/SLAM-Hive/slam_hive_results/mapping_results/3030/2238_vins-fusion-stereo+MH_03_medium+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720504599.106961628]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720504599.108741878]: init begins[0m
[31m[ERROR] [1720504599.109796291]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/022c672e-3db8-11ef-8992-0242ac110005/roslaunch-d54004da526b-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://d54004da526b:36075/[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
[1mROS_MASTER_URI=http://d54004da526b:11311/[0m
]2;roscore http://d54004da526b:11311/
[1msetting /run_id to 022c672e-3db8-11ef-8992-0242ac110005[0m
[0m[ INFO] [1720504600.263841660]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720504600.266798327]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720504600.280617399]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720504600.280961018]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720504600.281016551]: ROW: 480 COL: 752 [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] [1720504600.281534454]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720504600.281943710]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720504600.282265773]: 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
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 [224][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720504609.258275202]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316867478.92 
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! 
[0m[ INFO] [1720504620.167017151]: Initialization finish![0m
time: 1403637141.038319, t: -0.010677 -0.614532 -0.983782 q: 0.611070 0.292769 0.423691 0.601137 
time: 1403637142.038319, t: -0.094367 -0.596822 -1.003672 q: 0.619683 0.289630 0.422077 0.594943 
time: 1403637143.038319, t: -0.094682 -0.596890 -1.003698 q: 0.618507 0.291003 0.423182 0.594713 
time: 1403637144.038319, t: -0.094376 -0.596936 -1.004000 q: 0.618482 0.290981 0.423263 0.594692 
time: 1403637145.038319, t: -0.094526 -0.596937 -1.003881 q: 0.618590 0.290972 0.423358 0.594516 
time: 1403637146.038319, t: -0.094523 -0.596926 -1.003845 q: 0.618534 0.290874 0.423199 0.594736 
time: 1403637147.038319, t: -0.094556 -0.596887 -1.003819 q: 0.618665 0.290770 0.423210 0.594642 
time: 1403637148.038319, t: -0.094539 -0.596857 -1.003825 q: 0.618688 0.290705 0.423230 0.594636 
time: 1403637149.038319, t: -0.094969 -0.596953 -1.004063 q: 0.619295 0.293480 0.424592 0.591663 
time: 1403637150.038319, t: -0.108907 -0.588670 -0.990249 q: 0.655550 0.326697 0.401893 0.549550 
time: 1403637151.038319, t: -0.642036 -0.284900 -0.343586 q: 0.650832 0.292335 0.431228 0.552268 
time: 1403637152.038319, t: -0.240508 -0.063513 -0.532433 q: 0.651879 0.298602 0.418949 0.557111 
time: 1403637153.038319, t: -0.010664 0.132225 -0.452194 q: 0.645725 0.295976 0.421833 0.563467 
time: 1403637154.038319, t: 0.077476 0.371122 -0.267448 q: 0.652871 0.292365 0.418236 0.559787 
time: 1403637155.038319, t: 0.248961 0.493098 0.076499 q: 0.670866 0.285945 0.370907 0.574980 
time: 1403637156.038319, t: 0.478336 0.759251 0.476778 q: 0.640444 0.211486 0.288899 0.679442 
time: 1403637157.038319, t: 1.825577 1.236525 1.284103 q: 0.678432 0.040716 0.066194 0.730541 
time: 1403637158.038319, t: 0.023702 1.012793 2.112550 q: 0.610594 0.088715 0.121673 0.777496 
time: 1403637160.038319, t: -4.033931 3.849597 2.618930 q: 0.619656 0.260032 -0.061991 0.737948 
feature tracking not enough, please slowly move you device! 
time: 1403637161.038319, t: -4.033931 3.849597 2.618930 q: 0.619656 0.260032 -0.061991 0.737948 
time: 1403637162.038319, t: -5.264282 4.145646 3.476942 q: 0.603428 0.221258 -0.029856 0.765525 
time: 1403637163.038319, t: -5.946007 3.654422 4.249874 q: 0.601006 0.155996 -0.079740 0.779807 
feature tracking not enough, please slowly move you device! 
time: 1403637164.038319, t: -5.946007 3.654422 4.249874 q: 0.601006 0.155996 -0.079740 0.779807 
feature tracking not enough, please slowly move you device! 
time: 1403637165.038319, t: -5.946007 3.654422 4.249874 q: 0.601006 0.155996 -0.079740 0.779807 
feature tracking not enough, please slowly move you device! 
time: 1403637166.038319, t: -5.946007 3.654422 4.249874 q: 0.601006 0.155996 -0.079740 0.779807 
time: 1403637167.038319, t: -6.451286 3.218197 4.567597 q: 0.653731 0.165016 -0.024496 0.738110 
time: 1403637168.038319, t: -5.728035 3.441122 3.866736 q: 0.586562 0.232295 0.006170 0.775851 
unstable tracking...
time: 1403637169.038319, t: -4.479197 4.167981 3.391618 q: 0.581581 0.274968 -0.024016 0.765232 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637170.038319, t: -4.479197 4.167981 3.391618 q: 0.581581 0.274968 -0.024016 0.765232 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637171.038319, t: -4.479197 4.167981 3.391618 q: 0.581581 0.274968 -0.024016 0.765232 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637172.038319, t: -4.479197 4.167981 3.391618 q: 0.581581 0.274968 -0.024016 0.765232 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637173.038319, t: -4.479197 4.167981 3.391618 q: 0.581581 0.274968 -0.024016 0.765232 
unstable tracking...
time: 1403637174.038319, t: -4.381016 3.901253 2.896867 q: 0.540236 0.145731 -0.193185 0.805970 
unstable tracking...
time: 1403637175.038319, t: -5.054989 3.926737 3.221821 q: 0.540298 -0.025730 -0.265167 0.798187 
time: 1403637176.038319, t: -5.814776 3.845146 2.664563 q: 0.525957 -0.093027 -0.317157 0.783662 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637178.038319, t: -5.814776 3.845146 2.664563 q: 0.525957 -0.093027 -0.317157 0.783662 
time: 1403637179.038319, t: -6.125916 3.778461 1.200250 q: 0.503543 -0.133350 -0.253357 0.815152 
unstable tracking...
unstable tracking...
time: 1403637181.038319, t: -5.206934 4.227273 3.255606 q: 0.553786 -0.112386 -0.255829 0.784374 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637182.038319, t: -5.206934 4.227273 3.255606 q: 0.553786 -0.112386 -0.255829 0.784374 
unstable tracking...
unstable tracking...
time: 1403637184.038319, t: -2.372217 4.766609 3.034297 q: 0.470489 -0.143407 -0.194114 0.848760 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637185.038319, t: -2.372217 4.766609 3.034297 q: 0.470489 -0.143407 -0.194114 0.848760 
time: 1403637186.038319, t: -2.732224 4.507301 1.981743 q: 0.494312 -0.179734 -0.194117 0.828052 
unstable tracking...
time: 1403637187.038319, t: -3.310419 4.478044 1.365921 q: 0.446980 -0.183142 -0.169409 0.859051 
unstable tracking...
time: 1403637188.038319, t: -3.963987 4.632944 0.982275 q: 0.437995 -0.161358 -0.264734 0.843824 
unstable tracking...
time: 1403637189.038319, t: -5.081007 3.796114 1.089800 q: 0.407263 -0.243458 -0.279141 0.834833 
unstable tracking...
time: 1403637190.038319, t: -6.069789 2.940674 1.049876 q: 0.432035 -0.273171 -0.287869 0.809849 
unstable tracking...
unstable tracking...
time: 1403637192.038319, t: -7.817808 2.509515 0.172261 q: 0.467947 -0.218247 -0.287790 0.806580 
unstable tracking...
time: 1403637193.038319, t: -8.168272 2.782672 0.220860 q: 0.443607 -0.213261 -0.281805 0.823601 
time: 1403637194.038319, t: -8.752938 3.140792 0.700684 q: 0.454819 -0.222555 -0.280325 0.815492 
time: 1403637195.038319, t: -9.145608 3.541586 1.558965 q: 0.446818 -0.221354 -0.284115 0.818923 
time: 1403637196.038319, t: -9.422715 3.936035 2.525267 q: 0.496386 -0.225197 -0.261910 0.796423 
time: 1403637197.038319, t: -8.773747 4.294977 3.269871 q: 0.507713 -0.259264 -0.233464 0.787721 
feature tracking not enough, please slowly move you device! 
time: 1403637198.038319, t: -8.773747 4.294977 3.269871 q: 0.507713 -0.259264 -0.233464 0.787721 
time: 1403637199.038319, t: -8.843779 5.761374 3.619940 q: 0.514493 -0.134087 -0.015097 0.846811 
feature tracking not enough, please slowly move you device! 
time: 1403637200.038319, t: -8.843779 5.761374 3.619940 q: 0.514493 -0.134087 -0.015097 0.846811 
feature tracking not enough, please slowly move you device! 
time: 1403637201.038319, t: -8.843779 5.761374 3.619940 q: 0.514493 -0.134087 -0.015097 0.846811 
time: 1403637202.038319, t: -7.955379 5.967564 3.334305 q: 0.427291 -0.148567 -0.066362 0.889352 
time: 1403637203.038319, t: -8.132703 5.688998 2.787766 q: 0.503809 -0.149005 -0.106531 0.844171 
time: 1403637204.038319, t: -8.297809 5.320419 2.619827 q: 0.506748 -0.163880 -0.112976 0.838800 
time: 1403637205.038319, t: -8.507293 5.263732 2.243005 q: 0.495906 -0.156783 -0.124432 0.844993 
time: 1403637206.038319, t: -8.385380 5.177824 2.231293 q: 0.515304 -0.145985 -0.093201 0.839323 
time: 1403637207.038319, t: -8.209041 5.268120 2.099294 q: 0.506607 -0.153856 -0.087281 0.843837 
unstable tracking...
time: 1403637208.038319, t: -8.016741 5.237091 1.887471 q: 0.500506 -0.147959 -0.100161 0.847095 
unstable tracking...
unstable tracking...
time: 1403637211.038319, t: -7.866671 5.729931 2.922637 q: 0.504758 -0.074981 -0.068784 0.857243 
time: 1403637212.038319, t: -7.748795 6.295772 4.415132 q: 0.515034 -0.106231 -0.099560 0.844715 
time: 1403637213.038319, t: -7.921735 6.838609 5.278233 q: 0.522517 -0.133235 -0.129339 0.832163 
time: 1403637214.038319, t: -9.849664 7.114202 7.501688 q: 0.547907 -0.119547 -0.076840 0.824380 
time: 1403637215.038319, t: -10.649075 6.537965 8.156337 q: 0.626915 -0.096860 0.127208 0.762505 
time: 1403637216.038319, t: -2.723227 9.501109 12.964010 q: 0.642720 -0.350920 -0.360892 0.577515 
time: 1403637217.038319, t: -1.763089 10.085227 13.808745 q: 0.657310 -0.311682 -0.345486 0.592821 
time: 1403637218.038319, t: -0.612661 9.674301 13.921889 q: 0.688823 -0.268953 -0.329018 0.587311 
time: 1403637219.038319, t: 0.636166 8.835045 13.556215 q: 0.700559 -0.250840 -0.341661 0.574078 
time: 1403637220.038319, t: 4.809707 5.054695 12.342443 q: 0.721038 -0.259573 -0.330721 0.550771 
time: 1403637221.038319, t: 5.940573 4.661261 11.683083 q: 0.726408 -0.264011 -0.293373 0.562639 
time: 1403637222.038319, t: 7.716021 7.254728 12.198525 q: 0.574746 -0.335912 -0.334910 0.666833 
time: 1403637223.038319, t: 8.114827 9.908224 12.239111 q: 0.437737 -0.381862 -0.378091 0.720843 
time: 1403637224.038319, t: 7.285661 9.921590 12.444887 q: 0.247826 -0.509191 -0.064301 0.821689 
time: 1403637225.038319, t: 6.850622 9.564049 13.673326 q: 0.094305 -0.570531 0.142582 0.803288 
time: 1403637226.038319, t: 7.112347 9.615549 13.850699 q: 0.082471 -0.574842 0.170599 0.796022 
time: 1403637227.038319, t: 7.402054 9.839423 13.825742 q: 0.073389 -0.557428 0.184673 0.806092 
time: 1403637228.038319, t: 7.475254 10.021149 13.908502 q: 0.065837 -0.579741 0.177311 0.792544 
time: 1403637229.038319, t: 7.608914 10.175720 13.942074 q: 0.071387 -0.579486 0.172783 0.793250 
time: 1403637230.038319, t: 7.804511 8.867082 14.215994 q: -0.012605 -0.553726 0.111730 0.825073 
time: 1403637231.038319, t: 7.918777 10.233203 14.145685 q: -0.265037 -0.523690 -0.022601 0.809316 
time: 1403637232.038319, t: 8.070867 9.881411 14.440748 q: 0.586923 0.387214 0.216084 -0.677417 
time: 1403637233.038319, t: 7.881801 9.416639 13.850184 q: 0.760304 0.227088 0.304516 -0.526914 
time: 1403637234.038319, t: 10.807650 9.397619 13.959360 q: 0.658176 0.255591 0.342363 -0.619891 
feature tracking not enough, please slowly move you device! 
time: 1403637235.038319, t: 10.807650 9.397619 13.959360 q: 0.658176 0.255591 0.342363 -0.619891 
time: 1403637236.038319, t: 9.883232 8.438839 14.737895 q: 0.578254 0.352458 0.219013 -0.702445 
time: 1403637237.038319, t: 6.553765 6.812329 14.212684 q: 0.537018 0.437716 0.165429 -0.701890 
feature tracking not enough, please slowly move you device! 
time: 1403637238.038319, t: 6.553765 6.812329 14.212684 q: 0.537018 0.437716 0.165429 -0.701890 
feature tracking not enough, please slowly move you device! 
time: 1403637239.038319, t: 6.553765 6.812329 14.212684 q: 0.537018 0.437716 0.165429 -0.701890 
feature tracking not enough, please slowly move you device! 
time: 1403637240.038319, t: 6.553765 6.812329 14.212684 q: 0.537018 0.437716 0.165429 -0.701890 
feature tracking not enough, please slowly move you device! 
time: 1403637241.038319, t: 6.553765 6.812329 14.212684 q: 0.537018 0.437716 0.165429 -0.701890 
unstable tracking...
time: 1403637242.038319, t: 6.864762 5.707977 14.816755 q: 0.507424 0.472246 0.196289 -0.693524 
unstable tracking...
time: 1403637244.038319, t: 7.463809 8.581305 12.158220 q: 0.541983 0.527712 0.048789 -0.652223 
time: 1403637245.038319, t: 7.232681 9.653239 11.373264 q: 0.523372 0.559568 0.044833 -0.641058 
time: 1403637246.038319, t: 11.644653 0.652113 -0.856745 q: 0.504815 0.227128 -0.357870 -0.752000 
feature tracking not enough, please slowly move you device! 
time: 1403637247.038319, t: 11.644653 0.652113 -0.856745 q: 0.504815 0.227128 -0.357870 -0.752000 
unstable tracking...
time: 1403637248.038319, t: 12.855864 2.093352 0.315558 q: -0.481356 -0.492018 0.459744 0.561115 
unstable tracking...
time: 1403637250.038319, t: 11.066513 0.988596 2.037084 q: -0.141320 -0.522184 0.797320 0.267645 
feature tracking not enough, please slowly move you device! 
time: 1403637251.038319, t: 11.066513 0.988596 2.037084 q: -0.141320 -0.522184 0.797320 0.267645 
time: 1403637252.038319, t: 11.697338 0.665488 0.234278 q: -0.114181 -0.505271 0.846489 0.122963 
time: 1403637253.038319, t: 13.579383 1.517212 3.273802 q: -0.040583 -0.596866 0.789448 0.137389 
time: 1403637254.038319, t: 13.779854 1.211466 3.393137 q: -0.050459 -0.577961 0.803394 0.134062 
unstable tracking...
time: 1403637255.038319, t: 13.973351 1.081035 3.755784 q: -0.021021 -0.590752 0.800765 0.096675 
optimize pose graph 
unstable tracking...
time: 1403637256.038319, t: 14.317558 1.046146 4.213208 q: 0.076912 -0.630406 0.772442 -0.002440 
time: 1403637257.038319, t: 14.671329 1.172504 4.960537 q: 0.093190 -0.618731 0.779566 -0.027656 
optimize pose graph 
time: 1403637258.038319, t: 15.264555 1.055975 5.243245 q: 0.151748 -0.637940 0.752428 -0.062107 
time: 1403637259.038319, t: 15.415853 1.024624 4.583758 q: 0.166364 -0.628903 0.747391 -0.134944 
time: 1403637260.038319, t: 15.540593 0.928716 4.685000 q: 0.168798 -0.624379 0.750792 -0.134051 
time: 1403637261.038319, t: 15.325672 1.280559 5.549805 q: 0.187436 -0.659460 0.714491 -0.139582 
time: 1403637262.038319, t: 15.516711 1.219246 5.099155 q: 0.185208 -0.656558 0.718942 -0.133233 
time: 1403637263.038319, t: 15.570521 1.253926 5.019752 q: 0.151557 -0.627937 0.753238 -0.123927 
time: 1403637264.038319, t: 15.583036 1.269649 5.105673 q: 0.151944 -0.628923 0.752461 -0.123171 
time: 1403637265.038319, t: 15.568053 1.282900 5.213183 q: 0.154916 -0.637638 0.745211 -0.118652 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720504746.104308402]: Shutdown request received.[0m
[33m[ WARN] [1720504746.104352090]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720504746.105497222]: Shutdown request received.[0m
[33m[ WARN] [1720504746.105526178]: Reason given for shutdown: [user request][0m
killed
