q: 0.656574 0.474586 0.381367 0.445241 
time: 1403636914.851666, t: 4.663591 1.636267 7.663538 q: 0.659383 0.469157 0.382633 0.445756 
time: 1403636915.251667, t: 4.747541 1.658493 7.817693 q: 0.667397 0.473375 0.369426 0.440479 
time: 1403636915.651666, t: 4.862577 1.652647 7.966249 q: 0.655143 0.480039 0.368269 0.452470 
time: 1403636916.051666, t: 4.998062 1.733082 8.124842 q: 0.656464 0.472079 0.376550 0.452114 
time: 1403636916.451667, t: 5.096102 1.813199 8.292000 q: 0.665841 0.463807 0.378559 0.445233 
time: 1403636916.851666, t: 5.178191 1.854100 8.444570 q: 0.680166 0.437960 0.352375 0.470528 
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time: 1403637009.251667, t: -0.996356 -0.380783 1.287599 q: 0.698792 0.422964 0.326018 0.475923 
time: 1403637009.651666, t: -1.001343 -0.404463 1.328837 q: 0.645457 0.434716 0.379878 0.500100 
time: 1403637010.451667, t: -1.007072 -0.408609 1.331876 q: 0.649691 0.435524 0.363967 0.505715 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720498788.924003655]: Shutdown request received.[0m
[33m[ WARN] [1720498788.924038962]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720498788.924937212]: Shutdown request received.[0m
[33m[ WARN] [1720498788.924979465]: Reason given for shutdown: [user request][0m
killed
