/SLAM-Hive/slam_hive_results/mapping_results/3003/2211_vins-fusion-stereo+MH_02_easy+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720499762.591590413]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720499762.596321696]: init begins[0m
[31m[ERROR] [1720499762.597457211]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/bf61cc96-3dac-11ef-8bf3-0242ac110005/roslaunch-3b64731ccb7b-117.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://3b64731ccb7b:45571/[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 [154][0m
[0m[ INFO] [1720499763.698096652]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720499763.703313517]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720499763.709197395]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720499763.709385544]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720499763.709410524]: 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] [1720499763.709646848]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1720499763.709834591]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720499763.709997202]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://3b64731ccb7b:11311/[0m
]2;roscore http://3b64731ccb7b:11311/
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1msetting /run_id to bf61cc96-3dac-11ef-8bf3-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720499772.733185196]: 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: 316862916.09 
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! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
time: 1403636870.151666, t: -0.924588 -0.825714 0.521574 q: 0.951821 -0.072144 -0.294936 0.042949 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636871.151666, t: -0.665041 -0.893306 0.971762 q: -0.494920 0.467125 0.523072 -0.513073 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636873.151666, t: -0.665041 -0.893306 0.971762 q: -0.494920 0.467125 0.523072 -0.513073 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636874.151666, t: -0.665041 -0.893306 0.971762 q: -0.494920 0.467125 0.523072 -0.513073 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636875.151666, t: -0.661582 -0.916269 0.950365 q: 0.463072 -0.483040 -0.517129 0.533679 
feature tracking not enough, please slowly move you device! 
time: 1403636876.151666, t: -0.661582 -0.916269 0.950365 q: 0.463072 -0.483040 -0.517129 0.533679 
feature tracking not enough, please slowly move you device! 
time: 1403636877.151666, t: -0.661582 -0.916269 0.950365 q: 0.463072 -0.483040 -0.517129 0.533679 
feature tracking not enough, please slowly move you device! 
time: 1403636878.151666, t: -0.661582 -0.916269 0.950365 q: 0.463072 -0.483040 -0.517129 0.533679 
feature tracking not enough, please slowly move you device! 
time: 1403636879.151666, t: -0.661582 -0.916269 0.950365 q: 0.463072 -0.483040 -0.517129 0.533679 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.151666, t: -0.661582 -0.916269 0.950365 q: 0.463072 -0.483040 -0.517129 0.533679 
feature tracking not enough, please slowly move you device! 
time: 1403636882.151666, t: -0.661582 -0.916269 0.950365 q: 0.463072 -0.483040 -0.517129 0.533679 
time: 1403636883.151666, t: -0.205223 -0.165666 0.624468 q: 0.364216 -0.221212 -0.534888 0.729593 
time: 1403636884.151666, t: -0.270987 -0.419857 0.795751 q: 0.323163 -0.327961 -0.346875 0.817120 
time: 1403636885.151666, t: -0.247446 -0.302732 0.749136 q: 0.333344 -0.270736 -0.365501 0.825829 
unstable tracking...
unstable tracking...
time: 1403636888.151666, t: -0.265839 -0.223798 0.738387 q: 0.376681 -0.278120 -0.409592 0.782940 
time: 1403636889.151666, t: -0.265063 -0.222776 0.737964 q: 0.376298 -0.277643 -0.408936 0.783636 
time: 1403636890.151666, t: -0.265467 -0.223060 0.738033 q: 0.376758 -0.278776 -0.409811 0.782555 
unstable tracking...
time: 1403636891.151666, t: -0.265891 -0.223713 0.738173 q: 0.376889 -0.278603 -0.409596 0.782666 
unstable tracking...
time: 1403636893.151666, t: -0.266039 -0.223791 0.738155 q: 0.376939 -0.278618 -0.409531 0.782671 
time: 1403636894.151666, t: -0.266026 -0.223816 0.738158 q: 0.376805 -0.278533 -0.409378 0.782846 
time: 1403636895.151666, t: -0.266022 -0.223768 0.738144 q: 0.377022 -0.278627 -0.409703 0.782537 
time: 1403636897.151666, t: -0.266404 -0.223516 0.738417 q: 0.379714 -0.274217 -0.407721 0.783828 
unstable tracking...
unstable tracking...
time: 1403636899.151666, t: -2.485761 1.094780 -0.570493 q: 0.520828 0.145795 -0.535404 0.648710 
unstable tracking...
time: 1403636901.151666, t: -1.822267 2.433239 -1.042178 q: -0.475551 -0.069136 0.633989 -0.605912 
time: 1403636902.151666, t: -2.398685 2.297658 -1.231736 q: -0.497235 -0.075044 0.630024 -0.591774 
time: 1403636903.151666, t: -2.904960 2.158028 -1.488181 q: 0.500901 0.071732 -0.630384 0.588700 
time: 1403636904.151666, t: -3.313841 2.248583 -1.583419 q: -0.485252 -0.075954 0.625824 -0.605892 
time: 1403636905.151666, t: -3.872829 2.280733 -1.685167 q: 0.501707 0.070929 -0.634676 0.583477 
time: 1403636906.151666, t: -4.318712 2.191014 -1.714945 q: -0.494662 -0.099421 0.632649 -0.587520 
time: 1403636907.151666, t: -4.752276 1.979443 -1.635527 q: 0.500623 0.096038 -0.622602 0.593733 
time: 1403636908.151666, t: -5.301519 1.705390 -1.482138 q: -0.499670 -0.092886 0.615013 -0.602878 
time: 1403636909.151666, t: -5.973008 1.410598 -1.314012 q: -0.486330 -0.108323 0.613917 -0.612254 
time: 1403636910.151666, t: -6.556323 0.994149 -1.194752 q: 0.523360 0.093981 -0.608844 0.588702 
time: 1403636911.151666, t: -7.117475 0.570397 -1.109174 q: 0.509866 0.085224 -0.597674 0.612829 
time: 1403636912.151666, t: -7.581911 0.317234 -1.055690 q: 0.491985 0.092836 -0.605495 0.618634 
time: 1403636913.151666, t: -8.153239 0.010521 -1.079940 q: 0.506779 0.086847 -0.600379 0.612517 
time: 1403636914.151666, t: -8.819852 -0.296566 -1.101911 q: 0.498687 0.086052 -0.608581 0.611176 
time: 1403636915.151666, t: -9.355727 -0.355943 -1.134810 q: -0.499412 -0.092186 0.620894 -0.597143 
time: 1403636916.151666, t: -9.831086 -0.461246 -1.184914 q: 0.504518 0.087471 -0.614878 0.599780 
time: 1403636917.151666, t: -10.276924 -0.599390 -1.227270 q: -0.498100 -0.040495 0.651790 -0.570462 
time: 1403636918.151666, t: -10.436359 -0.803841 -1.349987 q: -0.480574 0.035650 0.706975 -0.517652 
time: 1403636919.151666, t: -10.585355 -0.784796 -1.105941 q: -0.461903 0.063441 0.700397 -0.540430 
time: 1403636920.151666, t: -10.746145 -0.608139 -1.114338 q: -0.476060 0.079094 0.708497 -0.514920 
time: 1403636921.151666, t: -10.647865 -0.395125 -1.314512 q: -0.467169 0.050890 0.728258 -0.498802 
time: 1403636922.151666, t: -10.515234 -0.310140 -1.534862 q: -0.467127 0.065501 0.731122 -0.492912 
time: 1403636923.151666, t: -10.473163 -0.289386 -1.674450 q: -0.451583 0.130998 0.749256 -0.466399 
time: 1403636924.151666, t: -10.503956 -0.284696 -1.823550 q: -0.411569 0.121798 0.794652 -0.429307 
time: 1403636925.151666, t: -10.936070 -0.396625 -1.965324 q: -0.429855 0.162218 0.773529 -0.436535 
time: 1403636926.151666, t: -11.483841 -0.581184 -2.258177 q: -0.434183 0.162882 0.786135 -0.408592 
time: 1403636927.151666, t: -11.994684 -0.703939 -2.514330 q: -0.403314 0.207012 0.797266 -0.398562 
time: 1403636928.151666, t: -12.528192 -0.696943 -2.857780 q: -0.353817 0.241896 0.841042 -0.330073 
time: 1403636929.151666, t: -13.309616 -0.715629 -3.299710 q: -0.392219 0.257624 0.816416 -0.336540 
time: 1403636930.151666, t: -13.833115 -0.671249 -3.534985 q: -0.395131 0.257010 0.816989 -0.332182 
time: 1403636931.151666, t: -14.136337 -0.501254 -3.754096 q: -0.386805 0.288732 0.815298 -0.319852 
time: 1403636932.151666, t: -13.970936 -0.251053 -3.951057 q: -0.383204 0.291617 0.829920 -0.281685 
time: 1403636933.151666, t: -13.535249 -0.089210 -3.775289 q: -0.348660 0.341567 0.844538 -0.220280 
time: 1403636934.151666, t: -13.068448 -0.174795 -3.558614 q: -0.326644 0.373937 0.845146 -0.197996 
time: 1403636935.151666, t: -12.509684 -0.100513 -3.425031 q: -0.242630 0.464293 0.848488 -0.075037 
time: 1403636936.151666, t: -12.017787 0.038512 -3.338108 q: -0.224746 0.452293 0.856229 -0.108592 
time: 1403636937.151666, t: -11.753906 0.303074 -3.415167 q: -0.241629 0.451030 0.855652 -0.077761 
time: 1403636938.151666, t: -11.450657 0.318498 -3.610344 q: -0.264516 0.451714 0.851074 -0.040734 
time: 1403636939.151666, t: -10.981662 0.320693 -3.577391 q: -0.229788 0.480781 0.844303 -0.056569 
time: 1403636940.151666, t: -10.209330 0.473994 -3.574018 q: -0.248052 0.487843 0.835173 -0.054452 
time: 1403636941.151666, t: -9.135125 0.388853 -3.270219 q: -0.219899 0.496873 0.838982 -0.029524 
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time: 1403636965.151666, t: -11.105790 -1.517635 -2.953813 q: 0.518030 0.175227 -0.592283 0.591727 
time: 1403636966.151666, t: -9.777947 -1.786831 -1.924526 q: 0.522540 0.147280 -0.608419 0.578867 
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time: 1403636969.151666, t: -7.189954 -1.402881 -1.468256 q: 0.516924 0.138549 -0.617994 0.575914 
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time: 1403636999.151666, t: -4.550376 0.182863 -0.595803 q: -0.480946 0.020998 0.772914 -0.413345 
time: 1403637000.151666, t: -4.179332 0.143830 -0.387999 q: -0.477959 0.026639 0.773372 -0.415621 
time: 1403637001.151666, t: -3.598179 0.150084 -0.096065 q: -0.476022 0.031797 0.772443 -0.419193 
time: 1403637002.151666, t: -2.882538 0.211165 0.223346 q: -0.462297 0.034835 0.779935 -0.420440 
time: 1403637003.151666, t: -2.226867 0.276434 0.460912 q: -0.462425 0.035968 0.782099 -0.416161 
time: 1403637004.151666, t: -1.700159 0.109125 0.702172 q: -0.458501 0.035995 0.785694 -0.413722 
time: 1403637005.151666, t: -1.164370 0.129080 0.905841 q: -0.452390 0.054095 0.786659 -0.416635 
time: 1403637006.151666, t: -0.817658 0.101153 0.948529 q: -0.461356 0.048578 0.781665 -0.416881 
time: 1403637007.151666, t: -0.713039 -0.009551 0.932189 q: -0.479861 -0.013180 0.736894 -0.475969 
time: 1403637008.151666, t: -0.598335 -0.091508 0.819354 q: -0.481439 -0.024922 0.727816 -0.487728 
time: 1403637009.151666, t: -0.554531 -0.059539 0.859691 q: -0.467494 -0.015298 0.737570 -0.487039 
time: 1403637010.151666, t: -0.590872 -0.050955 0.817516 q: -0.493875 0.002610 0.700206 -0.515551 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720499927.479927659]: Shutdown request received.[0m
[33m[ WARN] [1720499927.479959423]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720499927.480771759]: Shutdown request received.[0m
[33m[ WARN] [1720499927.480799658]: Reason given for shutdown: [user request][0m
killed
