/SLAM-Hive/slam_hive_results/mapping_results/3001/2209_vins-fusion-stereo+MH_02_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720499382.423562624]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720499382.425670668]: init begins[0m
[31m[ERROR] [1720499382.426714691]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/dcca2964-3dab-11ef-a9c9-0242ac110005/roslaunch-268d80d656c3-118.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://268d80d656c3:44939/[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] [1720499383.530038440]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720499383.531700157]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720499383.537893897]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720499383.538107321]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720499383.538136582]: ROW: 384 COL: 601 [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] [1720499383.538355896]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720499383.538548071]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720499383.538740233]: 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://268d80d656c3:11311/[0m
]2;roscore http://268d80d656c3:11311/
[1msetting /run_id to dcca2964-3dab-11ef-a9c9-0242ac110005[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] [1720499392.581302762]: 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: 316862535.94 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720499405.277459409]: Initialization finish![0m
time: 1403636869.151666, t: 0.853684 1.361666 -0.922686 q: 0.956253 0.008373 -0.259693 -0.134419 
time: 1403636870.151666, t: 0.866472 1.497280 -0.796979 q: 0.966063 0.007790 -0.213718 -0.144869 
time: 1403636871.151666, t: 0.677856 1.320657 -0.912080 q: 0.971750 -0.126429 -0.109537 0.166491 
feature tracking not enough, please slowly move you device! 
time: 1403636872.151666, t: 0.677856 1.320657 -0.912080 q: 0.971750 -0.126429 -0.109537 0.166491 
time: 1403636873.151666, t: 0.663946 1.334937 -0.900209 q: 0.972119 -0.124717 -0.121065 0.157399 
feature tracking not enough, please slowly move you device! 
time: 1403636874.151666, t: 0.663946 1.334937 -0.900209 q: 0.972119 -0.124717 -0.121065 0.157399 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636877.151666, t: 0.663946 1.334937 -0.900209 q: 0.972119 -0.124717 -0.121065 0.157399 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636879.151666, t: 0.663946 1.334937 -0.900209 q: 0.972119 -0.124717 -0.121065 0.157399 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636880.151666, t: 0.663946 1.334937 -0.900209 q: 0.972119 -0.124717 -0.121065 0.157399 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.151666, t: -0.334392 4.909231 4.394326 q: 0.947029 -0.175799 -0.131017 0.234662 
feature tracking not enough, please slowly move you device! 
time: 1403636883.151666, t: -0.334392 4.909231 4.394326 q: 0.947029 -0.175799 -0.131017 0.234662 
unstable tracking...
time: 1403636884.151666, t: -0.334392 4.909230 4.394326 q: 0.947029 -0.175799 -0.131017 0.234662 
unstable tracking...
time: 1403636885.151666, t: -0.334392 4.909230 4.394326 q: 0.947029 -0.175799 -0.131017 0.234662 
unstable tracking...
time: 1403636887.151666, t: -0.334405 4.909217 4.394301 q: 0.947496 -0.175730 -0.128629 0.234146 
time: 1403636888.151666, t: -0.334405 4.909217 4.394301 q: 0.947496 -0.175730 -0.128629 0.234146 
time: 1403636889.151666, t: -0.334405 4.909217 4.394301 q: 0.947496 -0.175730 -0.128630 0.234146 
time: 1403636890.151666, t: -0.334405 4.909217 4.394301 q: 0.947496 -0.175729 -0.128630 0.234146 
time: 1403636891.151666, t: -0.334405 4.909218 4.394301 q: 0.947496 -0.175729 -0.128631 0.234146 
time: 1403636892.151666, t: -0.334405 4.909218 4.394301 q: 0.947496 -0.175729 -0.128631 0.234146 
time: 1403636893.151666, t: -0.334405 4.909218 4.394301 q: 0.947496 -0.175729 -0.128632 0.234146 
time: 1403636894.151666, t: -0.334405 4.909218 4.394301 q: 0.947496 -0.175729 -0.128632 0.234146 
time: 1403636895.151666, t: -0.334405 4.909218 4.394301 q: 0.947496 -0.175729 -0.128633 0.234146 
time: 1403636896.151666, t: -0.334405 4.909218 4.394301 q: 0.947496 -0.175729 -0.128633 0.234146 
time: 1403636897.151666, t: -0.334405 4.909218 4.394301 q: 0.947496 -0.175728 -0.128635 0.234146 
unstable tracking...
time: 1403636898.151666, t: -0.338030 4.908203 4.410060 q: 0.936469 -0.185990 -0.148475 0.257662 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636901.151666, t: -0.318203 5.605759 4.507362 q: 0.905355 -0.267802 -0.147643 0.294646 
unstable tracking...
time: 1403636902.151666, t: -0.548769 6.087187 4.470522 q: 0.910867 -0.274843 -0.146640 0.270701 
unstable tracking...
time: 1403636903.151666, t: -0.853445 6.489917 4.378938 q: 0.910214 -0.279745 -0.146528 0.267922 
unstable tracking...
time: 1403636904.151666, t: -0.919993 6.907637 4.380423 q: 0.907900 -0.268134 -0.145560 0.287462 
unstable tracking...
unstable tracking...
time: 1403636906.151666, t: -1.147225 7.889006 4.374805 q: 0.912983 -0.262166 -0.166683 0.264476 
time: 1403636907.151666, t: -1.260836 8.290706 4.626823 q: 0.916594 -0.258504 -0.154719 0.262856 
time: 1403636908.151666, t: -1.406347 8.835926 4.982637 q: 0.919053 -0.250425 -0.142599 0.268877 
time: 1403636909.151666, t: -1.549011 9.475886 5.385290 q: 0.920103 -0.232147 -0.152605 0.276097 
time: 1403636910.151666, t: -1.857086 10.063710 5.744259 q: 0.929040 -0.248400 -0.130588 0.241099 
time: 1403636911.151666, t: -2.096561 10.584240 6.286326 q: 0.926176 -0.241390 -0.118914 0.264174 
time: 1403636912.151666, t: -2.197366 11.019722 6.643851 q: 0.920756 -0.239067 -0.139267 0.275063 
time: 1403636913.151666, t: -2.461715 11.530896 6.922757 q: 0.923232 -0.245667 -0.128736 0.265926 
time: 1403636914.151666, t: -2.731324 12.081674 7.010749 q: 0.922822 -0.240209 -0.136276 0.268566 
time: 1403636915.151666, t: -2.885792 12.603925 7.064301 q: 0.921675 -0.247456 -0.146616 0.260355 
time: 1403636916.151666, t: -3.043369 13.073931 7.180623 q: 0.922931 -0.248443 -0.137948 0.259700 
time: 1403636917.151666, t: -3.203876 13.494191 7.226932 q: 0.902665 -0.303686 -0.147910 0.266635 
time: 1403636918.151666, t: -3.467795 13.642622 7.310715 q: 0.858564 -0.397353 -0.162402 0.280366 
time: 1403636919.151666, t: -3.283890 13.771484 7.453719 q: 0.849638 -0.399931 -0.139449 0.314204 
time: 1403636920.151666, t: -3.178708 14.008928 7.331424 q: 0.842777 -0.424656 -0.141188 0.299100 
time: 1403636921.151666, t: -3.205583 13.964346 7.055978 q: 0.840404 -0.421268 -0.176816 0.291532 
time: 1403636922.151666, t: -3.319856 13.830913 6.846815 q: 0.833853 -0.436088 -0.170583 0.292263 
time: 1403636923.151666, t: -3.410380 13.790108 6.736999 q: 0.795803 -0.495803 -0.157882 0.309759 
time: 1403636924.151666, t: -3.522874 13.800622 6.625485 q: 0.764831 -0.517183 -0.218411 0.315994 
time: 1403636925.151666, t: -3.728389 14.205647 6.673046 q: 0.764194 -0.534105 -0.172760 0.317637 
time: 1403636926.151666, t: -4.123204 14.704541 6.719488 q: 0.754515 -0.553427 -0.185689 0.299907 
time: 1403636927.151666, t: -4.451313 15.176705 6.727404 q: 0.718631 -0.585594 -0.179855 0.329093 
time: 1403636928.151666, t: -4.863393 15.674732 6.527193 q: 0.654916 -0.643003 -0.219543 0.330807 
time: 1403636929.151666, t: -5.217848 16.418750 6.462652 q: 0.664893 -0.652174 -0.181091 0.315900 
time: 1403636930.151666, t: -5.367193 16.984780 6.257416 q: 0.668904 -0.645493 -0.187426 0.317455 
time: 1403636931.151666, t: -5.450789 17.280675 6.009745 q: 0.648513 -0.666116 -0.172934 0.325291 
time: 1403636932.151666, t: -5.443211 17.202125 5.638791 q: 0.631069 -0.685488 -0.192602 0.307835 
time: 1403636933.151666, t: -5.157487 16.816085 5.558153 q: 0.561712 -0.740751 -0.204682 0.306386 
time: 1403636934.151666, t: -4.997740 16.344820 5.648426 q: 0.527666 -0.763713 -0.200027 0.313528 
time: 1403636935.151666, t: -4.810454 15.648516 5.535975 q: -0.380549 0.847782 0.202349 -0.309034 
time: 1403636936.151666, t: -4.453946 15.372338 5.650626 q: -0.370697 0.832578 0.222242 -0.346420 
time: 1403636937.151666, t: -4.370860 15.171303 5.402240 q: -0.359788 0.848244 0.221802 -0.319122 
time: 1403636938.151666, t: -4.484804 14.792003 5.120380 q: -0.363166 0.862291 0.219132 -0.276670 
time: 1403636939.151666, t: -4.430687 14.304684 5.058405 q: -0.340783 0.862495 0.203521 -0.313924 
time: 1403636940.151666, t: -4.209104 13.648447 4.932508 q: -0.339834 0.869855 0.191580 -0.301931 
time: 1403636941.151666, t: -3.980509 12.751131 4.806726 q: -0.315040 0.872073 0.208413 -0.311131 
time: 1403636942.151666, t: -3.682624 12.051046 4.665563 q: -0.333548 0.869388 0.198771 -0.305615 
time: 1403636943.151666, t: -3.440800 11.223760 4.477674 q: -0.320355 0.877270 0.195801 -0.299053 
time: 1403636944.151666, t: -3.330282 10.604839 4.508606 q: -0.316049 0.860987 0.214693 -0.335738 
time: 1403636945.151666, t: -3.188395 10.315872 4.339246 q: -0.361792 0.858380 0.208873 -0.297762 
time: 1403636946.151666, t: -3.065641 9.898071 4.596257 q: -0.345289 0.860732 0.211679 -0.308395 
time: 1403636947.151666, t: -3.336666 9.685356 4.802950 q: -0.333436 0.867401 0.162731 -0.331595 
time: 1403636948.151666, t: -3.485023 9.593449 4.599564 q: -0.335002 0.857114 0.228920 -0.317373 
time: 1403636949.151666, t: -3.841793 10.002262 4.512237 q: -0.363732 0.862100 0.195984 -0.293383 
time: 1403636950.151666, t: -4.109238 10.414219 4.613668 q: -0.359197 0.848693 0.202650 -0.331105 
time: 1403636951.151666, t: -4.299574 10.861567 4.577004 q: -0.367553 0.855990 0.193782 -0.307628 
time: 1403636952.151666, t: -4.498704 11.350759 4.535586 q: -0.365039 0.853756 0.221230 -0.298168 
time: 1403636953.151666, t: -4.885026 11.864330 4.564783 q: -0.363484 0.850749 0.196198 -0.324980 
time: 1403636954.151666, t: -5.150352 12.397618 4.529716 q: -0.370670 0.846824 0.220512 -0.311236 
time: 1403636955.151666, t: -5.487015 13.113244 4.538487 q: -0.349932 0.862689 0.214625 -0.295385 
time: 1403636956.151666, t: -5.808212 13.849340 4.653531 q: -0.330830 0.874245 0.182904 -0.304619 
time: 1403636957.151666, t: -5.619019 12.419142 1.478674 q: 0.593141 -0.735600 -0.301617 0.126900 
time: 1403636958.151666, t: -7.503294 15.042966 3.766707 q: 0.656013 -0.543244 -0.519756 -0.066238 
time: 1403636959.151666, t: -6.321781 10.880364 5.750022 q: 0.712632 -0.608251 -0.275020 0.215755 
time: 1403636960.151666, t: -7.174176 12.959313 3.474854 q: 0.715791 -0.592070 -0.360990 0.082358 
time: 1403636961.151666, t: -8.184303 15.410231 3.562578 q: 0.791384 -0.456084 -0.396989 0.089993 
time: 1403636962.151666, t: -8.202908 15.366030 4.007077 q: 0.870428 -0.262961 -0.401432 0.109816 
time: 1403636963.151666, t: -8.015430 15.181325 4.346153 q: 0.918038 -0.100501 -0.364661 0.118864 
time: 1403636964.151666, t: -7.866278 14.788502 4.530179 q: 0.908220 -0.117513 -0.383756 0.118568 
time: 1403636965.151666, t: -7.471842 14.242762 4.616274 q: 0.920246 0.006008 -0.374236 0.114279 
time: 1403636966.151666, t: -6.838060 13.446250 4.685606 q: 0.920740 0.031921 -0.367707 0.126532 
time: 1403636967.151666, t: -6.311863 12.600402 4.564142 q: 0.941346 -0.013014 -0.303452 0.147023 
time: 1403636968.151666, t: -6.100731 12.020398 4.131565 q: 0.943120 -0.010722 -0.299634 0.143631 
time: 1403636969.151666, t: -5.773481 11.217535 3.430322 q: 0.940938 -0.017470 -0.305848 0.144181 
time: 1403636970.151666, t: -5.216304 10.660024 2.766383 q: 0.937448 -0.015317 -0.316066 0.145114 
time: 1403636971.151666, t: -4.919206 9.864421 2.481215 q: 0.923288 -0.013904 -0.344076 0.170167 
time: 1403636972.151666, t: -4.956626 9.505940 2.280397 q: 0.939460 -0.013569 -0.300278 0.164509 
time: 1403636973.151666, t: -4.858380 9.506503 2.186181 q: 0.932134 -0.038985 -0.324301 0.156320 
time: 1403636974.151666, t: -4.985405 9.395217 2.077108 q: 0.928380 -0.083801 -0.326123 0.157264 
time: 1403636975.151666, t: -5.033023 9.402500 1.926035 q: 0.857506 -0.335644 -0.350609 0.170585 
time: 1403636976.151666, t: -5.113551 9.451459 1.947244 q: 0.836054 -0.401517 -0.335759 0.164513 
time: 1403636977.151666, t: -5.273226 9.515009 1.671186 q: 0.761987 -0.527261 -0.342298 0.155577 
time: 1403636978.151666, t: -5.586097 9.942769 1.298318 q: 0.775439 -0.521368 -0.323808 0.148383 
time: 1403636979.151666, t: -5.598283 10.252699 1.437443 q: 0.749583 -0.548304 -0.346942 0.130842 
time: 1403636980.151666, t: -5.853488 10.873878 1.271364 q: 0.748884 -0.547153 -0.347574 0.137801 
time: 1403636981.151666, t: -6.381958 11.529762 1.512701 q: 0.751152 -0.550129 -0.339881 0.132699 
time: 1403636982.151666, t: -6.545382 11.872507 1.617833 q: 0.728375 -0.554744 -0.371853 0.153147 
time: 1403636983.151666, t: -6.972826 12.750824 1.772424 q: 0.754166 -0.548072 -0.335828 0.134425 
time: 1403636985.151666, t: -7.585685 14.246339 2.651140 q: 0.739060 -0.566123 -0.341315 0.129609 
time: 1403636986.151666, t: -8.005058 14.772711 3.243715 q: 0.776586 -0.535192 -0.319487 0.091721 
time: 1403636987.151666, t: -8.255712 14.915921 3.936250 q: 0.768306 -0.533394 -0.328502 0.131465 
time: 1403636988.151666, t: -8.283824 14.895121 4.482748 q: 0.780205 -0.519701 -0.316064 0.145926 
time: 1403636989.151666, t: -8.056541 14.575097 4.554372 q: 0.791275 -0.527053 -0.277481 0.138212 
time: 1403636990.151666, t: -7.558581 13.916186 4.007322 q: 0.778405 -0.527052 -0.317931 0.123379 
time: 1403636991.151666, t: -7.095344 13.165595 3.470699 q: 0.776233 -0.516025 -0.338622 0.128517 
time: 1403636992.151666, t: -6.695077 12.510593 3.095663 q: 0.768016 -0.532968 -0.328201 0.135577 
time: 1403636993.151666, t: -6.397072 11.968833 2.774695 q: 0.761149 -0.543827 -0.330058 0.126354 
time: 1403636994.151666, t: -6.020241 11.485680 2.652564 q: 0.828444 -0.442043 -0.321094 0.123194 
time: 1403636995.151666, t: -5.681776 10.725339 2.367151 q: 0.825750 -0.444543 -0.317500 0.140403 
time: 1403636996.151666, t: -5.188983 9.965509 1.960187 q: 0.820879 -0.440686 -0.332448 0.146398 
time: 1403636997.151666, t: -4.803489 9.369810 1.537567 q: 0.878575 -0.300156 -0.341259 0.146816 
time: 1403636998.151666, t: -4.488835 8.962273 1.317748 q: 0.882614 -0.283575 -0.346025 0.144373 
time: 1403636999.151666, t: -4.095830 8.838339 1.340592 q: 0.890874 -0.295031 -0.323745 0.120369 
time: 1403637000.151666, t: -3.905700 8.467094 1.332509 q: 0.888433 -0.298099 -0.325581 0.125776 
time: 1403637001.151666, t: -3.623818 7.904130 1.281968 q: 0.886601 -0.301428 -0.325262 0.131468 
time: 1403637002.151666, t: -3.305103 7.254295 1.082629 q: 0.880314 -0.305599 -0.333949 0.141897 
time: 1403637003.151666, t: -3.048914 6.621761 0.882064 q: 0.878631 -0.310982 -0.335083 0.137904 
time: 1403637004.151666, t: -2.829029 6.030304 0.732270 q: 0.876274 -0.309700 -0.342037 0.138711 
time: 1403637005.151666, t: -2.563413 5.568593 0.595864 q: 0.871332 -0.321233 -0.338311 0.152102 
time: 1403637006.151666, t: -2.467411 5.293874 0.403952 q: 0.875763 -0.312727 -0.338374 0.144029 
time: 1403637007.151666, t: -2.276603 5.023798 -0.128549 q: 0.909404 -0.207367 -0.332333 0.139781 
time: 1403637008.151666, t: -2.316650 4.900676 -0.258762 q: 0.911043 -0.189219 -0.339075 0.138651 
time: 1403637009.151666, t: -2.421481 4.912290 0.048209 q: 0.903134 -0.210366 -0.340360 0.155727 
time: 1403637010.151666, t: -2.616118 5.063543 0.242700 q: 0.922795 -0.196925 -0.282797 0.172327 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720499547.320962168]: Shutdown request received.[0m
[33m[ WARN] [1720499547.321009179]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720499547.321891145]: Shutdown request received.[0m
[33m[ WARN] [1720499547.321921828]: Reason given for shutdown: [user request][0m
killed
