/SLAM-Hive/slam_hive_results/mapping_results/2998/2206_vins-fusion-stereo+MH_02_easy+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720498813.534492246]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720498813.536403066]: init begins[0m
[31m[ERROR] [1720498813.537429930]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/89b3d280-3daa-11ef-9649-0242ac110005/roslaunch-57b29b7ed033-119.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://57b29b7ed033:34499/[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 [156][0m
[0m[ INFO] [1720498814.642446366]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720498814.643348360]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720498814.648774527]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720498814.648967705]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720498814.648998462]: 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] [1720498814.649234071]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720498814.649429107]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720498814.649592445]: 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://57b29b7ed033:11311/[0m
]2;roscore http://57b29b7ed033:11311/
[1msetting /run_id to 89b3d280-3daa-11ef-9649-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720498823.698070788]: 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: 316861967.06 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720498830.088892017]: Initialization finish![0m
time: 1403636862.851666, t: 0.000835 -0.031024 0.061863 q: 0.997343 -0.008121 0.072046 0.007068 
time: 1403636863.251667, t: 0.109399 -0.010773 -0.168390 q: 0.995539 -0.018908 0.091241 -0.014816 
time: 1403636863.651666, t: -0.216158 -0.297891 -0.290462 q: 0.990857 -0.092778 0.049039 -0.084789 
time: 1403636864.051666, t: -0.077118 0.132668 0.301975 q: 0.993316 -0.100367 -0.001126 -0.057002 
feature tracking not enough, please slowly move you device! 
time: 1403636864.451667, t: 0.254024 0.006430 -0.028588 q: 0.987726 -0.093439 0.034199 -0.120403 
time: 1403636864.851666, t: 0.156904 -0.019859 0.171699 q: 0.983822 -0.089940 0.037486 -0.150330 
time: 1403636865.251667, t: -0.016088 -0.004172 0.172741 q: 0.990720 -0.087372 -0.023201 -0.101493 
time: 1403636865.651666, t: -0.024194 0.042082 0.219867 q: 0.988802 -0.086726 -0.037446 -0.115526 
time: 1403636866.051666, t: 0.209120 -0.015033 0.135873 q: 0.992930 -0.059327 0.038689 -0.095258 
unstable tracking...
time: 1403636866.451667, t: 0.256878 -0.037283 0.117380 q: 0.989585 -0.080056 0.049298 -0.109003 
unstable tracking...
time: 1403636866.851666, t: 0.088690 0.034653 0.189891 q: 0.991065 -0.080866 0.005721 -0.105917 
unstable tracking...
time: 1403636867.251667, t: 0.014631 0.043031 0.180046 q: 0.993100 -0.059264 -0.038750 -0.093480 
unstable tracking...
time: 1403636867.651666, t: 0.019440 0.055113 0.158394 q: 0.986424 -0.064217 -0.118375 -0.093974 
unstable tracking...
time: 1403636868.451667, t: -0.013558 0.031991 0.120706 q: 0.970827 -0.088859 -0.209492 -0.075583 
time: 1403636868.851666, t: -0.007022 0.012786 0.095063 q: 0.971388 -0.091374 -0.207534 -0.070615 
time: 1403636869.251667, t: -0.015388 -0.003989 0.096287 q: 0.974068 -0.082871 -0.195900 -0.077121 
time: 1403636869.651666, t: -0.015903 0.016505 0.104264 q: 0.973640 -0.082371 -0.196850 -0.080558 
time: 1403636870.051666, t: 0.033820 0.158829 0.120888 q: 0.973950 -0.100920 -0.191576 -0.067339 
time: 1403636870.851666, t: 0.019252 0.340023 0.176317 q: 0.964667 -0.233866 -0.115474 -0.037289 
time: 1403636871.251667, t: 0.015050 0.295151 0.285887 q: 0.934913 -0.305019 -0.137682 -0.118085 
time: 1403636871.651666, t: 0.086014 0.335876 0.161266 q: 0.968641 -0.146092 -0.191977 -0.059471 
feature tracking not enough, please slowly move you device! 
time: 1403636872.051666, t: 0.086014 0.335876 0.161266 q: 0.968641 -0.146092 -0.191977 -0.059471 
time: 1403636872.451667, t: 0.118478 0.172368 0.234461 q: 0.944159 -0.113439 -0.307859 -0.030293 
time: 1403636872.851666, t: 0.148374 0.158790 0.230085 q: 0.939648 -0.130460 -0.314718 -0.031542 
time: 1403636873.251667, t: 0.060436 0.353659 0.177051 q: 0.967219 -0.148941 -0.185733 -0.088361 
feature tracking not enough, please slowly move you device! 
time: 1403636873.651666, t: 0.060436 0.353659 0.177051 q: 0.967219 -0.148941 -0.185733 -0.088361 
feature tracking not enough, please slowly move you device! 
time: 1403636874.051666, t: 0.060436 0.353659 0.177051 q: 0.967219 -0.148941 -0.185733 -0.088361 
time: 1403636874.451667, t: 0.065160 0.281099 0.249390 q: 0.963976 -0.103795 -0.189576 -0.155044 
feature tracking not enough, please slowly move you device! 
time: 1403636874.851666, t: 0.066805 0.282662 0.251314 q: 0.973016 -0.113166 -0.119011 -0.162080 
time: 1403636875.251667, t: -0.071810 0.008589 0.194175 q: 0.972502 -0.161432 -0.071564 -0.151849 
time: 1403636875.651666, t: -0.092530 0.132683 0.150709 q: 0.985475 -0.115856 -0.072338 -0.100918 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.051666, t: -0.100401 0.109878 0.174918 q: 0.986422 -0.098116 -0.079594 -0.104926 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.451667, t: -0.100401 0.109878 0.174918 q: 0.986422 -0.098116 -0.079594 -0.104926 
unstable tracking...
time: 1403636876.851666, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
feature tracking not enough, please slowly move you device! 
time: 1403636877.251667, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
feature tracking not enough, please slowly move you device! 
time: 1403636877.651666, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
feature tracking not enough, please slowly move you device! 
time: 1403636878.051666, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636878.851666, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
feature tracking not enough, please slowly move you device! 
time: 1403636879.251667, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
feature tracking not enough, please slowly move you device! 
time: 1403636879.651666, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
feature tracking not enough, please slowly move you device! 
time: 1403636880.051666, t: 0.057063 0.122476 0.340248 q: 0.982682 -0.074673 -0.055952 -0.160093 
unstable tracking...
time: 1403636880.451667, t: 0.016505 0.195032 0.421930 q: 0.992888 -0.074791 -0.047155 -0.079729 
unstable tracking...
unstable tracking...
time: 1403636881.251667, t: -0.602013 -1.095098 -0.360845 q: 0.974259 -0.210365 -0.031246 -0.074765 
unstable tracking...
time: 1403636881.651666, t: -0.556398 -1.044172 -0.205687 q: 0.977433 -0.166496 -0.021959 -0.128149 
unstable tracking...
time: 1403636882.051666, t: -0.451051 -0.792780 -0.130101 q: 0.987946 -0.136108 0.001576 -0.073719 
unstable tracking...
time: 1403636882.451667, t: -0.483211 -0.741947 -0.199084 q: 0.983743 -0.161147 0.038830 -0.069087 
unstable tracking...
time: 1403636882.851666, t: -0.493919 -0.739527 -0.136173 q: 0.981500 -0.117635 0.071715 -0.132957 
unstable tracking...
time: 1403636883.251667, t: -0.536217 -0.711261 -0.096396 q: 0.978681 -0.041435 0.081310 -0.183998 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636884.451667, t: -0.543409 -0.740934 -0.128708 q: 0.949771 -0.108507 0.130213 -0.263071 
unstable tracking...
time: 1403636885.651666, t: -0.543873 -0.739909 -0.128220 q: 0.950392 -0.107196 0.130556 -0.261186 
time: 1403636886.051666, t: -0.543897 -0.739956 -0.128216 q: 0.950362 -0.107254 0.130586 -0.261259 
time: 1403636886.451667, t: -0.543912 -0.739955 -0.128206 q: 0.950376 -0.107264 0.130558 -0.261215 
time: 1403636886.851666, t: -0.543931 -0.739953 -0.128212 q: 0.950386 -0.107235 0.130592 -0.261175 
time: 1403636887.251667, t: -0.543950 -0.739959 -0.128229 q: 0.950388 -0.107192 0.130645 -0.261159 
time: 1403636887.651666, t: -0.543942 -0.739961 -0.128230 q: 0.950381 -0.107260 0.130587 -0.261186 
time: 1403636888.051666, t: -0.543928 -0.739967 -0.128220 q: 0.950376 -0.107296 0.130504 -0.261233 
time: 1403636888.451667, t: -0.543951 -0.739931 -0.128213 q: 0.950429 -0.107130 0.130593 -0.261061 
time: 1403636888.851666, t: -0.543071 -0.739072 -0.128954 q: 0.950438 -0.106675 0.130579 -0.261224 
time: 1403636889.251667, t: -0.543387 -0.739039 -0.130551 q: 0.950468 -0.106844 0.130707 -0.260982 
time: 1403636889.651666, t: -0.543624 -0.738850 -0.131780 q: 0.950452 -0.106749 0.130928 -0.260968 
time: 1403636890.051666, t: -0.544122 -0.738526 -0.130605 q: 0.950308 -0.107531 0.130990 -0.261140 
time: 1403636890.451667, t: -0.543775 -0.739165 -0.131082 q: 0.950134 -0.108064 0.131196 -0.261449 
time: 1403636890.851666, t: -0.543770 -0.739165 -0.131064 q: 0.950092 -0.107959 0.131434 -0.261526 
time: 1403636891.251667, t: -0.543853 -0.739198 -0.131048 q: 0.950158 -0.107455 0.131267 -0.261575 
time: 1403636892.051666, t: -0.543828 -0.739049 -0.130984 q: 0.950143 -0.107327 0.131277 -0.261679 
time: 1403636892.451667, t: -0.543771 -0.739135 -0.131034 q: 0.950032 -0.107625 0.131368 -0.261913 
time: 1403636892.851666, t: -0.543776 -0.739157 -0.130970 q: 0.950087 -0.107568 0.131079 -0.261882 
time: 1403636893.251667, t: -0.543784 -0.739204 -0.130989 q: 0.950084 -0.107586 0.131030 -0.261909 
time: 1403636893.651666, t: -0.543781 -0.739241 -0.131001 q: 0.950055 -0.107658 0.130968 -0.262016 
time: 1403636894.051666, t: -0.543791 -0.739206 -0.130979 q: 0.950116 -0.107545 0.130966 -0.261841 
time: 1403636894.451667, t: -0.543775 -0.739209 -0.130961 q: 0.950137 -0.107604 0.130878 -0.261786 
time: 1403636894.851666, t: -0.543757 -0.739224 -0.130965 q: 0.950111 -0.107741 0.130820 -0.261854 
time: 1403636895.251667, t: -0.543723 -0.739196 -0.130971 q: 0.950042 -0.107885 0.130945 -0.261983 
time: 1403636895.651666, t: -0.543725 -0.739204 -0.130972 q: 0.950030 -0.107804 0.130950 -0.262058 
time: 1403636896.051666, t: -0.543690 -0.739189 -0.130935 q: 0.950034 -0.107872 0.130653 -0.262162 
time: 1403636896.451667, t: -0.543609 -0.739158 -0.130835 q: 0.950082 -0.108045 0.129855 -0.262315 
time: 1403636896.851666, t: -0.543586 -0.739115 -0.130779 q: 0.950232 -0.107796 0.129486 -0.262054 
time: 1403636897.251667, t: -0.544566 -0.738773 -0.133679 q: 0.950348 -0.102917 0.126660 -0.264961 
time: 1403636897.651666, t: -0.556360 -0.716952 -0.180091 q: 0.949462 -0.137438 0.099835 -0.263942 
time: 1403636898.051666, t: -0.524446 -0.724579 -0.239335 q: 0.948739 -0.144895 0.083127 -0.268308 
time: 1403636898.451667, t: -0.468298 -0.742094 -0.268669 q: 0.948325 -0.129726 0.087734 -0.275959 
time: 1403636898.851666, t: -0.392334 -0.780568 -0.277343 q: 0.948521 -0.121719 0.081332 -0.280851 
time: 1403636899.251667, t: -0.321341 -0.808778 -0.200142 q: 0.950321 -0.138213 0.104368 -0.258641 
time: 1403636899.651666, t: -0.241502 -0.767938 -0.211337 q: 0.946726 -0.202335 0.130485 -0.213878 
time: 1403636900.051666, t: -0.155143 -0.682885 -0.169851 q: 0.938604 -0.227509 0.140542 -0.217967 
time: 1403636900.451667, t: -0.054085 -0.663400 -0.191076 q: 0.938109 -0.227015 0.135026 -0.224017 
time: 1403636900.851666, t: 0.041544 -0.618713 -0.215237 q: 0.943904 -0.219512 0.115151 -0.218173 
time: 1403636901.251667, t: 0.128110 -0.500118 -0.219533 q: 0.947024 -0.207632 0.128040 -0.208905 
time: 1403636901.651666, t: 0.293421 -0.377259 -0.215193 q: 0.940735 -0.217194 0.129567 -0.225957 
time: 1403636902.051666, t: 0.414175 -0.181720 -0.222784 q: 0.940453 -0.215473 0.131535 -0.227634 
time: 1403636902.451667, t: 0.545141 -0.004580 -0.237061 q: 0.941459 -0.216448 0.128500 -0.224262 
time: 1403636902.851666, t: 0.634882 0.213404 -0.211224 q: 0.937059 -0.225999 0.131318 -0.231517 
time: 1403636903.251667, t: 0.777519 0.341960 -0.198428 q: 0.939568 -0.217620 0.128743 -0.230821 
time: 1403636903.651666, t: 0.917771 0.433900 -0.212819 q: 0.939807 -0.216967 0.121576 -0.234322 
time: 1403636904.051666, t: 1.039924 0.546626 -0.191989 q: 0.945327 -0.208295 0.123404 -0.218498 
time: 1403636904.451667, t: 1.233306 0.640372 -0.225948 q: 0.944251 -0.208881 0.130346 -0.218562 
time: 1403636904.851666, t: 1.419431 0.799409 -0.239539 q: 0.939679 -0.219616 0.130581 -0.227424 
time: 1403636905.251667, t: 1.550121 0.950960 -0.201595 q: 0.935028 -0.232254 0.134322 -0.231815 
time: 1403636905.651666, t: 1.704597 1.048084 -0.210161 q: 0.934905 -0.229004 0.124576 -0.240812 
time: 1403636906.051666, t: 1.821523 1.149103 -0.144521 q: 0.939482 -0.218348 0.112930 -0.238630 
time: 1403636906.451667, t: 1.944297 1.224197 -0.047507 q: 0.941991 -0.204251 0.130364 -0.232248 
time: 1403636906.851666, t: 2.090383 1.310647 0.056844 q: 0.941178 -0.207551 0.125381 -0.235343 
time: 1403636907.251667, t: 2.233098 1.401317 0.141673 q: 0.941132 -0.207608 0.112312 -0.241981 
time: 1403636907.651666, t: 2.404720 1.480179 0.255635 q: 0.948361 -0.195909 0.107821 -0.224959 
time: 1403636908.051666, t: 2.643869 1.576947 0.384247 q: 0.944271 -0.196018 0.116557 -0.237366 
time: 1403636908.451667, t: 2.859745 1.715159 0.517341 q: 0.942774 -0.189365 0.117634 -0.247954 
time: 1403636908.851666, t: 3.065738 1.851514 0.678051 q: 0.946329 -0.184417 0.104487 -0.243995 
time: 1403636909.251667, t: 3.337289 1.941395 0.811617 q: 0.948688 -0.182896 0.099611 -0.237943 
time: 1403636909.651666, t: 3.581137 2.097554 1.012034 q: 0.946880 -0.184363 0.111409 -0.238780 
time: 1403636910.051666, t: 3.799378 2.282228 1.252696 q: 0.931991 -0.198361 0.131476 -0.273422 
time: 1403636910.451667, t: 3.951690 2.423704 1.458648 q: 0.942103 -0.190650 0.113692 -0.251333 
time: 1403636911.251667, t: 4.251774 2.644384 1.836470 q: 0.943320 -0.182127 0.123011 -0.248687 
time: 1403636911.651666, t: 4.434316 2.698937 1.970831 q: 0.941734 -0.189077 0.116310 -0.252702 
time: 1403636912.451667, t: 4.717334 2.918407 2.262046 q: 0.944688 -0.186638 0.120771 -0.241135 
time: 1403636912.851666, t: 4.855508 3.076275 2.410451 q: 0.948948 -0.180769 0.126576 -0.225384 
time: 1403636913.251667, t: 5.009113 3.270261 2.546281 q: 0.941566 -0.186815 0.139402 -0.243146 
time: 1403636913.651666, t: 5.171233 3.448733 2.626400 q: 0.944391 -0.188256 0.128105 -0.237223 
time: 1403636914.051666, t: 5.335003 3.620112 2.687843 q: 0.942687 -0.190625 0.128438 -0.241883 
time: 1403636914.451667, t: 5.516450 3.787409 2.729393 q: 0.941823 -0.192457 0.128047 -0.243996 
time: 1403636914.851666, t: 5.718285 3.921583 2.742988 q: 0.940045 -0.194935 0.129484 -0.248093 
time: 1403636915.251667, t: 5.854672 4.043606 2.801007 q: 0.940909 -0.204380 0.115166 -0.244244 
time: 1403636915.651666, t: 5.970840 4.161812 2.882042 q: 0.945196 -0.195784 0.123081 -0.230487 
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time: 1403637010.451667, t: -1.098372 -0.187303 -0.592097 q: 0.935819 -0.206056 0.192958 -0.211070 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720498978.427322093]: Shutdown request received.[0m
[33m[ WARN] [1720498978.427367623]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720498978.428259843]: Shutdown request received.[0m
[33m[ WARN] [1720498978.428287483]: Reason given for shutdown: [user request][0m
killed
